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Research Papers

Identification of Human Inertia Properties Using a Momentum-Based Approach

Qi Lu and Ou Ma
[+] Author and Article Information
Qi Lu

 Department of Mechanical and Aerospace Engineering, New Mexico State University, Las Cruces, NM 88003qilu@nmsu.edu

Ou Ma

 Department of Mechanical and Aerospace Engineering, New Mexico State University, Las Cruces, NM 88003oma@nmsu.edu

J Biomech Eng 134(10), 101006 (Oct 04, 2012) (11 pages) doi:10.1115/1.4007627 History: Received October 22, 2011; Revised August 22, 2012; Posted September 25, 2012; Published October 04, 2012; Online October 04, 2012

This paper presents a momentum-based approach for identifying the barycentric parameters of a human body. The human body is modeled as a multiple rigid-body dynamical system with a tree-type topology using the principle of impulse and momentum. Since the resulting impulse-momentum equations are linear in terms of the unknown barycentric parameters, these parameters can be easily solved using the least-square method or other well-understood solution techniques. The approach does not require measuring or estimating accelerations and internal forces because they do not appear in the impulse-momentum equations and, thus, the resulting identification procedure is less demanding on the measurement and also less sensitive to measurement errors in comparison with other existing methods derived based on Newton-Euler or Lagrangian equations. The momentum-based approach has been studied by dynamics simulations with the consideration of possible measurement errors. The study showed good results.

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Copyright © 2012 by American Society of Mechanical Engineers
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Figures

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Figure 6

The identification of Ki

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Figure 7

Identification errors with uncertainties in the position measurements

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Figure 8

Identification errors with uncertainties in the velocity measurements

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Figure 9

Identification errors with uncertainties in the force measurements

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Figure 10

A 3-body system with spherical joints

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Figure 4

A simulation model of a human’s trunk and leg system in MSC ADAMS

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Figure 5

The identification of ti

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Figure 1

A general multibody system with a tree-type topology

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Figure 2

Graphic illustration of augmented body i

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Figure 3

The trunk-leg model of a lower human body

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