A new stability criterion for human seated tasks with given postures

Bradley Howard, Jingzhou Yang

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


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.

Original languageEnglish
Article number1250015
JournalInternational Journal of Humanoid Robotics
Issue number3
StatePublished - Sep 2012


  • Stability
  • digital human modeling
  • posture
  • seated tasks


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