Abstract

Humans are daily presented with tasks that they complete with little effort or even consideration of the planning that goes into the movement. Movements such as manual manipulation tasks are completed with ease, even though the complexities and years of learned behavior are largely hidden from the person. Digital human modeling (DHM) and specifically optimization-based posture and motion prediction methodologies have employed numerical methods in order to simulate/predict/analyze human movements. However, these movements are heavily constrained such that the planning of the motion/posture is explicitly provided in the formulation of the problem. This paper presents the addition of cognitive principles into the optimization-based posture and motion prediction formulations. The simulation/prediction of manual manipulation tasks is considered such that a single formulation can accomplish multiple tasks. It adopts a theory from cognitive psychology referred to as the end-state comfort effect in order to derive general constraints for the prediction of the initial and final posture states that frame the movement related to the manual manipulation task. It considers multiple tasks from the literature that have been heavily studied through experimentation in order to evaluate the efficacy of the formulation. The results show strong correlation with observations reported in the literature.

References

References
1.
Yang
,
J.
, and
Abdel-Malek
,
K.
,
2001
, “
The Exact Reach Envelope of 9 Degree-of-freedom model of Human Upper Extremities
,”
Second International Symposium on Mechanics of Human Movement and Biomaterials
,
Ottawa, Ontario, Canada
,
Aug. 5–7
.
2.
Marler
,
T.
,
Rahmatalla
,
S.
,
Shanahan
,
M.
, and
Abdel-Malek
,
K.
,
2005
, “
A New Discomfort Function for Optimization-Based Posture Prediction
,”
SAE Digital Human Modeling Conference
,
Iowa City, IA
, SAE Technical Paper 2005-01-2680. https://doi.org/10.4271/2005-01-2680
3.
Howard
,
B.
,
Cloutier
,
A.
, and
Yang
,
J.
,
2012
, “
Physics-Based Seated Posture Prediction for Pregnant Women and Validation Considering Ground and Seat Pan Contacts
,”
ASME J. Biomech. Eng.
,
134
(
7
), p.
071004
. 10.1115/1.4007006
4.
Bohlin
,
R.
,
Delfs
,
N.
,
Hanson
L.
,
Högberg
,
D.
, and
Carlson
,
J.S.
,
2012
,
Automatic Creation of Virtual Manikin Motions Maximizing Comfort in Manual Assembly Processes
,
S. J.
Hu
, ed.,
Proceedings of the 4th CIRP Conference on Assembly Technologies and Systems
,
Ann Arbor, MI
,
May 21–22
, pp.
209
212
.
5.
Ozsoy
,
B.
,
Ji
,
X.
,
Yang
,
J.
,
Gragg
,
J.
, and
Howard
,
B.
,
2015
, “
Simulated Effect of Driver and Vehicle Interaction on Vehicle Interior Layout
,”
Int. J. Ind. Ergonomics
,
48
(
2015
), pp.
11
20
. 10.1016/j.ergon.2015.05.004
6.
Xiang
,
Y.
,
Zaman
,
R.
,
Rakshit
,
R.
, and
Yang
,
J.
,
2019
, “
Subject-Specific Strength Percentile Determination for Two-Dimensional Human Symmetric Lifting Prediction Considering Dynamic Joint Strength
,”
Multibody Syst. Dyn.
,
64
(
1
), pp.
63
76
. 10.1007/s11044-018-09661-1
7.
Yang
,
J.
,
Abdel-Malek
,
K.
, and
Nebel
,
K.
,
2005
, “
Reach Envelope of a 9 Degree of Freedom Model of the Upper Extremity
,”
Int. J. Rob. Autom.
,
20
(
4
), pp.
240
259
. 10.2316/Journal.206.2005.4.206-2738
8.
Howard
,
B.
,
2018
, “
Digital Human Posture and Motion Prediction Considering Cognitive Decision Making
,” Ph.D. Dissertation,
Texas Tech University
,
Lubbock, TX
.
9.
Rosenbaum
,
D. A.
, and
Jorgensen
,
M. J.
,
1992
, “
Planning Macroscopic Aspects of Manual Control
,”
Human Mov. Sci.
,
11
(
1–2
), pp.
61
69
.10.1016/0167-9457(92)90050-L
10.
Rosenbaum
,
D. A.
,
Van Heugten
,
C. M.
, and
Caldwell
,
G. E.
,
1996
, “
From Cognition to Biomechanics and Back: The End-State Comfort Effect and the Middle-Is-Faster Effect
,”
Acta Psychol.
,
94
(
1
), pp.
59
85
. 10.1016/0001-6918(95)00062-3
