Calibration Method of the Human-Body Segment Inertial Parameters Using Inverse Dynamics, LS technique and a priori anatomical values

2012 ◽  
Vol 45 (22) ◽  
pp. 729-734 ◽  
Author(s):  
Gentiane Venture ◽  
Maxime Gautier
Author(s):  
Gary David Sloan

A tool that predicts the trajectories of linked human body segments on the basis of their inertial properties could be useful in the analysis of fall accidents. In order to be of value in forensic applications, relevant attributes of both the plaintiff and accident site must be modeled at some requisite level of fidelity. By systematically varying different attributes of the model, e.g., avatar posture, body segment velocity, coefficient-of-friction between modeled treads and footwear, it is possible to examine the likely consequences on body-segment trajectories. Trajectories and collisions can then be compared with patterns of injury, plaintiff testimony, and witness accounts.


Author(s):  
Lionel Hulttinen ◽  
Janne Koivumäki ◽  
Jouni Mattila

Abstract In this paper, a nonlinear model-based controller with parameter identification is designed for a rigid open-chain manipulator arm actuated by servovalve-controlled hydraulic cylinders. The arising problem in adopting model-based controllers is how to acquire accurate estimates of system parameters, with limited available information about either the hydraulic actuator parameters or manipulator link inertial parameters. The objective of this study is to identify both the rigid-body parameters of the links and the hydraulic actuator parameters from collected cylinder chamber pressure and joint angle data, while no a priori knowledge of these parameters is available. Same physical plant models are used for control design as well as for parameter identification. Experimental results show that the proposed nonlinear model-based control scheme results in acceptable Cartesian position tracking performance in free-space motion when using the identified parameters.


2007 ◽  
Vol 40 (3) ◽  
pp. 543-553 ◽  
Author(s):  
R. Dumas ◽  
L. Chèze ◽  
J.-P. Verriest

2019 ◽  
Vol 2019.56 (0) ◽  
pp. D034
Author(s):  
Hisashi NAITO ◽  
Kodai SEKINE ◽  
Yuga IWAKIRI ◽  
Shinobu TANAKA

1975 ◽  
Vol 97 (1) ◽  
pp. 49-57 ◽  
Author(s):  
J. A. Bartz ◽  
C. R. Gianotti

A digital computer program has been developed to calculate dimensional and inertial properties of the human body. The program has been designed so that the user may either select a data set from a program library, or compute a data set from a geometric man-model. From primary program inputs of sex, standing height, seated height, and weight, the routines compute body segment link lengths, contact surface dimensions, masses, and moments of inertia from inputted sets of anthropometric data. Overall validity of the formulation and techniques has been established by comparing computed results with measurements on the human body reported by various investigators.


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