A probabilistic representation of human workspace for use in the design of human interface mechanisms

In designing kinematic mechanisms such as haptic devices for human usability, one must carefully consider the human motion range. However, size variations across the human population significantly complicates the anthropocentric design analysis. In this paper we develop a probabilistic representation for a mechanism reachable workspace which is based on a kinematic model containing stochastically defined parameters. Using anthropometric data, we show how this "stochastic reachable workspace" may be derived, and present a case study for the human finger. This representation of human reachable workspace may then be used to more accurately design human interface mechanisms which accommodate a wide variety of users. The results of our case study on the reachable workspace of the human finger were used in the design of a fingertip haptic display.