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Analytically derived three-dimensional reach volumes based on multijoint movements.

Dohyung Kee1, Waldemar Karwowski

  • 1Keimyung University, Taegu, Korea.

Human Factors
|April 15, 2003
PubMed
Summary
This summary is machine-generated.

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This study quantifies human body reach volume using robot kinematics, analyzing upper and lower body joint movements. Results closely match direct measurements, offering valuable data for workspace and product design.

Area of Science:

  • Biomechanics
  • Human Factors Engineering
  • Robotics

Background:

  • Understanding human body reach volume is crucial for ergonomic workspace and product design.
  • Previous methods may lack comprehensive analysis of multi-joint movements.
  • Quantifying reach envelopes informs safety and efficiency in various applications.

Purpose of the Study:

  • To analytically quantify the total reach volume of the human body.
  • To model upper body (8 degrees of freedom) and lower body (6 degrees of freedom) reach envelopes.
  • To validate analytical models against direct human body measurements.

Main Methods:

  • Utilized robot kinematics to model the human body as a multilink system.
  • Employed a sweeping algorithm incorporating trunk and foot motions.

Related Experiment Videos

  • Calculated three-dimensional coordinates for joint-specific reach volumes (unconstrained, shoulder-restricted, foot reach).

    • Main Results:

    • The analytically generated total reach volume closely matched direct human body measurements.
    • Distinct reach volumes were defined based on joint constraints and movement types.
    • The methodology successfully represented complex human body kinematics.

    Conclusions:

    • The analytical approach provides a reliable method for determining human body reach envelopes.
    • This research offers a foundational dataset for optimizing human-centered design.
    • Findings have direct applications in designing effective workspaces and user-friendly products.