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An experimental characterization of human torso motion

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Abstract

The torso plays an important role in the human-like operation of humanoids. In this paper, a method is proposed to analyze the behavior of the human torso by using inertial and magnetic sensing tools. Experiments are conducted to characterize the motion performance of the human torso during daily routine operations. Furthermore, the forces acting on the human body during these operations are evaluated to design and validate the performance of a humanoid robot.

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Authors and Affiliations

  1. LARM Laboratory of Robotics and Mechatronics, DICEM, University of Cassino and South Latium, Cassino, Italy

    Daniele Cafolla & Marco Ceccarelli

  2. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore

    I-Ming Chen

Authors
  1. Daniele Cafolla
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  2. I-Ming Chen
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  3. Marco Ceccarelli
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Corresponding author

Correspondence to Daniele Cafolla.

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Cafolla, D., Chen, IM. & Ceccarelli, M. An experimental characterization of human torso motion. Front. Mech. Eng. 10, 311–325 (2015). https://doi.org/10.1007/s11465-015-0352-z

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  • DOI: https://doi.org/10.1007/s11465-015-0352-z

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