Dynamics aware Cartesian wrench polytope estimation based on human musculoskeletal models
Abstract
Cartesian wrench capacity, the range of achievable forces and moments that a human, with different parts of his body, can generate in different directions of space, is an important tool for analyzing human physical abilities in various fields such as sport and rehabilitation. However, obtaining this information through empirical means is time-consuming and often limited to static conditions.
Musculoskeletal models provide an efficient way of calculating Cartesian wrench capacity metrics, such as Cartesian wrench polytopes, enabling real-time applications. However, when using these metrics on the fly, it is essential to consider the dynamic factors related to gravity and inertia.
Therefore in this paper, we propose a new extended formulation of Cartesian wrench capacity polytope based on musculoskeletal models accounting for these motion and gravity related effects.
Origin | Files produced by the author(s) |
---|