대한산업공학회지 (Journal of Korean Institute of Industrial Engineers)
- 제25권3호
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- Pages.393-403
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- 1999
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- 1225-0988(pISSN)
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- 2234-6457(eISSN)
동작 자세 예측을 위한 2-지체 몸통 모델
A Two-Segment Trunk Model for Reach Prediction
초록
In this research, a reach posture prediction based on a two-segment trunk model was made. Recently, reach posture prediction models have used inverse kinematics to provide a single posture that a person naturally takes, with a single segment trunk model that had some shortcomings. A two-segment trunk model was first developed with two links; pelvis link and lumbar-thoracic link. The former refers to the link from the hip joint to L5/S1 joint while the latter does the link from L5/S1 to the shoulder joint. Second, a reach prediction model was developed using the two-segment trunk model. As a result, more reliable equations for two-segment trunk motion were obtained, and the lean direction which refers to the movement direction of the trunk was not found to have a significant effect on the two-segment trunk motion. The results also showed that the hip joint is more preferred over L5/S1 to serve as a reference point for trunk models and the reach prediction model being developed predicted the real posture accurately.
키워드