Motion Analysis of Human Lifting Works with Heavy Objects

Nobutomo Matsunaga; Shigeyasu Kawaji

doi:10.20965/jrm.2005.p0628

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JRM Vol.17 No.6 pp. 628-635

doi: 10.20965/jrm.2005.p0628

(2005)

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Motion Analysis of Human Lifting Works with Heavy Objects

Nobutomo Matsunaga, and Shigeyasu Kawaji

Department of Computer Science, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Japan

Received:

January 27, 2005

Accepted:

June 15, 2005

Published:

December 20, 2005

Keywords:

lifting, biped robot, joint moment, center of gravity

Abstract

Advances in robot development involves autonomous work in the real world, where robots may lift or carry heavy objects. Motion control of autonomous robots is an important issue, in which configurations and motion differ depending on the robot and the object. Isaka et al. analyzed that lifting configuration is important in realizing efficient lifting minimizing the burden on the lower back, but their analysis was limited to weight lifting of a fixed object. Biped robot control requires analyzing different lifting in diverse situations. Thus, motion analysis is important in clarifying control strategy. We analyzed dynamics of human lifting of barbells in different situations, and found that lifting can be divided into four motions.

Cite this article as:

N. Matsunaga and S. Kawaji, “Motion Analysis of Human Lifting Works with Heavy Objects,” J. Robot. Mechatron., Vol.17 No.6, pp. 628-635, 2005.

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References

[1] K. Yokoyama et al., “Cooperative Works by a Human and a Humanoid Robot,” Proc. of the 2003 International conference on Robotic & Automation, Taipei, pp. 2985-2991, 2003.
[2] K. Ogawara, S. Kagami, Y. Tamiya, M. Inaba, and H. Inoue, “Transfering an Object between Two Small Human-Form Robots using Whole Body,” Proc. of the 15th Annual Conference of the Robotics Society of Japan, pp. 783-784, 1997.
[3] K. Inoue, A. Ishii, and Y. Okawa, “Real-Time Control of Anthropomorphic Robot Which Moves While Working by Arms (Motion Control in Sagittal Plane),” Journal of Robotics Society of Japan, Vol.18, No.1, pp. 75-86, 2000.
[4] R. Isaka, R. J. Gregor, and S. Kawamura, “Derivation of Reasonable Lifting Movement from Techniques Utilized in Skilled Weightlifter,” Transactions of the Japan Society of Mechanical Engineers, Vo.64, No.623, pp. 119-126, 1998.
[5] T. Isaka, K. Shigetoshi, Y. Hayakawa, and S. Kawamura, “Dakiokoshi Dousa ni okeru Kaigosha no Seitai Futan no Bunseki,” Hito to Shisutemu, 4:8-12, pp. 119-126, 1999 (in Japanese).
[6] T. Matsumaru, K. Shima, S. Fukuyama, and T. Ito, “Evaluation on Posture during Lifting Task Operation using Acceptance Rate,” Proc. of the Walfare Engineering Symposium 2004, pp. 149-152, 2004.
[7] N. Miyata, K. Oguri, J. Ota, and T. Arai, “Individual Whole Body Motion –Expression and Generation using Time-variant Performance Index–,” Proc. of the IEEE Int. Conf. on Systems, Man and Cybernetics, 2002.
[8] N. Miyata, K. Oguri, J. Ota, and T. Arai, “Human Lift-up Motion Generation based on Identification of Time-variant Performance Index,” Proc. of the 2002 IEEE/RSJ Conf. on Intelligent Robots and Systems, pp. 2503-2508, 2002.
[9] N. Matsunaga, Y. Okimura, and S. Kawaji, “Kinematic Analysis of Human Lifting Movement for Biped Robot Control,” Proc. of the IEEE Workshop on Advanced Motion Control, Kawasaki, pp. 421-426, 2004.
[10] M. Ae, H-P. Tang, and T. Yokoi, “Estimation of Inertia Properties of The Body Segments in Japanese Athletes,” Biomechanisms 11: Form, Motion, and Function in Human, pp. 23-33, University of Tokyo Press, 1992.
[11] The Robotics Society of Japan, Robotics Handbook, 2nd ed., 2005.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] K. Yokoyama et al., “Cooperative Works by a Human and a Humanoid Robot,” Proc. of the 2003 International conference on Robotic & Automation, Taipei, pp. 2985-2991, 2003.

[2] [2] K. Ogawara, S. Kagami, Y. Tamiya, M. Inaba, and H. Inoue, “Transfering an Object between Two Small Human-Form Robots using Whole Body,” Proc. of the 15th Annual Conference of the Robotics Society of Japan, pp. 783-784, 1997.

[3] [3] K. Inoue, A. Ishii, and Y. Okawa, “Real-Time Control of Anthropomorphic Robot Which Moves While Working by Arms (Motion Control in Sagittal Plane),” Journal of Robotics Society of Japan, Vol.18, No.1, pp. 75-86, 2000.

[4] [4] R. Isaka, R. J. Gregor, and S. Kawamura, “Derivation of Reasonable Lifting Movement from Techniques Utilized in Skilled Weightlifter,” Transactions of the Japan Society of Mechanical Engineers, Vo.64, No.623, pp. 119-126, 1998.

[5] [5] T. Isaka, K. Shigetoshi, Y. Hayakawa, and S. Kawamura, “Dakiokoshi Dousa ni okeru Kaigosha no Seitai Futan no Bunseki,” Hito to Shisutemu, 4:8-12, pp. 119-126, 1999 (in Japanese).

[6] [6] T. Matsumaru, K. Shima, S. Fukuyama, and T. Ito, “Evaluation on Posture during Lifting Task Operation using Acceptance Rate,” Proc. of the Walfare Engineering Symposium 2004, pp. 149-152, 2004.

[7] [7] N. Miyata, K. Oguri, J. Ota, and T. Arai, “Individual Whole Body Motion –Expression and Generation using Time-variant Performance Index–,” Proc. of the IEEE Int. Conf. on Systems, Man and Cybernetics, 2002.

[8] [8] N. Miyata, K. Oguri, J. Ota, and T. Arai, “Human Lift-up Motion Generation based on Identification of Time-variant Performance Index,” Proc. of the 2002 IEEE/RSJ Conf. on Intelligent Robots and Systems, pp. 2503-2508, 2002.

[9] [9] N. Matsunaga, Y. Okimura, and S. Kawaji, “Kinematic Analysis of Human Lifting Movement for Biped Robot Control,” Proc. of the IEEE Workshop on Advanced Motion Control, Kawasaki, pp. 421-426, 2004.

[10] [10] M. Ae, H-P. Tang, and T. Yokoi, “Estimation of Inertia Properties of The Body Segments in Japanese Athletes,” Biomechanisms 11: Form, Motion, and Function in Human, pp. 23-33, University of Tokyo Press, 1992.

[11] [11] The Robotics Society of Japan, Robotics Handbook, 2nd ed., 2005.