RESEARCH ARTICLE

An experimental characterization of human torso motion

  • Daniele CAFOLLA , 1 ,
  • I-Ming CHEN 2 ,
  • Marco CECCARELLI 1
Expand
  • 1. LARM Laboratory of Robotics and Mechatronics, DICEM, University of Cassino and South Latium, Cassino, Italy
  • 2. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore

Received date: 22 May 2015

Accepted date: 15 Jul 2015

Published date: 03 Dec 2015

Copyright

2015 Higher Education Press and Springer-Verlag Berlin Heidelberg

Abstract

The torso plays an important role in the human-like operation of humanoids. In this paper, a method is proposed to analyze the behavior of the human torso by using inertial and magnetic sensing tools. Experiments are conducted to characterize the motion performance of the human torso during daily routine operations. Furthermore, the forces acting on the human body during these operations are evaluated to design and validate the performance of a humanoid robot.

Cite this article

Daniele CAFOLLA , I-Ming CHEN , Marco CECCARELLI . An experimental characterization of human torso motion[J]. Frontiers of Mechanical Engineering, 2015 , 10(4) : 311 -325 . DOI: 10.1007/s11465-015-0352-z

Acknowledgments

Part of this work was conducted at Nanyang Technological University, Singapore, where the first author spent a period of the study in 2014. The authors would like to thank Qilong Yuan, Albert Causo, Vo Truong Giang, and all RRC 2 laboratory staff members of Nanyang University who helped during the experiments. The authors would also like to thank computer science engineer Giorgio Iacoboni who helped the authors to test and optimize the acquisition software.
1
Hodgins J, Raibert M H. Biped gymnastics. International Journal of Robotics Research, 1990, 9(2): 115–128

DOI

2
Kavanagh J J, Morrison S, James D A, Reliability of segmental accelerations measured using a new wireless gait analysis system. Journal of Biomechanics, 2006, 39(15): 2863–2872

DOI PMID

3
Lee R Y W, Laprade J, Fung E H K. A real-time gyroscopic system for three-dimensional measurement of lumbar spine motion. Medical Engineering & Physics, 2003, 25(10): 817–824

DOI PMID

4
Picerno P, Cereatti A, Cappozzo A. Joint kinematics estimate using wearable inertial and magnetic sensing modules. Gait & Posture, 2008, 28(4): 588–595

DOI PMID

5
Roland L. Huston, Principle of Biomechanics. Boca Raton: CRC Press, 2009

6
Sims K. Evolving 3D morphology and behaviour by competition. Artificial Life, 1994, IV: 28–39

7
Virginia C. Bones and Muscles: An Illustrated Anatomy. New York: Wolf Fly Press, 1999

8
Zhu R, Zhou Z. A real-time articulated human motion tracking using tri-axis inertial/magnetic sensors package. IEEE Transactions on Neural Systems and Rehabilitation Engineering: A Publication of the IEEE Engineering in Medicine and Biology Society, 2004, 12(2): 295–302

DOI PMID

9
Liang C, Ceccarelli M. Design and simulation of a waist-trunk system for a humanoid robot. Mechanism and Machine Theory, 2012, 53: 50–65

DOI

10
Coley B, Najafi B, Paraschiv-Ionescu A, Stair climbing detection during daily physical activity using a miniature gyroscope. Gait & Posture, 2005, 22(4): 287–294

DOI PMID

11
Henriksen M, Lund H, Moe-Nilssen R, Test-retest reliability of trunk accelerometric gait analysis. Gait & Posture, 2004, 19(3): 288–297

DOI PMID

12
Hodgins J K. Biped gait transitions. In: Proceedings of the IEEE International Conference on Robotics and Automation. Sacramento: IEEE, 1991, 2092–2097

DOI

13
Bonato P. Wearable sensors/systems and their impact on biomedical engineering. IEEE Engineering in Medicine and Biology Magazine: The Quarterly Magazine of the Engineering in Medicine & Biology Society, 2003, 22(3): 18–20

DOI PMID

14
Guo X L. Kay S L, Taher T. Unrestrained measurement of arm motion based on a wearable wireless sensor network. IEEE Transactions on Instrumentation and Measurement, 2010, 59(5): 1309–1317

DOI

15
Moe-Nilssen R, Helbostad J L. Interstride trunk acceleration variability but not step width variability can differentiate between fit and frail older adults. Gait & Posture, 2005, 21(2): 164–170

DOI PMID

16
Ceccarelli M. Fundamentals of Mechanics of Robotic Manipulation. Amsterdam: Kluwer Academic Publishers, 2004

17
Meskers C G M, Fraterman H, van der Helm F C T, Calibration of the “Flock of Birds” electromagnetic tracking device and its application in shoulder motion studies. Journal of Biomechanics, 1999, 32(6): 629–633

DOI PMID

18
Carbone G, Ceccarelli M. A procedure for experimental evaluation of Cartesian stiffness matrix of multibody robotic systems. In: 15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control. Montreal, 2004, 1–9

19
Goodvin C, Park E J, Huang K, Development of a real-time three-dimensional spinal motion measurement system for clinical practice. Medical & Biological Engineering & Computing, 2006, 44(12): 1061–1075

DOI PMID

20
Hall J S, Basic Biomechanics. 6th ed. Boston: McGraw-Hill, 2011

21
Roetenberg D, Luinge H J, Baten C T M, Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation. IEEE Transactions on Neural Systems and Rehabilitation Engineering: A Publication of the IEEE Engineering in Medicine and Biology Society, 2005, 13(3): 395–405

DOI PMID

22
InterSense

23
Kumar S. Trunk rotation: Ergonomic and evolutionary perspective. Theoretical Issues in Ergonomics Science, 2002, 3(3): 235–256

DOI

24
Vinciguerra A, Aulisa L, Ceccarelli M. Stability and the elastic behavior of the spine. Minerva Orthopaedic and Trauma, 1986, 37(11): 717–723 (in Italian)

Outlines

/