Dynamic optimization of human stair-climbing motion

Rajankumar Bhatt, Yujiang Xiang, Joo Kim, Anith Mathai, Rajeev Penmatsa, Hyun Joon Chung, Hyun Jung Kwon, Amos Patrick, Salam Rahmatalla, Timothy Marler, Steve Beck, Jingzhou Yang, Jasbir Arora, Karim Abdel-Malek, John P. Obusek

Research output: Contribution to journalConference articlepeer-review

6 Scopus citations

Abstract

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.

Original languageEnglish
JournalSAE Technical Papers
DOIs
StatePublished - 2008
EventDigital Human Modeling for Design and Engineering Conference and Exhibition - Pittsburgh, PA, United States
Duration: Jun 17 2008Jun 19 2008

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