2P1-A11 Measurement and Analysis of Upper Limb Movement of a Human Using Motion Capture
Minoru Harada, Takehiro Kawamura, Jian Huang, Tetsuro Yabuta · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2006
It is generally thought that human beings have high-performance system in body movement. However, mechanisms of the body movement have not been clarified. In this paper, a motion capture system with a stereovision is utilized in order to investigate principles and characteristics of the upper limb motion of a human. A kinematic model of a human upper limb is proposed to estimate parameters of the upper limb like the manipulability and the kinetic energy. Experiments of reaching motion have been made and the effectiveness of experiment system and calculation methods of parameters is demonstrated.