Conference proceeding
Human upper body motion prediction
PROCEEDINGS OF THE IASTED INTERNATIONAL CONFERENCE ON APPLIED SIMULATION AND MODELLING, pp.571-576
2004
Abstract
Many tasks require the arm to move from its initial position to a specified target position without any constraints or via a point for a curved path in case of obstacle avoidance. In this paper we present a formulation for predicting the human upper body motion. Having obtained the desired path in Cartesian space using the minimum jerk theory and represented each joint motion by a B-spline curve with unknown parameters (i.e., control points), an optimization approach, instead of inverse kinematics, is used to calculate control points of each joint spline curve. Cost function includes multi-part: (1) discomfort function that evaluates displacement of each joint away from its neutral position; (2) inconsistency function, which is the joint rate change (first derivative) and predicted overall trend from the initial point to the end point; (3) nonsmoothness function of the trajectory, which is the second derivative of the joint trajectory; (4) noncontinuity function, which is the amplitudes of joint angle rates at the start and end points. While this work has been limited to a 15-degree-of-freedom (DOF) of the upper body, the theory presented herein is expandable to any part of the body that can be represented as segmental links of a kinematic chain. Illustrative examples are presented and an interface is set up to visualize the results.
Details
- Title: Subtitle
- Human upper body motion prediction
- Creators
- K Abdel-MalekJ Z YangZ MiV C PatelK Nebel
- Contributors
- M H Hamza (Editor)
- Resource Type
- Conference proceeding
- Publication Details
- PROCEEDINGS OF THE IASTED INTERNATIONAL CONFERENCE ON APPLIED SIMULATION AND MODELLING, pp.571-576
- Language
- English
- Date published
- 2004
- Academic Unit
- Mechanical Engineering; Roy J. Carver Department of Biomedical Engineering
- Record Identifier
- 9984232130502771
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