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- W2500659614 abstract "Chapter 3 introduces basic concepts associated with the posture prediction problem of the human body. The chapter introduces posture prediction as a generalized method used to predict the values for human joints used to assume a posture. The method uses optimization and human performance measures to adequately predict natural motions. The three ingredients for the formulation of an optimization problem are: design variables (joint angles), human performance measure (discomfort, energy consumption, and others), and constraints for the variables (joint ranges of motion, end-effector reaching a point, and others). The posture prediction problem is explained, as the estimation of joint variables that allow the human body to assume a posture towards achieving an objective. In the robotics field this is called the inverse kinematics problem. The posture prediction problem is formulated as an optimization problem.Furthermore, in order to predict smooth continuous motions, rather than discreet postures, the design variables (joint angle profiles) are represented as linear combinations of B-spline basis functions; thus giving a finite number of design variables for the problem. Various human performance measures are formulated as cost functions for the optimization problem. Constraints for the problem are formulated and explained. Single- and multi-objective optimization example problems are presented to illustrate the methodology." @default.
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- W2500659614 date "2013-01-01" @default.
- W2500659614 modified "2023-09-24" @default.
- W2500659614 title "Posture Prediction and Optimization" @default.
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- W2500659614 doi "https://doi.org/10.1016/b978-0-12-405190-4.00003-9" @default.
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