پیوندهای مفید
آمار
| تعداد نشریات | 8 |
| تعداد شمارهها | 438 |
| تعداد مقالات | 5,650 |
| تعداد مشاهده مقاله | 7,683,872 |
| تعداد دریافت فایل اصل مقاله | 6,340,091 |
Comprehensive Evaluation of Human Hand Manipulability During Walking at Different Speeds | ||
| AUT Journal of Mechanical Engineering | ||
| مقاله 2، دوره 6، شماره 2، شهریور 2022، صفحه 179-188 اصل مقاله (1.09 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/ajme.2022.20391.5999 | ||
| نویسندگان | ||
| Behnam Miripour Fard* 1؛ Sjoerd M Bruijn2؛ Amir Hajiloo3 | ||
| 1Faculty of Mechanical Engineering, University of Guilan, Rasht, Iran | ||
| 2Department of Human Movement Sciences, VU University, Amsterdam, Netherlands | ||
| 3Independent Scholar, Los Angeles, California, USA | ||
| چکیده | ||
| Using the experimental kinematic data of 11 healthy subjects, the kinematic manipulability of human hands during walking is evaluated. A total of 37 degrees of freedom mechanical model of the human body is used for this purpose. The forward kinematics and Jacobian of the model have been derived using the Denavit-Hartenberg convention. Experimental kinematics are mapped on the model using the inverse kinematic method based on optimization. The effect of walking speed on the profile and symmetry of manipulability for both right and left hands are studied. Statistical analysis showed that the walking speed can change the manipulability of hands and there is no quantitative symmetry between the manipulability of right and left hands. The results showed that there is more ability to create velocity for the hands-on horizontal plane than on other anatomical planes during walking. The results of sensitivity analysis showed the importance of the values of the hip and shoulder joints on the manipulability of the hands. The experimental manipulability profile of healthy human hands presented in this article can be used as a reference in rehabilitation to evaluate the effectiveness of physiotherapy as well as evaluation of hand function after surgery and also designing realistic motions for humanoids. | ||
| کلیدواژهها | ||
| Hand movements؛ Manipulability؛ Kinematic mapping؛ Motion analysis | ||
| مراجع | ||
|
[1] T. Yoshikawa, Manipulability of robotic mechanisms, The international journal of Robotics Research, 4(2) (1985) 3-9.
[2] H. Su, S. Li, J. Manivannan, L. Bascetta, G. Ferrigno, E. De Momi, Manipulability optimization control of a serial redundant robot for robot-assisted minimally invasive surgery, in: 2019 International Conference on Robotics and Automation (ICRA), IEEE, 2019, pp. 1323-1328.
[3] J. Lachner, V. Schettino, F. Allmendinger, M.D. Fiore, F. Ficuciello, B. Siciliano, S. Stramigioli, The influence of coordinates in robotic manipulability analysis, Mechanism and machine theory, 146 (2020) 103722.
[4] J.Z. L. Jin, X. Luo,M. Liu,Sh. Li, L. Xiao,Z. Yang, Perturbed Manipulability Optimization in a Distributed Network of Redundant Robots, IEEE Transactions on Industrial Electronics, 68(8) (2021) 7209-7220.
[5] J.L. Ruonan Xu, Mingming Wang, Kinematic and dynamic manipulability analysis for free-floating space robots with closed chain constraints, Robotics and Autonomous Systems, 130 (2020) 1035-1049.
[6] H. Endo, Application of robotic manipulability indices to evaluate thumb performance during smartphone touch operations, Ergonomics, 58(5) (2015) 736-747.
[7] N. Vahrenkamp, T. Asfour, G. Metta, G. Sandini, R. Dillmann, Manipulability analysis, in: 2012 12th ieee-ras international conference on humanoid robots (humanoids 2012), IEEE, 2012, pp. 568-573.
[8] J. Jacquier-Bret, P. Gorce, N. Rezzoug, The manipulability: a new index for quantifying movement capacities of upper extremity, Ergonomics, 55(1) (2012) 69-77.
[9] I. Lee, J.-H. Oh, Humanoid posture selection for reaching motion and a cooperative balancing controller, Journal of Intelligent & Robotic Systems, 81(3-4) (2016) 301-316.
[10] J. Lenarcic, N. Klopcar, Positional kinematics of humanoid arms, Robotica, 24(1) (2006) 105.
[11] K. Inoue, H. Yoshida, T. Arai, Y. Mae, Mobile manipulation of humanoids-real-time control based on manipulability and stability, in: Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No. 00CH37065), IEEE, 2000, pp. 2217-2222.
[12] N. Jaquier, L. Rozo, S. Calinon, Analysis and Transfer of Human Movement Manipulability in Industry-like Activities, arXiv preprint arXiv:2008.01402, (2020).
[13] L. Peternel, D.T. Schøn, C. Fang, Binary and Hybrid Work-Condition Maps for Interactive Exploration of Ergonomic Human Arm Postures, Frontiers in Neurorobotics, 14 (2021) 114.
[14] T. Yoshikawa, Foundations of robotics: analysis and control, MIT press, 1990.
[15] B.M. Fard, A manipulability analysis of human walking, Journal of biomechanics, 83 (2019) 157-164.
[16] B.M. Fard, S.M. Bruijn, On the manipulability of swing foot and stability of human locomotion, Multibody System Dynamics, 46(2) (2019) 109-125.
[17] T. Petrič, L. Peternel, J. Morimoto, J. Babič, Assistive arm-exoskeleton control based on human muscular manipulability, Frontiers in neurorobotics, 13 (2019) 30.
[18] Y. Wang, J. Qiu, H. Cheng, X. Zheng, Analysis of Human–Exoskeleton System Interaction for Ergonomic Design, Human factors, (2020) 0018720820913789.
[19] M.W. Spong, S. Hutchinson, M. Vidyasagar, Robot modeling and control, John Wiley & Sons, 2020.
[20] S.M. Bruijn, O.G. Meijer, P.J. Beek, J.H. van Dieën, The effects of arm swing on human gait stability, Journal of experimental biology, 213(23) (2010) 3945-3952.
[21] J. Kuhtz-Buschbeck, K. Brockmann, R. Gilster, A. Koch, H. Stolze, Asymmetry of arm-swing not related to handedness, Gait & posture, 27(3) (2008) 447-454.
[22] T.C. Pataky, Generalized n-dimensional biomechanical field analysis using statistical parametric mapping, Journal of biomechanics, 43(10) (2010) 1976-1982.
[23] T.C. Pataky, J. Vanrenterghem, M.A. Robinson, Zero-vs. one-dimensional, parametric vs. non-parametric, and confidence interval vs. hypothesis testing procedures in one-dimensional biomechanical trajectory analysis, Journal of biomechanics, 48(7) (2015) 1277-1285.
[24] F. Pianosi, F. Sarrazin, T. Wagener, A Matlab toolbox for global sensitivity analysis, Environmental Modelling & Software, 70 (2015) 80-85. | ||
|
آمار تعداد مشاهده مقاله: 384 تعداد دریافت فایل اصل مقاله: 381 |
||