DocumentCode :
2910935
Title :
On realistic human motion simulation for virtual manipulation tasks
Author :
Hue, V. ; Fourquet, J.-Y. ; Chiron, P.
Author_Institution :
Lab. Genie de Production, Univ. de Toulouse, Toulouse
fYear :
2008
fDate :
17-20 Dec. 2008
Firstpage :
167
Lastpage :
172
Abstract :
Repetitive motion on industrial workstations is at the origin of musculoskeletal disorders (MSD). There is a need for new simulation tools that allows for human motion prediction. This paper addresses the problem of realistic human motion simulation on industrial workstations. It is based on motion analysis and control synthesis on a kinematics basis. Literature and motion captures are compared. Then, a scheme based on optimization in Cartesian and motor space is proposed and tested on 2 significant examples. Singular Value theory is used for determining the shape of hand paths. Finally, an industrial application is simulated. Simulations are realized with a 23 Degrees Of Freedom (DOF) virtual human and are also of interest for humanoid robots.
Keywords :
control system synthesis; humanoid robots; industrial manipulators; motion estimation; virtual manufacturing; control synthesis; human motion prediction; humanoid robots; industrial workstations; musculoskeletal disorders; realistic human motion simulation; repetitive motion; singular value theory; virtual manipulation tasks; Humanoid robots; Humans; Kinematics; Motion analysis; Motion control; Musculoskeletal system; Predictive models; Shape; Testing; Workstations; kinematics; motion capture; robotics; singular value decomposition; task and motor space optimization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
Type :
conf
DOI :
10.1109/ICARCV.2008.4795511
Filename :
4795511
Link To Document :
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