Resumen
Maintaining balance on a slackline is a challenging task in itself. Walking on a high line, jumping and performing twists or somersaults seems nearly impossible. Contact forces are essential to understanding how humans maintain balance in such challenging situations, but they cannot always be measured directly. Therefore, we propose a contact model for slackline balancing that includes the interaction forces and torques as well as the position of the Center of Pressure. We apply this model within an optimization framework to perform a fully dynamic motion reconstruction of a jump with a rotation of approximately 180°" role="presentation" style="position: relative;">°°
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. Newton?s equations of motions are implemented as constraints to the optimization, hence the optimized motion is physically feasible. We show that a conventional kinematic analysis results in dynamic inconsistencies. The advantage of our method becomes apparent during the flight phase of the motion and when comparing the center of mass and angular momentum dynamics. With our motion reconstruction method all momentum is conserved, whereas the conventional analysis shows momentum changes of up to 30%. Furthermore, we get additional and reliable information on the interaction forces and the joint torque that allow us to further analyze slackline balancing strategies.