DocumentCode
581462
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
fYear
2012
fDate
25-28 Oct. 2012
Firstpage
5568
Lastpage
5573
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;
fLanguage
English
Publisher
ieee
Conference_Titel
IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Conference_Location
Montreal, QC
ISSN
1553-572X
Print_ISBN
978-1-4673-2419-9
Electronic_ISBN
1553-572X
Type
conf
DOI
10.1109/IECON.2012.6389508
Filename
6389508
Link To Document