Human upper body motion prediction

Karim Abdel-Malek, Jingzhou Yang, Zan Mi, Virendra C. Patel, Kyle Nebel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

12 Scopus citations

Abstract

Many tasks require the arm to move from its initial position to a specified target position without any constraints or via a point for a curved path in case of obstacle avoidance. In this paper we present a formulation for predicting the human upper body motion. Having obtained the desired path in Cartesian space using the minimum jerk theory and represented each joint motion by a B-spline curve with unknown parameters (i.e., control points), an optimization approach, instead of inverse kinematics, is used to calculate control points of each joint spline curve. Cost function includes multi-part: (1) discomfort function that evaluates displacement of each joint away from its neutral position; (2) inconsistency function, which is the joint rate change (first derivative) and predicted overall trend from the initial point to the end point; (3) nonsmoothness function of the trajectory, which is the second derivative of the joint trajectory; (4) noncontinuity function, which is the amplitudes of joint angle rates at the start and end points. While this work has been limited to a 15-degree-of-freedom (DOF) of the upper body, the theory presented herein is expandable to any part of the body that can be represented as segmental links of a kinematic chain. Illustrative examples are presented and an interface is set up to visualize the results.

Original languageEnglish
Title of host publicationProceedings of the IASTED International Conference on Applied Simulation and Modelling
EditorsM.H. Hamza
Pages571-576
Number of pages6
StatePublished - 2004
EventProceedings of the IASTED International Conference on Applied Simulation and Modelling - Rhodes, Greece
Duration: Jun 28 2004Jun 30 2004

Publication series

NameProceedings of the IASTED International Conference on Applied Simulation and Modelling

Conference

ConferenceProceedings of the IASTED International Conference on Applied Simulation and Modelling
CountryGreece
CityRhodes
Period06/28/0406/30/04

Keywords

  • B-splines
  • Biomechanics
  • Cartesian space
  • Human motion
  • Joint space
  • Minimum jerk

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