scholarly journals Higher Dimensional Spatial Expression of Upper Limb Manipulation Ability Based on Human Joint Torque Characteristics

10.5772/9344 ◽  
2010 ◽  
Author(s):  
Makoto Sasaki ◽  
Takehiro Iwami ◽  
Kazuto Miyawaki ◽  
Ikuro Sato ◽  
Goro Obinata ◽  
...  
Keyword(s):  
Upper Limb ◽  
Joint Torque ◽  
Spatial Expression ◽  
Higher Dimensional ◽  
Human Joint

Spatial Expression of Manipulation Ability of the Upper Limb Considering Asymmetry of Joint Torque

2004 ◽  
Vol 2004.40 (0) ◽  
pp. 247-248
Author(s):  
Ken SHIMIZU ◽  
Makoto SASAKI ◽  
Takehiro IWAMI ◽  
Kazuto MIYAWAKI ◽  
Goro OBINATA ◽  
...  
Keyword(s):  
Upper Limb ◽  
Joint Torque ◽  
Spatial Expression

scholarly journals Three-Dimensional Spatial Expression of the Manipulation Ability of the Upper Limb Considering Asymmetry of Maximum Joint Torque

2004 ◽  
Vol 70 (697) ◽  
pp. 2661-2667 ◽  
Author(s):  
Makoto SASAKI ◽  
Takehiro IWAMI ◽  
Kazuto MIYAWAKI ◽  
Hitoshi DOKI ◽  
Goro OBINATA
Keyword(s):  
Upper Limb ◽  
Three Dimensional ◽  
Joint Torque ◽  
Spatial Expression

scholarly journals Upper-Limb Isometric Force Feasible Set: Evaluation of Joint Torque-Based Models

Biomechanics ◽  
2021 ◽  
Vol 1 (1) ◽  
pp. 102-117
Author(s):  
Nasser Rezzoug ◽  
Vincent Hernandez ◽  
Philippe Gorce
Keyword(s):  
Upper Limb ◽  
Isometric Force ◽  
Joint Torque ◽  
Force Distribution ◽  
Prediction Errors ◽  
Feasible Set ◽  
Joint Torques ◽  
Motor Abilities ◽  
Capacity Evaluation ◽  
Measured Force

A force capacity evaluation for a given posture may provide better understanding of human motor abilities for applications in sport sciences, rehabilitation and ergonomics. From data on posture and maximum isometric joint torques, the upper-limb force feasible set of the hand was predicted by four models called force ellipsoid, scaled force ellipsoid, force polytope and scaled force polytope, which were compared with a measured force polytope. The volume, shape and force prediction errors were assessed. The scaled ellipsoid underestimated the maximal mean force, and the scaled polytope overestimated it. The scaled force ellipsoid underestimated the volume of the measured force distribution, whereas that of the scaled polytope was not significantly different from the measured distribution but exhibited larger variability. All the models characterized well the elongated shape of the measured force distribution. The angles between the main axes of the modelled ellipsoids and polytopes and that of the measured polytope were compared. The values ranged from 7.3° to 14.3°. Over the entire surface of the force ellipsoid, 39.7% of the points had prediction errors less than 50 N; 33.6% had errors between 50 and 100 N; and 26.8% had errors greater than 100N. For the force polytope, the percentages were 56.2%, 28.3% and 15.4%, respectively.

Influence of hinge positioning on human joint torque in industrial trunk exoskeleton

2019 ◽  
pp. 133-142 ◽  
Author(s):  
Elisa Panero ◽  
Giovanni Gerardo Muscolo ◽  
Stefano Pastorelli ◽  
Laura Gastaldi
Keyword(s):  
Joint Torque ◽  
Human Joint

Upper-Limb Power-Assist Control for Agriculture Load Lifting

2009 ◽  
Vol 3 (6) ◽  
pp. 716-722 ◽  
Author(s):  
Eiichi Yagi ◽  
◽  
Daisuke Harada ◽  
Masaaki Kobayashi ◽  
◽  
...  
Keyword(s):  
Low Back Pain ◽  
Back Pain ◽  
Upper Limb ◽  
Experimental Results ◽  
Joint Torque ◽  
Agricultural Workers ◽  
Low Back ◽  
Shoulder Movement ◽  
Elbow Movement ◽  
Link Model

This paper discusses upper-limb power-assist control using a pneumatic rotary actuator to support shoulder movement and an air cylinder to support elbow movement by agricultural workers lifting a 30 kg rice bag without inducing low back pain. Surface electromyogram (EMG) signals are used as trigger signals, joint support torque is calculated based on the antigravity term of necessary joint torque, estimated based on the dynamics of a human approximated link model. Experimental results demonstrate the effectiveness of proposed power-assist control.

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