Title :
Application of robotic indices to evaluate human upper-limb force capacities
Author :
Rezzoug, N. ; Jacquier-Bret, J. ; Hernandez, V. ; Gorce, P.
Author_Institution :
HandiBio (EA 4322), Univ. du Sud - Toulon - Var, La Garde, France
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; ergonomics; force control; medical robotics; patient rehabilitation; ergonomic applications; force generation capacities; hand; human upper-limb force capacities; joint torque data; motion capture; rehabilitation applications; rigid body model; robotic indices; robotics field; Elbow; Ellipsoids; Iron; Jacobian matrices; Joints; Robots; Rotation measurement;
Conference_Titel :
IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4673-2419-9
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2012.6389508
