This paper presents an efficient numerical formulation for the prediction of realistic postures. This problem is defined by the method (or procedure) used to predict the posture of a human, given a point in the reachable space. The exposition addresses (1) the determination whether a point is reachable (i.e., does is it exist within the reach envelope) and (2) the calculation of a posture for a given point. While many researchers have used either statistical models of empirical data or the traditional geometric inverse kinematics method for posture prediction, we present a method based on kinematics for modeling, but one that uses optimization of a cost function to predict a realistic posture. It is shown that this method replicates the human mind in selecting a posture from an infinite number of possible postures. We illustrate the methodology and an accompanying experimental code through a planar and a spatial example, and validation using commercial human modeling and simulation code.


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    Title :

    Realistic Posture Prediction for Maximum Dexterity


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    Digital Human Modeling For Design And Engineering Conference And Exhibition ; 2001



    Publication date :

    2001-06-26




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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