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Virtual Soldier Research Program

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The Virtual Soldier Research program (VSR) is a research group within the University of Iowa Center for Computer-Aided Design (CCAD). VSR was founded by Professor Karim Abdel-Malek in 2003 through external funding from the US Army Tank Automotive Command (TACOM) to put the Warfighter at the center of US Army product designs.[1] Professor Abde-Malek's background in robotics and the use of rigorous mathematical formulations was the first introduction of mathematical kinematics to the field of Digital Human Modeling (DHM).[2][3] Prior to 2003, all DHM models were based on experimental data that use lookup tables to enable the posturing of simple mannequins.Indeed, the first version of Santos, presented at the a DHM conference was met with great success because it was the first fully articulated digital human model that behaved as humans do, whereby joints had constraints (also called ranges of motion) and a user could pull on an arm for example and as a result the entire body would respond accordingly. The posture prediction methodology was subsequently validated[4] Subsequently, the Predictive Dynamics method was created and used the same optimization technique with the addition of 3D laws of motion.


Using this initial research and funding as a foundation, VSR continues to develop new technologies in digital human modeling and simulation.

VSR's digital human model, Santos (R), stands at the center of its digital human modeling and simulation research.[5] The high-fidelity, biomechanically and biofidelic accurate musculoskeletal model incorporates 215 degrees of freedom, including the hand,[6] feet, and eyes. The dimensions of the skeleton are mutable, able to represent any anthropometric cross section. In addition, Santos includes a muscular system with the ability to predict muscle activation and muscle forces in real time, using a novel optimization-based methodology.[7][8][9] This method, developed over a period of eight years by the Virtual Soldier Research program is called Predictive Dynamics and published by a book[10] and a large number of papers.[11][12][13]

The mathematical model for the Santos skeleton was developed based on the Denavit-Hartenberg method for kinematic and dynamic analysis.[14] Optimization is used to determine postures and motions that are governed by various human performance measures (objective functions) and constrained by the restrictions imposed by the skeleton, the laws of physics, and the environment. The Santos simulation platform is being used by the US Military, industry (for example automotive industry)[15], and academia. The Virtual Soldier Research team transitioned a product from the Santos environment called Enhanced Technologies for the Optimization of Warfighter Load (ETOWL) funded by the Office of Naval Research (ONR) to the US Marines.[16] The product was later renamed as GruntSim.[17] This human modeling and simulation environment is now being used to study human factors and ergonomics in many applications.[18][19] This model includes not only Predictive Dynamics but also stability criteria called Zero Moment Point[20]

The Santos simulation platform was developed from the ground up. Using the 215 DOF and based on the use of optimization based methods that enable cost functions to drive the motion, the numerical algorithm drives the motion to predict joint variables across time (also called joint profiles) and subject to a number of constraints. For example, predicting gait of any body type is now possible.[21] Similarly, any task can be modeled and simulated using this approach.[22][23]

VSR research has led to the spin-off of a private company, Santos Human Inc.,[24] specifically focused on product development.

Who is Santos™?

Santos is the virtual human who stands at the center of our digital human modeling and simulation research. Our high-fidelity, biomechanically accurate musculoskeletal model was developed from the inside out by our team of biomedical engineers, and incorporates 215 degrees of freedom, including the hand, feet, and eyes. The dimensions of the skeleton are mutable, able to represent any anthropometric cross section. In addition, Santos includes a muscular system with the ability to predict muscle activation and muscle forces in real time, using a novel optimization-based methodology.

Over time, the Santos family has grown to incorporate a variety of different body scans to provide a range of models that include our female version, Sophia, and a broad array of different body shapes, types, and sizes[citation needed]. Our research is currently being extended to allow multiple digital human models to interact with each other to complete tasks cooperatively.

Santos was built using state-of-the-art technologies adapted from robotics, Hollywood, and the game industry[citation needed]. Our research continues to grow in its dynamic capabilities, physiology, and intelligent behaviors through integration of Artificial Intelligence, design optimization, physics-based modeling, and advanced, multi-scale physiological models[citation needed].

