The objective of this paper is to present our method of predicting and simulating visually realistic and dynamically consistent human stair-climbing motion. The digital human is modeled as a 55-degrees of freedom branched mechanical system with associated human anthropometry-based link lengths, mass moments of inertia, and centers of gravity. The joint angle profiles are determined using a B-spline-based parametric optimization technique subject to different physics-based, task-based, and environment-based constraints. The formulation offers the ability to study effects of the magnitude and location of external forces on the resulting joint angle profiles and joint torque profiles. Several virtual experiments are conducted using this optimization-based approach and results are presented.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Dynamic Optimization of Human Stair-Climbing Motion


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    Digital Human Modeling for Design and Engineering Symposium ; 2008



    Publication date :

    2008-06-17




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English


    Keywords :


    Stair climbing device and stair climbing equipment

    HUANG HANFENG | European Patent Office | 2024

    Free access

    Stair climbing robot

    MAO JINCHENG / WANG ZHONGMOU / REN XIANG et al. | European Patent Office | 2023

    Free access

    Stair climbing machine

    QI GUIQING | European Patent Office | 2023

    Free access

    Stair climbing robot

    WU XING / DONG FEI / YU BIAO et al. | European Patent Office | 2022

    Free access

    Stair-climbing stroller

    PARKS DOUGLAS | European Patent Office | 2020

    Free access