A Kinematic Study of Human Torso Motion

2007 ◽  
Author(s):  
Christian Simonidis ◽  
Gu¨nther Stelzner ◽  
Wolfgang Seemann
Keyword(s):  
Kinematic Model ◽  
Shoulder Girdle ◽  
Humanoid Robots ◽  
Inverse Kinematic ◽  
Motion Data ◽  
Multibody Model ◽  
Natural Motion ◽  
Kinematic Study ◽  
Relative Coordinates ◽  
New Formulation

This paper illustrates a kinematic study of human torso motion in order to design and transfer human-like motion on humanoid robots. The realization is done using motion capture data and an optimization based inverse kinematic approach for mapping motion data to skeleton models with the main focus on reproducing realistic torso motion. The kinematic model is based on a multiybody approach using relative coordinates. According to the difficulty of marker based motion reconstruction of human torso movements a detailed multibody model of the spine with a coupling structure between vertebrae based on medical data is introduced. Then, a new formulation describing the kinematic constraints between pelvis and shoulder girdle is presented in order to simplify modeling effort while maintaining natural motion of the torso. Results are compared for key movements with common models. The developed models will be used for design application in the Collaborative Research Center 588 “Humanoid Robots - Learning and Cooperating Multimodal Robots”.

scholarly journals A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications

Mathematics ◽  
2021 ◽  
Vol 9 (13) ◽  
pp. 1468
Author(s):  
Luis Nagua ◽  
Carlos Relaño ◽  
Concepción A. Monje ◽  
Carlos Balaguer
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Humanoid Robots ◽  
Inverse Kinematic ◽  
Element Analysis ◽  
New Approach ◽  
Flexible Polymer ◽  
The Mathematical Model

A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.

A KINEMATIC MODEL OF THE UPPER LIMB WITH A CLAVICLE-LIKE LINK FOR HUMANOID ROBOTS

2008 ◽  
Vol 05 (01) ◽  
pp. 87-118 ◽  
Author(s):  
BERTRAND TONDU
Keyword(s):  
Upper Limb ◽  
Humanoid Robot ◽  
Frontal Zone ◽  
Kinematic Model ◽  
Shoulder Girdle ◽  
Humanoid Robots ◽  
Biomechanical Study ◽  
The Body ◽  
Human Arm ◽  
Shoulder Complex

Starting from a biomechanical study of the shoulder complex, the relevance of a serial nine d.o.f. kinematic model of the human arm, including a clavicle-like link, was analyzed. It is shown that this partial biomimetic joint model of the upper limb is able to mimic the ability of the natural arm to practically eliminate internal and bound singularities over a large frontal zone, so as to maintain its elbow laterally to the body. In this sense, it appears to be an advanced solution for increasing the dexterity of humanoid robot upper limbs, thus replacing classical seven d.o.f. anthropomorphic arms where a device mimicking the shoulder girdle mechanism is absent.

scholarly journals A Cross-Platform Web3D Monitoring System of the Three-Machine Equipment in a Fully Mechanized Coalface Based on the Skeleton Model and Sensor Data

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Zhengxiong Lu ◽  
Wei Guo ◽  
Shuanfeng Zhao ◽  
Chuanwei Zhang ◽  
Yuan Wang ◽  
...  
Keyword(s):  
Monitoring System ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Sensor Data ◽  
Kinematic Modeling ◽  
Hydraulic Support ◽  
Skeleton Model ◽  
Motion Data ◽  
Mesh Model ◽  
Cross Platform

A fully mechanized coalface is a rugged environment that has poor visibility. The traditional video monitoring system has problems such as a lack of realism, a blurry monitoring effect, and poor reliability. It is an important task to monitor the operations of the three-machine equipment (we will refer to the shearer, hydraulic support, and scraper conveyor as the three-machine equipment) intuitively, accurately, and timely and ensure that it is operating safely. This study proposed a cross-platform Web3D monitoring system for the three-machine equipment. First, the virtual mesh model and skeleton model that was embedded in the mesh model were established according to three-machine ontology and basic motion units. Second, the kinematic model of the three-machine skeleton was established via the inverse kinematic modeling of the hydraulic support and the coordinate calculation of the vertices on the three-machine skeleton. Third, the motion data, which were captured by sensors, were applied to drive the movement of the three-machine skeleton and mesh model. Finally, WebGL, which is the latest Internet graphics standard, was used to render the three-machine models, and the performance of this monitoring system is tested on different equipment in the laboratory. The results of the test show that the three-machine cross-platform monitoring system has splendid performance, and it realizes cross-platform 3D monitoring effectively in the laboratory. In the future, this system will be used as a supervisory tool and be integrated with the traditional monitoring system to monitor the three-machine equipment with the field staff.