The mathematical model for the Santos skeleton was developed based on the Denavit-Hartenberg method for kinematic and dynamic analysis. Optimization is used to determine postures and motions that are governed by various human performance measures (objective functions) and constrained by the restrictions imposed by the skeleton, the laws of physics, and the environment. The software must be as fast and efficient as possible in an effort to provide real-time simulations.

References

  1. ^ Abdel-Malek, K., Yang, J., Kim, J.H., Beck, S., Swan, C., Frey-Law, L., Mathai, A., Murphy, C., Rahmatalla, S., and Arora, J. (2007). Development of the Virtual-Human Santos™. In V.G. Duffy (Ed.): Digital Human Modeling, HCII 2007, LNCS-4561, pp. 490-499.
  2. ^ Kim, Hyung Joo; Wang, Qian; Rahmatalla, Salam; Swan, Colby C.; Arora, Jasbir S.; Abdel-Malek, Karim; Assouline, Jose G. (2008-04-21). "Dynamic Motion Planning of 3D Human Locomotion Using Gradient-Based Optimization". Journal of Biomechanical Engineering. 130 (3). doi:10.1115/1.2898730. ISSN 0148-0731.
  3. ^ Mi, Zan; Farrell, Kim; Abdel-Malek, Karim (2004-06-15). "Virtual Environment for Digital Human Simulation". SAE Technical Paper Series. 400 Commonwealth Drive, Warrendale, PA, United States: SAE International. doi:10.4271/2004-01-2172.{{cite journal}}: CS1 maint: location (link)
  4. ^ Yang, Jingzhou; Rahmatalla, Salam; Marler, Tim; Abdel-Malek, Karim; Harrison, Chad, "Validation of Predicted Posture for the Virtual Human SantosTM", Digital Human Modeling, Springer Berlin Heidelberg, pp. 500–510, ISBN 978-3-540-73318-8, retrieved 2020-02-01
  5. ^ https://www.ccad.uiowa.edu/vsr/about
  6. ^ Pena-Pitarch, E., Yang, J., and Abdel-Malek, K. (2005). Santos™ Hand: A 25-Degree-of-Freedom Model, SAE Technical Paper 2005-01-2727, doi:10.4271/2005-01-2727.
  7. ^ Marler, R. Timothy; Arora, Jasbir S.; Yang, Jingzhou; Kim, Hyung-Joo; Abdel-Malek, Karim (2009-09-18). "Use of multi-objective optimization for digital human posture prediction". Engineering Optimization. 41 (10): 925–943. doi:10.1080/03052150902853013. ISSN 0305-215X.
  8. ^ Abdel-Malek, Karim; Mi, Zan; Yang, Jingzhou; Nebel, Kyle (2006-07-03). "Optimization-based trajectory planning of the human upper body". Robotica. 24 (6): 683–696. doi:10.1017/s0263574706002852. ISSN 0263-5747.
  9. ^ Yang, Jingzhou; Marler, R. Timothy; Beck, Steven; Abdel-Malek, Karim; Kim, Joo (2006-03). "Real-Time Optimal Reach-Posture Prediction in a New Interactive Virtual Environment". Journal of Computer Science and Technology. 21 (2): 189–198. doi:10.1007/s11390-006-0189-3. ISSN 1000-9000. {{cite journal}}: Check date values in: |date= (help)
  10. ^ Abdel-Malek, Karim,. Human motion simulation : predictive dynamics. Arora, Jasbir S.,. Waltham, MA. ISBN 978-0-12-404601-6. OCLC 847948857.{{cite book}}: CS1 maint: extra punctuation (link) CS1 maint: multiple names: authors list (link)
  11. ^ Xiang, Yujiang; Arora, Jasbir S.; Abdel-Malek, Karim (2010-03-18). "Physics-based modeling and simulation of human walking: a review of optimization-based and other approaches". Structural and Multidisciplinary Optimization. 42 (1): 1–23. doi:10.1007/s00158-010-0496-8. ISSN 1615-147X.
