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

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

Domains: Human health and pathology

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 Region. pp.5568--5573, ⟨10.1109/IECON.2012.6389508⟩. ⟨hal-01342240⟩