Workspace analysis and visualization for santos'™ upper extremity

Tariq Sinokrot, Jingzhou Yang, Rebecca Fetter, Karim Abdel-Malek

Research output: Contribution to journalConference articlepeer-review


Workspace is an important function for human factors analysis and is widely applied in product design, manufacturing, and ergonomics evaluations. This paper presents the workspace analysis and visualization for Santos™ upper extremity, a new virtual human with over 100 DOFs that is highly realistic in terms of appearance, behavior, and movement. Jacobian Rank deficiency method is implemented to determine the singular surfaces. The joint limits are considered in this formulation; three types of singularities are analyzed. This closed-form formulation can be extended to numerous different scenarios such as different percentiles, age groups, or segments of body. A realtime scheme is used to build the workspace library for Santos™ that will study the boundary surfaces off-line and apply them to Santos™ in the virtual environment (Virtools®). To visualize the workspace, we develop a user interface to generate the cross section of the reach envelope with a plane. This is the first step in investigating the zone differentiation; the divided zones based on different human performance measures, and will be helpful in layout design and other human factors analysis.

Original languageEnglish
JournalSAE Technical Papers
StatePublished - 2005
EventDigital Human Modeling for Design and Engineering Symposium - Iowa City, IA, United States
Duration: Jun 14 2005Jun 16 2005


  • Keywords Virtual humans
  • human performance measures
  • singular surfaces
  • workspace


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