标题：Energy Optimal Trajectories in Human Arm Motion Aiming for Assistive Robots
作者：Zhou, Lelai; Bai, Shaoping; Li, Yibin
作者机构：[Zhou, Lelai; Li, Yibin] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China.; [Bai, Shaoping] Aalborg Univ, Dept Mech & Mfg Engn, 更多
通讯作者地址：[Zhou, LL]Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China.
来源：MODELING IDENTIFICATION AND CONTROL
关键词：metabolic cost; human arm motion; energy consumption
摘要：The energy expenditure in human arm has been of great interests for seeking optimal human arm trajectories. This paper presents a new way for calculating metabolic energy consumption of human arm motions. The purpose is to reveal the relationship between the energy consumption and the trajectory of arm motion, and further, the acceleration and arm orientation contributions. Human arm motion in horizontal plane is investigated by virtue of Qualisys motion capture system. The motion data is post-processed by a biomechanical model to obtain the metabolic expenditure. Results on the arm motion kinematics, dynamics and metabolic energy consumption, are included.