Two-handed human reach prediction models for ergonomic evaluation

Eui Seung Jung, Yongtak Shin

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

As an essential function of computerized ergonomic evaluation models based on digital human models, realistic simulation or prediction of human reach profiles is of great importance. Although several human-modeling efforts have been made to provide the capability of reach simulation, most studies have been limited to the reach of a single extremity. A variety of activities of human operators, however, frequently involve simultaneous positioning of two or more extremities to different target positions. Such a multiple reach problem cannot be satisfactorily resolved by means of conventional single-extremity reach models because formulation of the problem as a series of single reaches rarely yields accurate trajectory of human-reach profiles due to interactions of multiple extremities. In this research, a two-handed reach prediction model was developed. The human upper body was modeled as a seven-link system with 13 degrees of freedom, being regarded as a redundant open kinematic chain with two end-effectors. As a way of solving the two-handed reach problem, the resolved motion method was adopted among several inverse kinematics methods as the technique is fit for real-time redundancy control. The method is also capable of incorporating the joint range availability criterion as a cost function to minimize excessive deviations of body joints from their neutral positions. Real human-reach profiles were compared to those obtained from the prediction model and were found to be statistically similar. The methodology is expected to be applicable to the reach simulation of both upper and lower extremities without algorithmic difficulties.

Original languageEnglish
Pages (from-to)192-201
Number of pages10
JournalHuman Factors and Ergonomics In Manufacturing
Volume20
Issue number3
DOIs
Publication statusPublished - 2010 May 1

Fingerprint

Ergonomics
ergonomics
evaluation
simulation
redundancy
simulation model
Inverse kinematics
End effectors
Cost functions
Redundancy
Kinematics
Trajectories
Availability
methodology
costs
interaction

Keywords

  • Ergonomic evaluation
  • Inverse kinematics
  • Reach prediction
  • Two-handed reach

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Human Factors and Ergonomics

Cite this

Two-handed human reach prediction models for ergonomic evaluation. / Jung, Eui Seung; Shin, Yongtak.

In: Human Factors and Ergonomics In Manufacturing, Vol. 20, No. 3, 01.05.2010, p. 192-201.

Research output: Contribution to journalArticle

@article{189fd196cadd41d2ae1b31808fd93479,
title = "Two-handed human reach prediction models for ergonomic evaluation",
abstract = "As an essential function of computerized ergonomic evaluation models based on digital human models, realistic simulation or prediction of human reach profiles is of great importance. Although several human-modeling efforts have been made to provide the capability of reach simulation, most studies have been limited to the reach of a single extremity. A variety of activities of human operators, however, frequently involve simultaneous positioning of two or more extremities to different target positions. Such a multiple reach problem cannot be satisfactorily resolved by means of conventional single-extremity reach models because formulation of the problem as a series of single reaches rarely yields accurate trajectory of human-reach profiles due to interactions of multiple extremities. In this research, a two-handed reach prediction model was developed. The human upper body was modeled as a seven-link system with 13 degrees of freedom, being regarded as a redundant open kinematic chain with two end-effectors. As a way of solving the two-handed reach problem, the resolved motion method was adopted among several inverse kinematics methods as the technique is fit for real-time redundancy control. The method is also capable of incorporating the joint range availability criterion as a cost function to minimize excessive deviations of body joints from their neutral positions. Real human-reach profiles were compared to those obtained from the prediction model and were found to be statistically similar. The methodology is expected to be applicable to the reach simulation of both upper and lower extremities without algorithmic difficulties.",
keywords = "Ergonomic evaluation, Inverse kinematics, Reach prediction, Two-handed reach",
author = "Jung, {Eui Seung} and Yongtak Shin",
year = "2010",
month = "5",
day = "1",
doi = "10.1002/hfm.20174",
language = "English",
volume = "20",
pages = "192--201",
journal = "Human Factors and Ergonomics In Manufacturing",
issn = "1090-8471",
publisher = "John Wiley and Sons Inc.",
number = "3",

}

TY - JOUR

T1 - Two-handed human reach prediction models for ergonomic evaluation

AU - Jung, Eui Seung

AU - Shin, Yongtak

PY - 2010/5/1

Y1 - 2010/5/1

N2 - As an essential function of computerized ergonomic evaluation models based on digital human models, realistic simulation or prediction of human reach profiles is of great importance. Although several human-modeling efforts have been made to provide the capability of reach simulation, most studies have been limited to the reach of a single extremity. A variety of activities of human operators, however, frequently involve simultaneous positioning of two or more extremities to different target positions. Such a multiple reach problem cannot be satisfactorily resolved by means of conventional single-extremity reach models because formulation of the problem as a series of single reaches rarely yields accurate trajectory of human-reach profiles due to interactions of multiple extremities. In this research, a two-handed reach prediction model was developed. The human upper body was modeled as a seven-link system with 13 degrees of freedom, being regarded as a redundant open kinematic chain with two end-effectors. As a way of solving the two-handed reach problem, the resolved motion method was adopted among several inverse kinematics methods as the technique is fit for real-time redundancy control. The method is also capable of incorporating the joint range availability criterion as a cost function to minimize excessive deviations of body joints from their neutral positions. Real human-reach profiles were compared to those obtained from the prediction model and were found to be statistically similar. The methodology is expected to be applicable to the reach simulation of both upper and lower extremities without algorithmic difficulties.

AB - As an essential function of computerized ergonomic evaluation models based on digital human models, realistic simulation or prediction of human reach profiles is of great importance. Although several human-modeling efforts have been made to provide the capability of reach simulation, most studies have been limited to the reach of a single extremity. A variety of activities of human operators, however, frequently involve simultaneous positioning of two or more extremities to different target positions. Such a multiple reach problem cannot be satisfactorily resolved by means of conventional single-extremity reach models because formulation of the problem as a series of single reaches rarely yields accurate trajectory of human-reach profiles due to interactions of multiple extremities. In this research, a two-handed reach prediction model was developed. The human upper body was modeled as a seven-link system with 13 degrees of freedom, being regarded as a redundant open kinematic chain with two end-effectors. As a way of solving the two-handed reach problem, the resolved motion method was adopted among several inverse kinematics methods as the technique is fit for real-time redundancy control. The method is also capable of incorporating the joint range availability criterion as a cost function to minimize excessive deviations of body joints from their neutral positions. Real human-reach profiles were compared to those obtained from the prediction model and were found to be statistically similar. The methodology is expected to be applicable to the reach simulation of both upper and lower extremities without algorithmic difficulties.

KW - Ergonomic evaluation

KW - Inverse kinematics

KW - Reach prediction

KW - Two-handed reach

UR - http://www.scopus.com/inward/record.url?scp=77956720156&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77956720156&partnerID=8YFLogxK

U2 - 10.1002/hfm.20174

DO - 10.1002/hfm.20174

M3 - Article

AN - SCOPUS:77956720156

VL - 20

SP - 192

EP - 201

JO - Human Factors and Ergonomics In Manufacturing

JF - Human Factors and Ergonomics In Manufacturing

SN - 1090-8471

IS - 3

ER -