A NEW STABILITY CRITERION FOR HUMAN SEATED TASKS WITH GIVEN POSTURES

作者：Howard Bradley; Yang Jingzhou^*

来源：International Journal of Humanoid Robotics, 2012, 9(3): 1250015.

DOI：10.1142/S0219843612500156

• Stability
• digital human modeling
• posture
• seated tasks

In digital human modeling (DHM), the analysis of postural stability has five main goals: to determine if a posture is stable or unstable through an explicit criterion; to quantify the level of stability or provide a margin of stability that accounts for the height of the center of mass (COM) above the support plane(s); to be valid in the presence of externally applied forces and moments; be able to assess stability when multiple noncoplanar support planes exist, as is the case with seated postures; and to give insight into the support reaction force (SRF) distribution. To date, there is not a method for analyzing stability that can effectively meet each goal. This paper presents a new stability criterion and stability analysis that accomplishes each intended goal. The stability analysis is derived from the calculation of joint torque using the recursive Lagrangian dynamic formulation. A 56-degree-of-freedom (DOF) articulated digital human model is used to model seated postures to demonstrate the proposed stability criterion. Different given postures with different external load cases are presented.

• 出版日期2012-9