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