scholarly journals SIMULATION AND ANALYZES OF INVERSE-KINEMATIC MODEL OF HUMANOID ROBOT HAND

2019 ◽  
pp. 117-122
Author(s):  
Martin Varga ◽  
Filip Filakovský ◽  
Ivan Virgala
Keyword(s):  
Numerical Modeling ◽  
Humanoid Robot ◽  
Least Squares Method ◽  
Mechanical Design ◽  
Kinematic Model ◽  
Humanoid Robots ◽  
Optimization Method ◽  
Inverse Kinematic ◽  
Robot Hand ◽  
Kinematic Modeling

Urgency of the research. Nowadays robotics and mechatronics come to be mainstream. With development in these areas also grow computing fastidiousness. Since there is significant focus on numerical modeling and algorithmization in kinematic and dynamic modeling. Target setting. Suitable approach for numerical modeling is important from the view of time consumption as well as stability of computing. Actual scientific researches and issues analysis. Designing and modeling of humanoid robots have high interest in the field of robotics. The hardware and mechanical design of robots is on significantly higher level in comparison with software of robots. So, modeling and control of robots is in the interest of researchers. Uninvestigated parts of general matters defining. Comparison of methods for numerical modeling of inverse kinematics. The research objective. Comparing four methods from the view of performance and stability. The statement of basic materials. This paper investigates the area of kinematic modeling of humanoid robot hand and simulation in MATLAB. Conclusions. The paper investigated inverse kinematic model approaches. There were analyzed pseudoinverse method, transpose of Jacobian method, damped least squares method as an optimization method. The results of the simulations show the advantages of optimization method. During the simulations it never fail in comparison with other tested methods.

On redundancy resolution of the human thumb, index and middle fingers in cooperative object translation

Robotica ◽  
2016 ◽  
Vol 35 (10) ◽  
pp. 1992-2017 ◽  
Author(s):  
Felix Orlando Maria Joseph ◽  
Laxmidhar Behera ◽  
Tomoya Tamei ◽  
Tomohiro Shibata ◽  
Ashish Dutta ◽  
...  
Keyword(s):  
Kinematic Model ◽  
Inverse Kinematic ◽  
Small Object ◽  
Redundancy Resolution ◽  
Joint Angles ◽  
Motion Data ◽  
Grasping And Manipulation ◽  
Finger Motion ◽  
And Control ◽  
Neuromuscular Coordination

SUMMARYRedundancy in motion, and synergy in neuromuscular coordination provides significant versatility to the human fingers while performing coordinated grasping and manipulation tasks in several ways. This paper explores how humans may resolve the redundancy in their thumb, index and middle fingers when these digits flex to cooperatively translate a small object toward the palm. It is observed that humans actively employ a secondary subtask of maximizing instantaneous manipulability that helps determine all intermediate finger configurations when performing the primary subtask of following a tip trajectory. This behavior is accurately captured by an inverse kinematic model based on aredundancyparameter. The joint angles get determined unambiguously though the redundancy parameter is shown to depend on the instantaneous finger configurations and also, to attain negative values. Further, this parameter is noted to vary significantly across subjects performing the same kinematic task. The findings, that are based on the experimental finger motion data garnered from 12 subjects, are reckoned to be of significant importance, especially in reference to the challenges in design and control of finger exoskeletons for cooperative manipulation.

scholarly journals Observation and analysis of diving beetle movements while swimming

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Debo Qi ◽  
Chengchun Zhang ◽  
Jingwei He ◽  
Yongli Yue ◽  
Jing Wang ◽  
...  
Keyword(s):  
Swimming Speed ◽  
High Speed ◽  
Kinematic Model ◽  
Movement Pattern ◽  
Unmanned Vehicles ◽  
Power Stroke ◽  
Cross Sectional ◽  
Motion Data ◽  
The Cross ◽  
Diving Beetle

