Research Papers

Optimal Posture and Supporting Hand Force Prediction for Common Automotive Assembly One-Handed Tasks

[+] Author and Article Information
Bradley Howard, Burak Ozsoy

Department of Mechanical Engineering,
Texas Tech University,
Lubbock, TX 79409

James Yang

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

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 17, 2012; final manuscript received September 11, 2013; published online March 12, 2014. Assoc. Editor: Kazem Kazerounian.

J. Mechanisms Robotics 6(2), 021009 (Mar 12, 2014) (10 pages) Paper No: JMR-12-1031; doi: 10.1115/1.4025749 History: Received March 17, 2012; Revised September 11, 2013

People often complete tasks using one hand for the task and one hand for support. These one-handed support tasks can be found in many different types of jobs, such as automotive assembly jobs. Optimization-based posture prediction has proven to be a valid tool in predicting the postures necessary to complete the tasks, but the related external support forces have been prescribed and not predicted. This paper presents a method in which the optimal posture and related supporting hand forces can be predicted simultaneously using optimization and stability analysis techniques. Postures are evaluated using a physics-based human performance measure (HPM) while external forces are assessed using stability analysis. The physics-based performance measures are based on joint torque. Stability is analyzed using criteria based on a 3D zero moment point (ZMP). The human model used in the prediction contains 56 degrees of freedom and is based on a 50th percentile female in stature. Tasks based on common automotive assembly one-handed tasks found in literature are considered as examples to test the proposed method. Overall, the predicted supporting hand forces have good correlation with experimentally measured forces.

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Fig. 1

A general kinematic mechanism

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Fig. 2

A 56-DOF human model

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Fig. 3

Tasks as defined in Ref. [10]. (a) Hose insertion; (b) I-shaft install; (c) radio antenna from outside; and (d) radio antenna from inside

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Fig. 4

Resultant reaction loads

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Fig. 5

Resultant reaction loads transfer to PZMP

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Fig. 7

Distance constraints between the end-effector and target

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Fig. 8

Force orientation constraint

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Fig. 9

Predicted and experimental postures for Task 1: (a) predicted posture and (b) experimental posture

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Fig. 10

External support forces for the hose insertion task

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Fig. 11

Predicted and experimental postures for Task 2: (a) predicted posture and (b) experimental posture

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Fig. 12

Predicted and experimental external support forces for the I-shaft install task

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Fig. 13

Predicted and experimental postures for Task 3: (a) predicted posture and (b) experimental posture

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Fig. 14

Predicted and experimental external support forces for Task 3

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Fig. 15

Predicted and experimental postures for Task 4: (a) predicted posture and (b) experimental posture

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Fig. 16

Predicted and experimental external support forces for Task 4



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