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opensim-org / opensim-core

SimTK OpenSim C++ libraries and command-line applications, and Java/Python wrapping.
https://opensim.stanford.edu
Apache License 2.0
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[Feature request] add Kalman Smoothing Algorithm #3509

Open mrrezaie opened 1 year ago

mrrezaie commented 1 year ago

Hi, It would be great if you add Kalman smoothing algorithm for inverse kinematics to your API.

The Kalman smoothing algorithm for inverse kinematics has been shown to be an accurate method to reconstruct joint kinematics from measured marker positions during gait. The accuracy of this method in the presence of instrumental errors and soft tissue artifacts is higher than the accuracy of traditional methods based on a least-squares fit between measured and modeled marker positions.

De Groote, F., De Laet, T., Jonkers, I., & De Schutter, J. (2008). Kalman smoothing improves the estimation of joint kinematics and kinetics in marker-based human gait analysis. Journal of biomechanics, 41(16), 3390-3398. https://simtk.org/projects/kalmanforik

Thank you.

antoinefalisse commented 1 year ago

For the records, the implementation is living here: https://github.com/antoinefalisse/opensim-core/tree/KS