AbstractThe fast swimming speed, flexible cornering, and high propulsion efficiency of diving beetles are primarily achieved by their two powerful hind legs. Unlike other aquatic organisms, such as turtle, jellyfish, fish and frog et al., the diving beetle could complete retreating motion without turning around, and the turning radius is small for this kind of propulsion mode. However, most bionic vehicles have not contained these advantages, the study about this propulsion method is useful for the design of bionic robots. In this paper, the swimming videos of the diving beetle, including forwarding, turning and retreating, were captured by two synchronized high-speed cameras, and were analyzed via SIMI Motion. The analysis results revealed that the swimming speed initially increased quickly to a maximum at 60% of the power stroke, and then decreased. During the power stroke, the diving beetle stretched its tibias and tarsi, the bristles on both sides of which were shaped like paddles, to maximize the cross-sectional areas against the water to achieve the maximum thrust. During the recovery stroke, the diving beetle rotated its tarsi and folded the bristles to minimize the cross-sectional areas to reduce the drag force. For one turning motion (turn right about 90 degrees), it takes only one motion cycle for the diving beetle to complete it. During the retreating motion, the average acceleration was close to 9.8 m/s2 in the first 25 ms. Finally, based on the diving beetle's hind-leg movement pattern, a kinematic model was constructed, and according to this model and the motion data of the joint angles, the motion trajectories of the hind legs were obtained by using MATLAB. Since the advantages of this propulsion method, it may become a new bionic propulsion method, and the motion data and kinematic model of the hind legs will be helpful in the design of bionic underwater unmanned vehicles.

scholarly journals Realtime Motion Assessment For Rehabilitation Exercises: Integration Of Kinematic Modeling With Fuzzy Inference

2014 ◽  
Vol 4 (4) ◽  
pp. 267-285 ◽  
Author(s):  
Wenbing Zhao ◽  
Roanna Lun ◽  
Deborah D. Espy ◽  
M. Ann Reinthal
Keyword(s):  
Fuzzy Inference ◽  
Kinematic Model ◽  
Integrated Approach ◽  
Kinematic Modeling ◽  
Motion Data ◽  
Fuzzy Interference System ◽  
Novel Approach ◽  
Motion Assessment ◽  
Rehabilitation Exercises ◽  
Rehabilitation Exercise

Abstract This article describes a novel approach to realtime motion assessment for rehabilitation exercises based on the integration of comprehensive kinematic modeling with fuzzy inference. To facilitate the assessment of all important aspects of a rehabilitation exercise, a kinematic model is developed to capture the essential requirements for static poses, dynamic movements, as well as the invariance that must be observed during an exercise. The kinematic model is expressed in terms of a set of kinematic rules. During the actual execution of a rehabilitation exercise, the similarity between the measured motion data and the model is computed in terms of their distances, which are then used as inputs to a fuzzy interference system to derive the overall quality of the execution. The integrated approach provides both a detailed categorical assessment of the overall execution of the exercise and the degree of adherence to individual kinematic rules.

A Sensitivity Analysis Based Method for Robot Calibration

1992 ◽  
Author(s):  
S. Kaizerman ◽  
B. Benhabib ◽  
R. G. Fenton ◽  
G. Zak
Keyword(s):  
Sensitivity Analysis ◽  
Kinematic Model ◽  
Calibration Procedure ◽  
Inverse Kinematic ◽  
Model Parameters ◽  
Robot Calibration ◽  
Adjoint Sensitivity ◽  
Analysis Methods ◽  
The Matrix ◽  
Direct Sensitivity

Abstract A new robot kinematic calibration procedure is presented. The parameters of the kinematic model are estimated through a relationship established between the deviations in the joint variables and the deviations in the model parameters. Thus, the new method can be classified as an inverse calibration procedure. Using suitable sensitivity analysis methods, the matrix of the partial derivatives of joint variables with respect to robot parameters is calculated without having explicit expressions of joint variables as a function of task space coordinates (closed inverse kinematic solution). This matrix provides the relationship between the changes in the joint variables and the changes in the parameter values required for the calibration. Two deterministic sensitivity analysis methods are applied, namely the Direct Sensitivity Approach and the Adjoint Sensitivity Method. The new calibration procedure was successfully tested by the simulated calibrations of a two degree of freedom revolute-joint planar manipulator.

scholarly journals Three Wheeled Omnidirecional Mobile Robot - Design and Implementation

2021 ◽  
Author(s):  
Darci Luiz Tomasi Junior ◽  
Eduardo Todt
Keyword(s):  
Mobile Robot ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Robot Design ◽  
Kinematic Equation ◽  
Design And Implementation ◽  
Validation Procedure ◽  
Functional Prototype ◽  
Detailed Presentation

This article presents a study of the resources necessary to providemovement and localization in three wheeled omnidirectionalrobots, through the detailed presentation of the mathematical proceduresapplicable in the construction of the inverse kinematic model,the presentation of the main hardware and software componentsused for the construction of a functional prototype, and the testprocedure used to validate the assembly.The results demonstrate that the developed prototype is functional,as well as the developed kinematic equation, given the smallerror presented at the end of the validation procedure.

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