3D HUMAN LIFTING MOTION PREDICTION WITH DIFFERENT PERFORMANCE MEASURES

被引：26
|
作者：
Xiang, Yujiang [1 ]
Arora, Jasbir S. [1 ]
Abdel-Malek, Karim [1 ]
机构：
[1] Univ Iowa, Coll Engn, Ctr Comp Aided Design CCAD, Virtual Soldier Res Program VSR, Iowa City, IA 52242 USA
来源：
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS | 2012年 / 9卷 / 02期
关键词：
Lifting; manual material handling; effort; balance; spine pressure; spine shear; motion prediction; OPTIMIZATION; LOADS;
D O I：
10.1142/S0219843612500120
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents an optimization-based method for predicting a human dynamic lifting task. The three-dimensional digital human skeletal model has 55 degrees of freedom. Lifting motion is generated by minimizing an objective function (human performance measure) subjected to basic physical and kinematical constraints. Four objective functions are investigated in the formulation: the dynamic effort, the balance criterion, the maximum shear force at spine joint and the maximum pressure force at spine joint. The simulation results show that various human performance measures predict dfifferent lifting strategies: the balance and shear force performance measures predict back-lifting motion and the dynamic effort and pressure force performance measures generate squat-lifting motion. In addition, the effects of box locations on the lifting strategies are also studied. All kinematics and kinetic data are successfully predicted for the lifting motion by using the predictive dynamics algorithm and the optimal solution was obtained in about one minute.
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收藏
页数：21
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