0
Research Papers

Static Joint Torque Determination of a Human Model for Standing and Seating Tasks Considering Balance

[+] Author and Article Information
Jingzhou (James) Yang2

Department of Mechanical Engineering, Texas Tech University, Lubbock, TX 79409james.yang@ttu.edu

Joo H. Kim

Department of Mechanical and Aerospace Engineering, Polytechnic Institute of NYU, Brooklyn, NY 11201

2

Corresponding author.

J. Mechanisms Robotics 2(3), 031005 (Jul 14, 2010) (9 pages) doi:10.1115/1.4001782 History: Received October 23, 2009; Revised May 03, 2010; Published July 14, 2010; Online July 14, 2010

Estimation of the risk of injury to human different joints during occupational tasks plays an important role to reduce injuries before the operators carry out the tasks. This paper presents a methodology for determining the static joint torques of a human model considering balance for both standing and seating tasks such as weight lifting, material handling, and seated operating tasks in the assembly line. A high fidelity human model has been developed, and recursive dynamics has been used to formulate the static equation of motion. An alternative and efficient formulation of the zero-moment point for static balance and the approximated (ground/seat) support reaction forces/moments are derived from the resultant reaction loads, which includes the gravity and externally applied loads. The proposed method can be used for both standing and seating tasks for assessing the stability/balance of the posture. The proposed formulation can be beneficial to physics-based simulation of humanoids and human models. Also, the calculated joint torques can be considered as an indicator to assess the risks of injuries when human models perform various tasks. The computational time for each case is close to 0.015 s.

Copyright © 2010 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

A kinematic chain of joints

Grahic Jump Location
Figure 2

Whole-body human mechanism and global DOFs: (a) global DOFs; (b) human model

Grahic Jump Location
Figure 5

Free-body diagram of the human-like mechanism and the resultant reaction loads without SRFs

Grahic Jump Location
Figure 6

Global orientations in terms of the Euler angles

Grahic Jump Location
Figure 8

The feet support region for standing tasks

Grahic Jump Location
Figure 9

The top view of the seat support region

Grahic Jump Location
Figure 10

Illustration of the proposed algorithm for SRFs

Grahic Jump Location
Figure 11

The reaction forces are distributed to two points on the body-seat contact surface

Grahic Jump Location
Figure 12

Standing posture

Grahic Jump Location
Figure 14

Seated posture: (a) pushing button (Posture 1) and (b) pulling toolbox (Posture 2)

Grahic Jump Location
Figure 15

ZMP plot for postures (circle—0.1 N; square—50 N)

Grahic Jump Location
Figure 16

Numerical algorithm flow chart

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In