Determining the static joint torques of a digital human model considering balance

Jingzhou Yang, Joo Hyun Kim, Yujiang Xiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a methodology for determining the static joint torques of a digital human model considering balance for both standing and seating tasks. An alternative and efficient formulation of the Zero-Moment Point (ZMP) 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.

Original languageEnglish (US)
Title of host publicationASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
Pages399-409
Number of pages11
Volume7
EditionPARTS A AND B
DOIs
StatePublished - 2009
EventASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009 - San Diego, CA, United States
Duration: Aug 30 2009Sep 2 2009

Other

OtherASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
CountryUnited States
CitySan Diego, CA
Period8/30/099/2/09

Fingerprint

Torque
Moment
Formulation
Seats
Gravity
Gravitation
Physics
Model
Methodology
Alternatives
Zero
Human
Simulation

Keywords

  • Human-like mechanism
  • Recursive dynamics
  • Static torques
  • Zero-Moment Point

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Cite this

Yang, J., Kim, J. H., & Xiang, Y. (2009). Determining the static joint torques of a digital human model considering balance. In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009 (PARTS A AND B ed., Vol. 7, pp. 399-409) https://doi.org/10.1115/DETC2009-87529

Determining the static joint torques of a digital human model considering balance. / Yang, Jingzhou; Kim, Joo Hyun; Xiang, Yujiang.

ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009. Vol. 7 PARTS A AND B. ed. 2009. p. 399-409.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yang, J, Kim, JH & Xiang, Y 2009, Determining the static joint torques of a digital human model considering balance. in ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009. PARTS A AND B edn, vol. 7, pp. 399-409, ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009, San Diego, CA, United States, 8/30/09. https://doi.org/10.1115/DETC2009-87529
Yang J, Kim JH, Xiang Y. Determining the static joint torques of a digital human model considering balance. In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009. PARTS A AND B ed. Vol. 7. 2009. p. 399-409 https://doi.org/10.1115/DETC2009-87529
Yang, Jingzhou ; Kim, Joo Hyun ; Xiang, Yujiang. / Determining the static joint torques of a digital human model considering balance. ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009. Vol. 7 PARTS A AND B. ed. 2009. pp. 399-409
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