Pith Number

pith:ABTDNUPZ

pith:2026:ABTDNUPZR7N63U44KJAZGS66PZ

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Dynamics Computation of Soft-Rigid Hybrid-Link System and Its Application to Motion Analysis of an Athlete Wearing Sport Prosthesis

Ko Yamamoto, Sunghee Kim, Taiki Ishigaki, Yuta Shimane

A soft-rigid hybrid-link model enables inverse kinematics and dynamics computation for athletes wearing flexible prostheses, with 12% error reported on ground-reaction-force estimation in a human-subject trial.

arxiv:2605.13192 v1 · 2026-05-13 · cs.RO

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Through a human subject experiment, we show that the inverse dynamics achieved approximately 12% error on the ground reaction force estimation. Furthermore, we provide the muscle force estimation considering muscle amputation and interaction force with the prosthesis leg deformation.

C2weakest assumption

The hybrid-link formulation accurately captures the interaction force between the rigid human skeleton and the flexible prosthesis without requiring additional parameters or post-hoc tuning that would invalidate the inverse-dynamics results.

C3one line summary

References

26 extracted · 26 resolved · 0 Pith anchors

[1] The fastest sprinter in 2068 has an artiﬁcial limb? ; 2015 2068

[2] Somatosensory computation for man-machine interface from motion-capture data and musculoskeletal human model 2005

[3] Opensim: open-source software to create and analyze dynamic simulations of movement 2007

[4] A prosthesis-speciﬁc multi-link segment model of lower- limb amputee sprinting 2016

[5] Inverse optimal control based enhancement of sprinting motion analysis with and without running-speciﬁc prostheses 2018

Receipt and verification

First computed	2026-05-18T03:08:48.802593Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

006636d1f98fdbedd39c5241934bde7e4716649f143fb7fc0d3e10865b0a31a9

Aliases

arxiv: 2605.13192 · arxiv_version: 2605.13192v1 · doi: 10.48550/arxiv.2605.13192 · pith_short_12: ABTDNUPZR7N6 · pith_short_16: ABTDNUPZR7N63U44 · pith_short_8: ABTDNUPZ

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/ABTDNUPZR7N63U44KJAZGS66PZ \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 006636d1f98fdbedd39c5241934bde7e4716649f143fb7fc0d3e10865b0a31a9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b9582571f045349171e202d1d2ba9bd0c316af619be61882d94a4c905b023921",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-13T08:49:44Z",
    "title_canon_sha256": "2335db42e6f97055e2114f35f612393f2299878b981b677b6fff34069467a56d"
  },
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  "source": {
    "id": "2605.13192",
    "kind": "arxiv",
    "version": 1
  }
}