  12. ^ Xiang, Yujiang; Chung, Hyun-Joon; Kim, Joo H.; Bhatt, Rajankumar; Rahmatalla, Salam; Yang, Jingzhou; Marler, Timothy; Arora, Jasbir S.; Abdel-Malek, Karim (2009-08-21). "Predictive dynamics: an optimization-based novel approach for human motion simulation". Structural and Multidisciplinary Optimization. 41 (3): 465–479. doi:10.1007/s00158-009-0423-z. ISSN 1615-147X.
  13. ^ Xiang, Yujiang; Arora, Jasbir S.; Rahmatalla, Salam; Abdel-Malek, Karim (2009-08-06). "Optimization-based dynamic human walking prediction: One step formulation". International Journal for Numerical Methods in Engineering. 79 (6): 667–695. doi:10.1002/nme.2575. ISSN 0029-5981.
  14. ^ Denavit, J., & Hartenberg, R. S. (1955). A kinematic notation for lower-pair mechanisms based on matrices. Journal of Applied Mechanics, 77, 215–221.
  15. ^ Yang, Jingzhou; Kim, Joo H.; Abdel-Malek, Karim; Marler, Timothy; Beck, Steven; Kopp, Gregory R. (2007-07). "A new digital human environment and assessment of vehicle interior design". Computer-Aided Design. 39 (7): 548–558. doi:10.1016/j.cad.2006.11.007. ISSN 0010-4485. {{cite journal}}: Check date values in: |date= (help)
  16. ^ "GruntSim, the Marines' new infantry simulator". popularmilitary.com. Retrieved 2020-02-01.
  17. ^ GruntSim is a US Marines simulation for lightening the load, warfighter load, Predictive Dynamic, retrieved 2020-02-01
  18. ^ Xiang, Yujiang; Arora, Jasbir S.; Rahmatalla, Salam; Marler, Timothy; Bhatt, Rajankumar; Abdel-Malek, Karim (2010-01-21). "Human lifting simulation using a multi-objective optimization approach". Multibody System Dynamics. 23 (4): 431–451. doi:10.1007/s11044-009-9186-y. ISSN 1384-5640.
  19. ^ Kim, Joo H.; Xiang, Yujiang; Yang, Jingzhou; Arora, Jasbir S.; Abdel-Malek, Karim (2010-03-31). "Dynamic motion planning of overarm throw for a biped human multibody system". Multibody System Dynamics. 24 (1): 1–24. doi:10.1007/s11044-010-9193-z. ISSN 1384-5640. {{cite journal}}: no-break space character in |title= at position 45 (help)
  20. ^ Kim, J.H.; Xiang, Y.; Bhatt, R.M.; Yang, J.; Chung, H.-J.; Arora, J.S.; Abdel-Malek, K. (2009). "GENERATING EFFECTIVE WHOLE-BODY MOTIONS OF A HUMAN-LIKE MECHANISM WITH EFFICIENT ZMP FORMULATION". International Journal of Robotics and Automation. 24 (2). doi:10.2316/journal.206.2009.2.206-3235. ISSN 1925-7090.
  21. ^ Xiang, Yujiang; Arora, Jasbir S.; Abdel-Malek, Karim (2011-04). "Erratum to "Optimization-based prediction of asymmetric human gait" [J. Biomech. 44 (4) (2011) 683–693]". Journal of Biomechanics. 44 (6): 1217. doi:10.1016/j.jbiomech.2011.02.080. ISSN 0021-9290. {{cite journal}}: Check date values in: |date= (help)
  22. ^ Kim, Joo H.; Malek, Karim Abdel; Yang, Jingzhou; Marler, R. Timothy (2006). "Prediction and analysis of human motion dynamics performing various tasks". International Journal of Human Factors Modelling and Simulation. 1 (1): 69. doi:10.1504/ijhfms.2006.011683. ISSN 1742-5549.
  23. ^ Xiang, Yujiang; Arora, Jasbir S.; Abdel-Malek, Karim (2008-05-14). "Optimization-based motion prediction of mechanical systems: sensitivity analysis". Structural and Multidisciplinary Optimization. 37 (6): 595–608. doi:10.1007/s00158-008-0247-2. ISSN 1615-147X.
  24. ^ http://www.santoshumaninc.com/
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