 |
Conference papers
Application of robotic indices to evaluate human upper-limb force capacities
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
https://hal-univ-tln.archives-ouvertes.fr/hal-01342240
Contributor : Claire Remond <>
Submitted on : Tuesday, July 5, 2016 - 3:35:23 PM
Last modification on : Friday, April 13, 2018 - 7:54:13 PM
Contributor : Claire Remond <>
Submitted on : Tuesday, July 5, 2016 - 3:35:23 PM
Last modification on : Friday, April 13, 2018 - 7:54:13 PM