Earticle

초록

영어

In this study, an asymmetric lifting posture prediction model was developed, which was a three-dimensional model with 12 links and 23 degrees of freedom open kinematic chains. Although previous researchers have proposed biomechanical, psychophysical, or physiological measures as cost functions, for solving redundancy, they lack in accuracy in predicting actual lifting postures and most of them are confined to the two-dimensional model. To develop an asymmetric lifting posture prediction model, we used the resolved motion method for accurately simulating the lifting motion in a reasonable time. Furthermore, in solving the redundant problem of the human posture prediction, a moment weighted Joint Range Availability (JRA) was used as a cost function in order to consider dynamic lifting. However, it is known that the moment weighted JRA as a cost function predicted the lower extremity and L5/S1 joint motions better than the upper extremities, while the constant weighted JRA as a cost function predicted the latter better than the former. To compensate for this, we proposed a hybrid moment weighted JRA as a new cost function with moment weighted for only the lower extremity. In order to validate the proposed cost function, the predicted and real lifting postures for various lifting conditions were compared by using the root mean square(RMS) error. This hybrid JRA reduced RMS more than the previous cost functions. Therefore, it is concluded that the cost function of a hybrid moment weighted JRA can be used to predict three-dimensional lifting postures. To compare with the predicted trajectories and the real lifting movements, graphical validations were performed. The results also showed that the hybrid moment weighted cost function model was found to have generated the postures more similar to the real movements.

목차

Abstract
 1. 서론
 2. 연구방법
  2.1 3차원 Whole Body Lifting Posture Prediction Model
  2.2 Resolved Motion Method
  2.3 들기작업 동작
 3. 모델의 검증
 4. 결론 및 토의
 5. 참고문헌

저자

• 최경임 [ Choi Kyung Im | 포항공과대학교 기계산업공학부 ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  대한안전경영과학회지 [Journal of Korea Safety Management & Science]

• 간기

  계간

• pISSN

  1229-6783

• eISSN

  2288-1484

• 수록기간

  1999~2025

• 십진분류

  KDC 530 DDC 620