By Topic

Analysis and synthesis of human motion from external measurements

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Dariush, B. ; Fundamental Res. Labs., Honda R&D, San Jose, CA, USA ; Hemami, H. ; Parnianpour, M.

The structures observed in humans are being progressively applied to the theoretical approaches developed in robotics. To gain insight to the intricate mechanism of human motion, researchers sometimes use imaging technology to record the trajectories of humans performing various tasks. From these observations, they are able to estimate the forces and moments at each joint by an inverse dynamics computation. This problem is conceptually simple; however, in practice, the inverse solution requires the calculation of higher order derivatives of experimental observations contaminated by noise. The errors due to differentiation results in erroneous joint force and moment calculations. This paper provide a control theoretic framework for analyzing human motion which avoids derivative computations. The method is also suitable for synthesis of stable controllers for robotic and `biorobic' applications which require tracking a desired reference trajectory under different loading conditions

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

Date of Conference:

2000