手法を比較

	逆動力学	順運動学
分野	バイオメカニクス	バイオメカニクス
系統	Process / pipeline	Process / pipeline
提唱年	1990	1986
提唱者	David Winter	John Craig
種類	Computational analysis pipeline	Computational geometric pipeline
原典	Winter, D. A. (1990). Biomechanics and Motor Control of Human Movement. Wiley-Interscience.	Craig, J. J. (2005). Introduction to Robotics: Mechanics and Control (3rd ed.). Pearson.
別名	Inverse problem, Biomechanical inverse dynamics	FK, Kinematic chain, Anatomical chain
関連	3	3
概要	Inverse dynamics is a biomechanical analysis technique that estimates the forces and moments acting on joints during movement by working backward from observed motion and ground reaction forces. Introduced by David Winter in the early 1990s, it is fundamental to understanding how muscles and joints generate and control human motion.	Forward kinematics is the calculation of the position and orientation of a distal body segment (such as the hand) based on the joint angles of proximal segments. Originally formalized in robotics by John Craig and adapted to biomechanics, it allows practitioners to predict endpoint location from known joint configuration.