Journal article
Towards understanding the workspace of human limbs
Ergonomics, Vol.47(13), pp.1386-1405
10/22/2004
DOI: 10.1080/00140130410001724255
PMID: 15513715
Abstract
Significant attention in recent years has been given towards obtaining a better understanding of human joint ranges, measurement, and functionality, especially in conjunction with commands issued by the central nervous system. Studies of those commands often include computer algorithms to describe path trajectories. These are typically in 'open-form' with specific descriptions of motions, but not 'closed form' mathematical solutions of the full range of possibilities. This paper proposes a rigorous 'closed form' kinematic formulation to model human limbs, understand their workspace (also called the reach envelope), and delineate barriers therein where a path becomes difficult or impossible owing to physical constraints. The novel ability to visualize barriers in the workspace emphasizes the power of these closed form equations. Moreover, this formulation takes into account joint limits in terms of ranges of motion and identifies barriers therein where a person is required to attain a different posture. Examples include the workspaces of a typical forearm and a typical finger. The wrist's range of motion is used to illustrate the visualization of the progress in the functionality of a wrist undergoing rehabilitation.
Details
- Title: Subtitle
- Towards understanding the workspace of human limbs
- Creators
- Karim Abdel-Malek - Virtual Soldier Research Programme, Center for Computer-Aided Design, Department of Mechanical & Industrial Engineering , The University of IowaJingzhou Yang - Virtual Soldier Research Programme, Center for Computer-Aided Design, Department of Mechanical & Industrial Engineering , The University of IowaRichard Brand - Department of Orthopedics , The University of IowaEmad Tanbour - Hon Industries
- Resource Type
- Journal article
- Publication Details
- Ergonomics, Vol.47(13), pp.1386-1405
- Publisher
- Taylor & Francis Ltd
- DOI
- 10.1080/00140130410001724255
- PMID
- 15513715
- ISSN
- 0014-0139
- eISSN
- 1366-5847
- Language
- English
- Date published
- 10/22/2004
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984064100802771
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