Human upper body posture estimation from forces exerted on handles

Nacim Ramdani 1 Gaël Pages 2 Philippe Fraisse 2 David Guiraud 2
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : A methodology is presented for upper-body posture estimation in the sagittal plane from force and torque measurements exerted on handles during human standing, in the hypothesis of quasi-static equilibrium. The method consists in setting up constraints related to the geometric equations and the hand-handle interaction. All measured quantities are subject to an uncertainty assumed unknown but bounded. The set membership estimation problem is solved via interval analysis. Guaranteed uncertainty bounds are computed for the estimated postures. The methodology is validated experimentally with actual data. The results obtained are very acceptable.
Type de document :
Communication dans un congrès
ROBIO'06: IEEE International Conference on Robotics and Biomimetics, 2006, Kunming, China. pp.410-415, 2006, 〈10.1109/ROBIO.2006.340212〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00368078
Contributeur : Isabelle Gouat <>
Soumis le : vendredi 13 mars 2009 - 15:20:44
Dernière modification le : jeudi 11 janvier 2018 - 16:21:01

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Nacim Ramdani, Gaël Pages, Philippe Fraisse, David Guiraud. Human upper body posture estimation from forces exerted on handles. ROBIO'06: IEEE International Conference on Robotics and Biomimetics, 2006, Kunming, China. pp.410-415, 2006, 〈10.1109/ROBIO.2006.340212〉. 〈lirmm-00368078〉

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