@inproceedings{1d4b1e7f53d84c12ba70c4d26087850a,
title = "Determining the static joint torques of a digital human model considering balance",
abstract = "This paper presents a methodology for determining the static joint torques of a digital human model considering balance for both standing and seating tasks. An alternative and efficient formulation of the Zero-Moment Point (ZMP) for static balance and the approximated (ground/seat) support reaction forces/moments are derived from the resultant reaction loads, which includes the gravity and externally applied loads. The proposed method can be used for both standing and seating tasks for assessing the stability/balance of the posture. The proposed formulation can be beneficial to physics-based simulation of humanoids and human models. Also, the calculated joint torques can be considered as an indicator to assess the risks of injuries when human models perform various tasks.",
keywords = "Human-like mechanism, Recursive dynamics, Static torques, Zero-Moment Point",
author = "Jingzhou Yang and Joo Kim and Yujiang Xiang",
year = "2010",
doi = "10.1115/DETC2009-87529",
language = "English",
isbn = "9780791849040",
series = "Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009",
number = "PART A",
pages = "399--409",
booktitle = "Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009",
edition = "PART A",
note = "2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009 ; Conference date: 30-08-2009 Through 02-09-2009",
}