Mass Distribution of the Human Body using Biostereometrics

Herron, R. E.; Cuzzi, J. R.; Hugg, J.

doi:10.21236/ada029402

Cited by 21 publications

(8 citation statements)

References 3 publications

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“…The global inertia tensor (body + balance pole) is changed as a function of the medio-lateral shifts of the pole carried out by the active stabilization actions, but since the range of such displacement is very small (of the order of cm), the tensor will be assumed to be constant. The moment of inertia of the pole is neglected for rotations around its longitudinal axis and is computed by the following formula for any axis through the CoM of the pole, perpendicular to it:

For the body itself, the available numerical estimates of the human body inertia tensor [ 30 , 31 ] are usually expressed in terms of a reference frame centred in the body CoM. For computing the inertia tensor related to a frame centred on the feet, at contact with the supporting wire, it is possible to use the parallel axis theorem, ending up with the following equation for the global inertia tensor:

…”

Section: Methodsmentioning

confidence: 99%

Centre of pressure versus centre of mass stabilization strategies: the tightrope balancing case

Morasso

2020

R. Soc. open sci.

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This study proposes a generalization of the ankle and hip postural strategies to be applied to the large class of skills that share the same basic challenge of defeating the destabilizing effect of gravity on the basis of the same neuromotor control organization, adapted and specialized to a variable number of degrees of freedom, different body parts, different muscles and different sensory feedback channels. In all the cases, we can identify two crucial elements (the CoP, centre of pressure and the CoM, centre of mass) and the central point of the paper is that most balancing skills can be framed in the CoP–CoM interplay and can be modelled as a combination/alternation of two basic stabilization strategies: the standard well-investigated COPS (or CoP stabilization strategy, the default option), where the CoM is the controlled variable and the CoP is the control variable, and the less investigated COMS (or CoM stabilization strategy), where CoP and CoM must exchange their role because the range of motion of the CoP is strongly constrained by environmental conditions. The paper focuses on the tightrope balancing skill where sway control in the sagittal plane is modelled in terms of the COPS while the more challenging sway in the coronal plane is modelled in terms of the COMS, with the support of a suitable balance pole. Both stabilization strategies are implemented as state-space intermittent, delayed feedback controllers, independent of each other. Extensive simulations support the degree of plausibility, generality and robustness of the proposed approach.

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…”

Section: Methodsmentioning

confidence: 99%

Centre of pressure versus centre of mass stabilization strategies: the tightrope balancing case

Morasso

2020

R. Soc. open sci.

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“…It is not easy to find realistic anthropometric and biomechanical parameters to be used in model simulation. They are scattered in a number of publications/reports (Herron et al, 1976 ; Roaas and Gunnarb Andresson, 1982 ; Zatsiorsky and Seluyanov, 1983 ; De Leva, 1996 ; NASA-STD-3000, 2000 ; Pavol et al, 2002 ; Hersch and Billard, 2008 ; Paquette et al, 2009 ). The following simulations were carried out by extracting data from the mentioned literature, summarized in Morasso et al ( 2014 ).…”

Section: The Body-schema and Whole-body Reachingmentioning

confidence: 99%

Revisiting the Body-Schema Concept in the Context of Whole-Body Postural-Focal Dynamics

Morasso

Casadio

Mohan

et al. 2015

Front. Hum. Neurosci.

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The body-schema concept is revisited in the context of embodied cognition, further developing the theory formulated by Marc Jeannerod that the motor system is part of a simulation network related to action, whose function is not only to shape the motor system for preparing an action (either overt or covert) but also to provide the self with information on the feasibility and the meaning of potential actions. The proposed computational formulation is based on a dynamical system approach, which is linked to an extension of the equilibrium-point hypothesis, called Passive Motor Paradigm: this dynamical system generates goal-oriented, spatio-temporal, sensorimotor patterns, integrating a direct and inverse internal model in a multi-referential framework. The purpose of such computational model is to operate at the same time as a general synergy formation machinery for planning whole-body actions in humanoid robots and/or for predicting coordinated sensory–motor patterns in human movements. In order to illustrate the computational approach, the integration of simultaneous, even partially conflicting tasks will be analyzed in some detail with regard to postural-focal dynamics, which can be defined as the fusion of a focal task, namely reaching a target with the whole-body, and a postural task, namely maintaining overall stability.

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“…The human subject operating Mina v2 in the current experiments is a male, is 1.78 m tall, and has a total mass of 82.8 kg. This mass is similar to that of Subject 2 from a literature study (Herron et al, 1976 ), which is used to estimate the mass distribution of the operator's body segments. The link and mass parameters for the equivalent DH model of the combined human-exoskeleton system were calculated accordingly (Table 2 ).…”

Section: Resultsmentioning

confidence: 89%

“…Lower body link lengths are directly measured from the human operator and used as a reference for modeling the exoskeleton's links such that Mina v2 and its pilot have identical link and foot lengths. The mass distribution of the human body is based on reference data from a biostereometric survey of six male subjects (Herron et al, 1976 ). The masses of human pelvis, torso, arm, and head segments are combined into one point mass located perpendicular to the pelvic link.…”

Section: Combined Human-exoskeleton System: Models and Parametersmentioning

confidence: 99%

Stability of Mina v2 for Robot-Assisted Balance and Locomotion

et al. 2018

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The assessment of the risk of falling during robot-assisted locomotion is critical for gait control and operator safety, but has not yet been addressed through a systematic and quantitative approach. In this study, the balance stability of Mina v2, a recently developed powered lower-limb robotic exoskeleton, is evaluated using an algorithmic framework based on center of mass (COM)- and joint-space dynamics. The equivalent mechanical model of the combined human-exoskeleton system in the sagittal plane is established and used for balance stability analysis. The properties of the Linear Linkage Actuator, which is custom-designed for Mina v2, are analyzed to obtain mathematical models of torque-velocity limits, and are implemented as constraint functions in the optimization formulation. For given feet configurations of the robotic exoskeleton during flat ground walking, the algorithm evaluates the maximum allowable COM velocity perturbations along the fore-aft directions at each COM position of the system. The resulting velocity extrema form the contact-specific balance stability boundaries (BSBs) of the combined system in the COM state space, which represent the thresholds between balanced and unbalanced states for given contact configurations. The BSBs are obtained for the operation of Mina v2 without crutches, thus quantifying Mina v2's capability of maintaining balance through the support of the leg(s). Stability boundaries in single and double leg supports are used to analyze the robot's stability performance during flat ground walking experiments, and provide design and control implications for future development of crutch-less robotic exoskeletons.

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Mass Distribution of the Human Body using Biostereometrics

Cited by 21 publications

References 3 publications

Centre of pressure versus centre of mass stabilization strategies: the tightrope balancing case

Centre of pressure versus centre of mass stabilization strategies: the tightrope balancing case

Revisiting the Body-Schema Concept in the Context of Whole-Body Postural-Focal Dynamics

Stability of Mina v2 for Robot-Assisted Balance and Locomotion

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