Deriving models of human body motion is important for prosthetics, rehabilitation and development of humanoids. We present a method that simplifies the derivation of equations of motion of human movements. We illustrate our approach by deriving motion models of a person riding in a moving bus. Our approach simplifies the derivation of dynamics as only open chain dynamics are to be derived. The kinematic constraints are then introduced to represent a complete system model in which the contact forces appear explicitly. We then constrain the contact forces based on the performance requirements to determine the feasibility of motions, which is difficult to determine with the traditional methods. Our model allows for the design and control analysis, specifically, the derivation of the relationship between the change in rider’s posture and the feasibility of motions.
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ASME 2008 Dynamic Systems and Control Conference
October 20–22, 2008
Ann Arbor, Michigan, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4335-2
PROCEEDINGS PAPER
Human Motion Modeling With a Robotics Method: Analysis of a Person Riding a Bus
Ashish D. Deshpande,
Ashish D. Deshpande
University of Washington, Seattle, WA
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Jonathan E. Luntz
Jonathan E. Luntz
University of Michigan, Ann Arbor, MI
Search for other works by this author on:
Ashish D. Deshpande
University of Washington, Seattle, WA
Jonathan E. Luntz
University of Michigan, Ann Arbor, MI
Paper No:
DSCC2008-2192, pp. 647-652; 6 pages
Published Online:
June 29, 2009
Citation
Deshpande, AD, & Luntz, JE. "Human Motion Modeling With a Robotics Method: Analysis of a Person Riding a Bus." Proceedings of the ASME 2008 Dynamic Systems and Control Conference. ASME 2008 Dynamic Systems and Control Conference, Parts A and B. Ann Arbor, Michigan, USA. October 20–22, 2008. pp. 647-652. ASME. https://doi.org/10.1115/DSCC2008-2192
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