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Paper Abstract and Keywords
Presentation 2010-12-19 10:55
Analysis of Human Lifting Motion based on RMP Model
Chang-Hyun Sung, Takahiro Kagawa, Yoji Uno (Nagoya Univ) MBE2010-56 NC2010-67
Abstract (in Japanese) (See Japanese page) 
(in English) An inverted pendulum model has been used for stability analyses of human body motion such as walking.In a simple inverted pendulum model, however, it is difficult to represent centroidal angular momentum which influences physical maintaining balance.RMP(Reaction Mass Pendulum) model consisting of a leg and a body has been recently proposed to present a humanoid dynamics model including centroidal angular momentum.In this study, we analyze the dynamics of human lifting motion using RMP model.Subjects were asked to squat and stand up lifting an object. In the experiments, their motions were measured using a 3D position measurement system and a force plate changing the object mass.The experimental results suggest that the human utilizes centroidal angular momentum during lifting the thing.
Keyword (in Japanese) (See Japanese page) 
(in English) Maintaining Balance / Inverted Pendulum Model / Centroidal Angular Momentum / RMP Model / Lifting Motion / / /  
Reference Info. IEICE Tech. Rep., vol. 110, no. 354, MBE2010-56, pp. 7-12, Dec. 2010.
Paper # MBE2010-56 
Date of Issue 2010-12-12 (MBE, NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
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reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF MBE2010-56 NC2010-67

Conference Information
Committee NC MBE  
Conference Date 2010-12-19 - 2010-12-19 
Place (in Japanese) (See Japanese page) 
Place (in English) Nagoya Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To MBE 
Conference Code 2010-12-NC-MBE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Analysis of Human Lifting Motion based on RMP Model 
Sub Title (in English)  
Keyword(1) Maintaining Balance  
Keyword(2) Inverted Pendulum Model  
Keyword(3) Centroidal Angular Momentum  
Keyword(4) RMP Model  
Keyword(5) Lifting Motion  
Keyword(6)  
Keyword(7)  
Keyword(8)  
1st Author's Name Chang-Hyun Sung  
1st Author's Affiliation Nagoya University (Nagoya Univ)
2nd Author's Name Takahiro Kagawa  
2nd Author's Affiliation Nagoya University (Nagoya Univ)
3rd Author's Name Yoji Uno  
3rd Author's Affiliation Nagoya University (Nagoya Univ)
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Speaker Author-1 
Date Time 2010-12-19 10:55:00 
Presentation Time 25 minutes 
Registration for MBE 
Paper # MBE2010-56, NC2010-67 
Volume (vol) vol.110 
Number (no) no.354(MBE), no.355(NC) 
Page pp.7-12 
#Pages 6 
Date of Issue 2010-12-12 (MBE, NC) 

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