Application of robotic indices to evaluate human upper-limb force capacities

N. Rezzoug 1 J. Jacquier-Bret 1 V. Hernández 2 P. Gorce 1
1 HANDIBIO - Laboratoire de Biomodélisation et Ingénierie des Handicaps - EA 4322
2 Departamento de Sistemas Informaticos y Computation
Abstract : The aim of the present study was to apply several indices originating from the robotics field to evaluate the upper-limb force generation capacities. From a rigid body model of the upper-limb, motion capture, and joint torque data at the shoulder, elbow, and wrist, the proposed indices allow to evaluate the force that can be generated at the hand in all Cartesian directions. The interest and limits of such indices are discussed in the framework of ergonomic and rehabilitation applications.
Keywords : artificial limbs biomechanics Elbow Ellipsoids ergonomic applications ergonomics force control force generation capacities hand human upper-limb force capacities Iron Jacobian matrices joints joint torque data medical robotics motion capture patient rehabilitation rehabilitation applications rigid body model robotic indices robotics field Robots Rotation measurement
Type de document :
Communication dans un congrès
IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society, 2012, Unknown, Unknown or Invalid Region. pp.5568--5573, 2012, 〈10.1109/IECON.2012.6389508〉
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https://hal-univ-tln.archives-ouvertes.fr/hal-01342240
Contributeur : Cécile Ferran <>
Soumis le : mardi 5 juillet 2016 - 15:35:23
Dernière modification le : vendredi 13 avril 2018 - 19:54:13

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N. Rezzoug, J. Jacquier-Bret, V. Hernández, P. Gorce. Application of robotic indices to evaluate human upper-limb force capacities. IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society, 2012, Unknown, Unknown or Invalid Region. pp.5568--5573, 2012, 〈10.1109/IECON.2012.6389508〉. 〈hal-01342240〉

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