Examination of robotic manipulability indices to evaluate upper limb manipulability in digital human models
by Hiroshi Endo
International Journal of Human Factors Modelling and Simulation (IJHFMS), Vol. 6, No. 4, 2018

Abstract: Robotic manipulability indices (RMIs) quantitatively evaluate kinematic factors regarding manipulability and can be applied to manipulability evaluations in digital human models (DHMs). However, in the kinematics of human motion based on Euler's angles, the rotational transformation order around three orthogonal coordinate axes is arbitrary, meaning that the coordinate transformation at a shoulder joint is not unique. Because RMIs are calculated from the coordinate transformation matrix, the RMIs of an upper limb may be influenced by this arbitrariness. This study examined the effects of the rotation order of the coordinate transformation at a shoulder joint on the manipulability evaluation of an upper limb. The results indicate that RMIs depend on rotation order. Thus, a modified method that eliminates the influence of rotation order was subsequently proposed. Experimental results indicate that RMIs calculated via this proposed modified method are rotation order independent, verifying that it contributes to manipulability evaluation in DHMs.

Online publication date: Tue, 13-Nov-2018

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Human Factors Modelling and Simulation (IJHFMS):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com