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--- visual3d:documentation:kinematics_and_kinetics:inverse_dynamics [2024/11/04 21:11] – wikisysop
+++ visual3d:documentation:kinematics_and_kinetics:inverse_dynamics [2024/11/20 17:04] (current) – [Inverse Dynamics Calculations in Visual3D] wikisysop
@@ Line 83: / Line 83: @@
 An advantage of this recursive formulation is that the approach is generalizable because there is substantially less bookkeeping required to keep track of the external forces and torques.
+=== Sampling Rate ===
+Many people collect analog data at a higher rate than their motion capture data, which is the point rate.
+This is fine, as long as the higher rate is an integer multiple of the point rate.
+When force data are applied to a model, the resulting Link_Model_Based data are at point rate.
+This is because forces applied to segments cannot be calculated where the segment location is unknown (between point frames),
+i.e. there are no target data to generate segment locations for the ‘extra’ analog frames.
+However, the FORCE data retain the analog data rate.
+These ‘extra’ sample points are displayed as SUB frames within the point rate.
+The first subframe is synchronized with the point data, and it is this first subframe that is used for Inverse Dynamics calculations.
+Other Link_Model_Based data, which are based on segments, are also sampled at the point rate, since segmental data can only ever be calculated at point rate.
 === Center of Mass of the Model ===