“Energy Optimal Trajectories in Human Arm Motion Aiming for Assistive Robots”

Authors: Lelai Zhou, Shaoping Bai and Yibin Li,
Affiliation: Shandong University and Aalborg University
Reference: 2017, Vol 38, No 1, pp. 11-19.

Keywords: metabolic cost, human arm motion, energy consumption

Abstract: The energy expenditure in human arm has been of great interests for seeking optimal human arm trajectories. This paper presents a new way for calculating metabolic energy consumption of human arm motions. The purpose is to reveal the relationship between the energy consumption and the trajectory of arm motion, and further, the acceleration and arm orientation contributions. Human arm motion in horizontal plane is investigated by virtue of Qualisys motion capture system. The motion data is post-processed by a biomechanical model to obtain the metabolic expenditure. Results on the arm motion kinematics, dynamics and metabolic energy consumption, are included.

PDF PDF (510 Kb)        DOI: 10.4173/mic.2017.1.2

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  title={{Energy Optimal Trajectories in Human Arm Motion Aiming for Assistive Robots}},
  author={Zhou, Lelai and Bai, Shaoping and Li, Yibin},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}