Multi-Modal Analysis of Human Motion From External Measurements

[+] Author and Article Information
Behzad Dariush

Honda R&D Americas, Inc., Fundamental Research Laboratories, 800 California St., Suite 300, Mountain View, CA 94041e-mail: bdariush@hra.com

Hooshang Hemami

Department of Electrical Engineering, The Ohio State University, 2015 Neil Avenue, Columbus, OH 43210-1272e-mail: hemami@ee.eng.ohio-state.edu

Mohamad Parnianpour

Department of Industrial, Welding and Systems Engineering, The Ohio State University, 1971 Neil Avenue, Columbus, OH 43210-1271e-mail: parnianpour.1@osu.edu

J. Dyn. Sys., Meas., Control 123(2), 272-278 (Feb 01, 2001) (7 pages) doi:10.1115/1.1370375 History: Received June 01, 2000; Revised February 01, 2001
Copyright © 2001 by ASME
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Grahic Jump Location
Three step procedure of the linear quadratic tracking algorithm
Grahic Jump Location
A five-segment planar biped showing the initial and final position of the lifting cycle of the motion.
Grahic Jump Location
Motion trajectories at the five joints for a lifting and lowering motion of a 10 kg mass
Grahic Jump Location
Joint moment comparison at each of the five joints for a lifting and lowering of a 10 kg mass. The reference torque profiles represent the joint torques calculated using the inverse dynamics analysis. In this simulation, the reference and simulated trajectories are nearly identical and are difficult to discern.
Grahic Jump Location
Motion trajectories at the five joints when the external mass is suddenly increased from 10 kg to 20 kg at the t=1 second mark. The reference trajectories represent the trajectories of the original motion without the increase in the mass. The reference and simulated trajectories are nearly identical up to the time when the load change occurs.  
Grahic Jump Location
Joint moments at each of the five joints when the external mass is suddenly increased from 10 kg to 20 kg at the t=1 second mark. The reference torque profiles represent the joint torques calculated using inverse dynamics analysis without the increase in the mass.



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