Quaternion Blobby Model: Constrained Joint Range of Motions using Real Captured Data
Abstract
This study presents the quaternion blobby model, a novel approach for constraining the joint range of motions based on real captured data. The feasible region's boundary is modeled using a geometric approach, allowing for an implicit representation of quaternion volume field boundaries. These boundaries define the space of all possible and permitted orientations within the joint. The implicit surface is generated as an iso-surface of a quaternion volume, approximated from data captured by an optical motion capture system and transformed into unit quaternions. By utilizing the blobby model, a popular solid object modeling tool in computer graphics, the iso-surface is generated. The resulting quaternion orientation space represents valid orientations and facilitates the reprojection of any orientation to the nearest valid ones. The effectiveness of the proposed model is demonstrated through verification using motion-captured shoulder joint data.
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