Deriving models of human body motion is important for prosthetics, rehabilitation and development of humanoids. We present a method that simplifies the derivation of equations of motion of human movements. We illustrate our approach by deriving motion models of a person riding in a moving bus. Our approach simplifies the derivation of dynamics as only open chain dynamics are to be derived. The kinematic constraints are then introduced to represent a complete system model in which the contact forces appear explicitly. We then constrain the contact forces based on the performance requirements to determine the feasibility of motions, which is difficult to determine with the traditional methods. Our model allows for the design and control analysis, specifically, the derivation of the relationship between the change in rider’s posture and the feasibility of motions.

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