Estimation of the Operating Force From the Human Motion

In this research, we propose a new method to estimate the operating force exerted when moving an object with the hands by observing the human motion only. The required force for moving the object can be estimated without equipping any sensors on the object or on the human body. From the measured joi...

Full description

Saved in:
Bibliographic Details
Published inConference proceedings (IEEE Engineering in Medicine and Biology Society. Conf.) Vol. 2018; pp. 1751 - 1754
Main Authors Ming Ding, Baba, Ryuzo, Masanthia, Kristada, Garcia Ricardez, Gustavo Alfonso, Takamatsu, Jun, Ogasawara, Tsukasa
Format Conference Proceeding Journal Article
LanguageEnglish
Published United States IEEE 01.07.2018
Subjects
Dynamics
Foot
Force
Force measurement
Motion measurement
Robots
Sensors
Online AccessGet full text
ISSN1557-170X
1558-4615
DOI10.1109/EMBC.2018.8512702

Cover

More Information
Summary:In this research, we propose a new method to estimate the operating force exerted when moving an object with the hands by observing the human motion only. The required force for moving the object can be estimated without equipping any sensors on the object or on the human body. From the measured joint angles, we calculate the center of mass and the hand's position using a human model. Then, the operating forces of the hands can be estimated by considering the balance of forces and moments using a dynamic model. In the experiments, we estimated the operating force of the hands for three representative movements of operating a box: pushing, pulling and lifting. By comparing the estimated and measured operating force, we verified the effectiveness of the proposed method with human subjects.
ISSN:1557-170X
1558-4615
DOI:10.1109/EMBC.2018.8512702