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Dynamic Optimization of Human Stair-Climbing Motion
ISSN: 0148-7191, e-ISSN: 2688-3627
Published June 17, 2008 by SAE International in United States
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The objective of this paper is to present our method of predicting and simulating visually realistic and dynamically consistent human stair-climbing motion. The digital human is modeled as a 55-degrees of freedom branched mechanical system with associated human anthropometry-based link lengths, mass moments of inertia, and centers of gravity. The joint angle profiles are determined using a B-spline-based parametric optimization technique subject to different physics-based, task-based, and environment-based constraints. The formulation offers the ability to study effects of the magnitude and location of external forces on the resulting joint angle profiles and joint torque profiles. Several virtual experiments are conducted using this optimization-based approach and results are presented.
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- Rajankumar Bhatt - The University of Iowa
- Yujiang Xiang - The University of Iowa
- Joo Kim - The University of Iowa
- Anith Mathai - The University of Iowa
- Rajeev Penmatsa - The University of Iowa
- Hyun-Joon Chung - The University of Iowa
- Hyun-Jung Kwon - The University of Iowa
- Amos Patrick - The University of Iowa
- Salam Rahmatalla - The University of Iowa
- Timothy Marler - The University of Iowa
- Steve Beck - The University of Iowa
- Jingzhou Yang - The University of Iowa
- Jasbir Arora - The University of Iowa
- Karim Abdel-Malek - The University of Iowa
- John P. Obusek - US Army Natick Soldier Research
CitationBhatt, R., Xiang, Y., Kim, J., Mathai, A. et al., "Dynamic Optimization of Human Stair-Climbing Motion," SAE Technical Paper 2008-01-1931, 2008, https://doi.org/10.4271/2008-01-1931.
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