Modelling The Human Upper Body
In Three-dimensional Motion
Author(s)
A.B. Thornton-Trump, C.Y.A. Chan & K.M.A. Weiss-Bundy
Abstract
A six-link model representing the human upper body and arm was developed. A
set of joint restraints based on the ergonomic ranges of joint angles has been
applied to allow the synthesis of upper body motion. Using anthropometric
information for scaling subject size and mass parameters, an inverse dynamic
model of arms and the thorax is employed to determine the necessary joint
moments for the desired trajectory and speed of the hand. Acceleration profiles
along the proposed trajectory allow the full synthesis of a motion for a human
performing a simple pick-and-place task. Three-dimensional data was gathered
for a human subject performing the same task. The trajectory naturally used by
the human
Keywords
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