Determining the static joint torques of a digital human model considering balance

Jingzhou Yang, Joo Kim, Yujiang Xiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Pages399-409
Number of pages11
EditionPART A
DOIs
StatePublished - 2010
Event2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009 - San Diego, CA, United States
Duration: Aug 30 2009Sep 2 2009

Publication series

NameProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
NumberPART A
Volume7

Conference

Conference2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009
CountryUnited States
CitySan Diego, CA
Period8/30/099/2/09

Keywords

  • Human-like mechanism
  • Recursive dynamics
  • Static torques
  • Zero-Moment Point

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Hardware and Architecture
  • Electrical and Electronic Engineering

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  • Cite this

    Yang, J., Kim, J., & Xiang, Y. (2010). Determining the static joint torques of a digital human model considering balance. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 (PART A ed., pp. 399-409). (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; Vol. 7, No. PART A). https://doi.org/10.1115/DETC2009-87529