This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
An Integrated Model of Gait and Transition Stepping for Simulation of Industrial Workcell Tasks
Technical Paper
2007-01-2478
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Industrial tasks performed by standing workers are among those most commonly simulated using digital human models. Workers often walk, turn, and take acyclic steps as they perform these tasks. Current h
uman modeling tools lack the capability to simulate these whole body motions accurately. Most models simulate walking by replaying joint angle trajectories corresponding to a general gait pattern. Turning is simulated poorly if at all, and violations of kinematic constraints between the feet and ground are common. Moreover, current models do not accurately predict foot placement with respect to loads and other hand targets, diminishing the utility of the associated ergonomic analyses. A new approach to simulating stepping and walking in task-oriented activities is proposed. Foot placements and motions are predicted from operator and task characteristics using empirical models derived from laboratory data and validated using field data from an auto assembly plant. The motions of the pelvis and torso are predicted from the foot placements, operator characteristics, and task requirements. The lower-extremity motions are then generated using behavior-based inverse kinematics that relies on laboratory observations to address kinematic redundancy while respecting boundary constraints. This modular approach is highly general and can simulate gait, transition stepping, and stepping for balance maintenance in a single integrated system that can be implemented in any digital human model.
Citation
Reed, M. and Wagner, D., "An Integrated Model of Gait and Transition Stepping for Simulation of Industrial Workcell Tasks," SAE Technical Paper 2007-01-2478, 2007, https://doi.org/10.4271/2007-01-2478.Also In
SAE 2007 Transactions Journal of Passenger Cars: Mechanical Systems
Number: V116-6; Published: 2008-08-15
Number: V116-6; Published: 2008-08-15
References
- Badler, N.I. Allbeck, J. Lee, S-J. Rabbitz, R.J. Broderick, T.T. Mulkern, K.M. 2005 New behavioral paradigms for virtual human models Technical Paper 2005-01-2689 SAE International Warrendale, PA
- Breniere, Y. Do, M.C. 1991 Control of gait initiation Journal of Motor Behavior 23 4 235 240
- Burleigh, A.L. Horak, F.B. Malouin, F. 1994 Modification of postural responses and step initiation: evidence for goal-directed postural interactions Journal of Neurophysiology 72 6 2892 2902
- Cluss, M.B. Crane, E.A. Gross, M.M. Fredrickson, B.L. Effect of emotion on the kinematics of gait Proc. Annual Conference of the American Society of Biomechanics Blacksburg, VA
- Damsgaard, M. Rasmussen, J. Christensen, S.T. Surma, E. de Zee, M. 2006 Analysis of musculoskeletal systems in the AnyBody Modeling System Simulation Modeling Practice and Theory 14 8 1100 1111
- Danker, J.S. Reed, M.P. 2006 A behavior-based model of clavicle motion for simulating seated reaches Technical Paper 2006-01-0699 SAE International Warrendale, PA
- Dufour, F. Wang, X. 2005 Discomfort assessment of car ingress/egress motions using the concept of neutral motion Technical Paper 2005-01-2706 SAE International Warrendale, PA
- Faraway, J. 2000 Modeling reach motions using functional regression analysis Technical Paper 2000-01-2175 SAE International Warrendale, PA
- Hirose, M. Ogawa, K. 2007 Honda humanoid robots development Phil. Trans. R. Soc. A. 365 11 19
- Holzbaur, K.R.S. Murray, W.M. Delp, S.L. 2005 A model of the upper extremity for simulating musculoskeletal surgery and analyzing neuromuscular control Annals of Biomedical Engineering 33 6 829 840
- Johannson, G. 1973 Visual perception of biological motion and a model for its analysis Perception and Psychophysics 14 201 211
- Marler, T. Rahmatalla, S. Shanahan, M. Abdel-Malek, K. 2005 A new discomfort function for optimization-based posture prediction SAE Technical Paper 2005-01-2680 SAE International Warrendale, PA
- Meinhart-Shibata, P. Kramer, M. Ashton-Miller, J.A. Persad, C. 2005 Kinematic analyses of the 180° standing turn: effects of age on strategies adopted by healthy young and older women Gait and Posture 22 119 125
- Monnier, G. Wang, X. Verriest, J-P. Goujon, S. 2003 Simulation of complex and specific task-orientated movements - application to seat belt reaching Technical Paper 2003-01-2225 SAE International Warrendale, PA
- Orendurff, M.S. Segal, A.D. Berge, J.S. Flick, K.C. Spanier, D. Klute, G.K. 2006 The kinematics and kinetics of turning: limb asymmetries associated with walking a circular path Gait and Posture 23 106 111
- Park, W. Chaffin, D.B. Martin, B.J. 2004 Toward Memory-Based Human Motion Simulation: Development and Validation of a Motion Modification Algorithm IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans 34 3 376 386
- Raschke, U. Kuhlmann, H. Hollick, M. 2005 On the design of a task-based human simulation system Technical Paper 2005-01-2702 SAE International Warrendale, PA
- Reed, M.P. Faraway, J. Chaffin, D.B. 2005 Critical features in human motion simulation Proceedings of the 49th Human Factors and Ergonomics Society Annual Meeting Santa Monica, CA
- Sparrow, W.A. Tirosh, O. 2005 Gait termination: a review of experimental methods and the effects of ageing and gait pathologies Gait and Posture 22 362 371
- Stevenage, S.V. Nixon, M.S. Vince, K. 1999 Visual analysis of gait as a cue to identity Applied Cognitive Psychology 13 513 526
- Taylor, M.J.D. Dabnichki, P. Strike, S.C. 2005 A three-dimensional biomehcanical comparison between turning strategies during the stance phase of walking Human Movement Science 24
- Tolani, D. Goswami, A. Badler, N. I. 2000 Real-time inverse kinematics techniques for anthropomorphic limbs Graphical Models and Image Processing 62 5 353 388
- Wagner, D.W. Reed, M.P. Chaffin, D.B. 2005 Predicting Foot Positions for Manual Materials Handling Tasks Technical Paper 2005-01-2681 SAE International Warrendale, PA
- Wagner, D.W. Reed, M.P. Chaffin, D.B. 2006 A task-based stepping behavior model for digital humans SAE Technical Paper 2006-01-2364 SAE International Warrendale, PA
- Winter, D.A. 1995 Human balance and posture control during standing and walking Gait and Posture 3 193 214