static optimal estimation of joint accelerations for inverse dynamics problem solution

In inverse dynamics computations, the accuracy of the solution strongly depends on the accuracy of the input data. In particular, estimated joint moments are highly sensitive to uncertainties in acceleration data. The aim of the present work was to improve classical inverse dynamics computations by providing an accurate estimation of accelerations. Accelerations are usually calculated from noise-polluted position data using numerical double differentiation, which amplifies measurement noise. The objective of the present paper is to use all available imperfect position and force measurements to extract optimum acceleration estimations. A weighted least-squares optimisation approach is used t…