A study on evaluation of the manipulation ability of the upper limb using convex polyhedron (1st report, new vertex search algorithm)

Makoto Sasaki, Takehiro Iwami, Kazuto Miyawaki, Goro Obinata, Ikuro Sato, Yoichi Shimada, Kazuo Kiguchi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

In this paper, we have applied the analysis method for the robot manipulators to the evaluation of the manipulation ability of the human upper limb. The set of maximum hand force based on individual's muscular power characteristics were expressed in the six-dimensional convex polyhedron (Manipulating Force Polyhedron). The spatial characteristic of the manipulation ability of the upper limb in three-dimensional space was clarified by the visualization of the six-dimensional convex polyhedron using a new vertex search algorithm. In order to show the effectiveness of the proposed method, we compared manipulating force polyhedron with measured maximum hand force. The manipulating force polyhedron was calculated from measured maximum joint torque of the upper limb depending on joint angle and rotation direction. Our evaluation method will be useful not only for the evaluation of the manipulation ability of the upper limb but also for the development of equipment based on individual's muscular power characteristics.

Original languageEnglish
Pages (from-to)1514-1521
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume73
Issue number5
DOIs
Publication statusPublished - May 2007

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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