11.
Rosenbaum
,
D. A.
,
Meulenbroek
,
R. J.
,
Vaughan
,
J.
, and
Jansen
,
C.
,
2001
, “
Posture-Based Motion Planning: Applications to Grasping
,”
Psychol. Rev.
,
108
(
4
), pp.
709
734
. 10.1037/0033-295X.108.4.709
12.
Scharoun
,
S. M.
,
Gonzalez
,
D. A.
,
Bryden
,
P. J.
, and
Roy
,
E. A.
,
2016
, “
The Influence of Action Execution on End-State Comfort and Underlying Movement Kinematics: An Examination of Right and Left Handed Participants
,”
Acta Psychol.
,
164
, pp.
1
9
. 10.1016/j.actpsy.2015.12.002
13.
Kralik
,
J.
,
Muldrew
,
B. C.
,
Gunasekaran
,
D.
, and
Lange
,
R. D.
,
2017
, “
Cognitive and Action Control for Goal-Directed Reaching in a Humanoid Robot
,”
Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
,
Macau, China
,
Dec. 5–8
, pp.
1868
1873
.
14.
Asada
,
H.
, and
Kitagawa
,
M.
,
1989
, “
Kinematic Analysis and Planning for Form Closure Grasps by Robotic Hands
,”
Rob. Comput. Integr. Manuf.
,
5
(
4
), pp.
293
299
. 10.1016/0736-5845(89)90003-3
15.
Cheraghpour
,
F.
,
Moosavian
,
S. A. A.
, and
Nahvi
,
A.
,
2011
, “
Multi-Aspect Grasp Index for Robotic Arms
,”
Sci. Iran.
,
18
(
2
), pp.
222
230
. 10.1016/j.scient.2011.03.017
16.
Walha
,
C.
,
Bezine
,
H.
, and
Alimi
,
A. M.
,
2012
, “
An Adaptive Particle Swarm Optimization Method for Solving the Grasp Planning Problem
,”
Procedia Eng.
,
41
, pp.
426
435
. 10.1016/j.proeng.2012.07.194
17.
Xue
,
Z.
,
Ruehl
,
S. W.
,
Hermann
,
A.
,
Kerscher
,
T.
, and
Dillmann
,
R.
,
2012
, “
Autonomous Grasp and Manipulation Planning Using a Tof Camera
,”
Rob. Auton. Syst.
,
60
(
3
), pp.
387
395
. 10.1016/j.robot.2011.07.012
18.
Yoshikawa
,
T.
,
1985
, “
Manipulability and Redundancy Control of Robotic Mechanisms
,”
IEEE Int. Conf. Rob. Automat.
,
2
, pp.
1004
1009
. 10.1109/robot.1985.1087283
19.
Kim
,
J.
,
Park
,
J.
,
Hwang
,
Y. K.
, and
Lee
,
M.
,
2004
, “
Advanced Grasp Planning for Handover Operation Between Human and Robot
,”
The Second International Conference on Autonomous Robots and Agents
,
Palmerston North, New Zealand
,
Dec. 13–15
, pp.
34
39
.
20.
Vahrenkamp
,
N.
,
Berenson
,
D.
,
Asfour
,
T.
,
Kuffner
,
J.
, and
Dillmann
,
R.
,
2009
, “
Humanoid Motion Planning for Dual-Arm Manipulation and Re-Grasping Tasks
,”
IEEE International Conference on Intelligent Robots and Systems
,
St Louis, pp.
,
Oct. 11–15
, pp.
2464
2470
.
21.
Vahrenkamp
,
N.
,
Do
,
M.
,
Asfour
,
T.
, and
Dillmann
,
R.
,
2010
, “
Integrated Grasp and Motion Planning
,”
IEEE International Conference on Intelligent Robots and Systems
,
St Louis
,
Oct. 11–15
, pp.
2883
2888
.
22.
Wischniewski
,
S.
,
2013
, “
Delphi Survey: Digital Ergonomics 2025
,”
The Second International Digital Human Modeling Symposium
,
Ann Arbor, MI
, pp.
1
8
.
23.
Rosenbaum
,
D. A.
,
Cohen
,
R. G.
,
Dawson
,
A. M.
,
Jax
,
S. A.
,
Meulenbroek
,
R. G. J.
,
Van Der Wel
,
R.
, and
Vaughan
,
J.
,
2009
, “
The Posture-Based Motion Planning Framework: New Findings Related to Object Manipulation, Moving Around Obstacles, Moving in Three Spatial Dimensions, and Haptic Tracking, Progress in Motor Control
,”
Part Adv Exp Med Biol., Book Series
,
629
, pp.
485
497
. 10.1007/978-0-387-77064-2_26
24.
Rosenbaum
,
D. A.
,
Cohen
,
R. G.
,
Meulenbroek
,
R. G. J.
, and
Vaughn
,
J.
,
2009
, “
Progress in Motor Control, Springer-Verlag
,”
Plans Grasping Objects
, pp.
9
25
.
25.
Yang
,
J.
,
Marler
,
T.
,
Arora
,
J.
, and
Abdel-Malek
,
K.
,
2004
,
Multi-Objective Optimization for Upper Body Posutre Prediction
,
Albany
,
New York
.
26.
Gragg
,
J.
,
Yang
,
J.
, and
Long
,
J.
,
2011
, “
Optimization-Based Approach for Determining Driver Seate Adjustment Range
,”
Int. J. Veh. Des.
,
57
(
2/3
), pp.
148
161
. 10.1504/IJVD.2011.044716
27.
Gragg
,
J.
,
Yang
,
J.
, and
Howard
,
B.
,
2012
, “
Hybrid Method for Driver Accommodation Using Optimization-Based Digital Human Models
,”
Comput. Aided Des.
,
44
(
1
), pp.
29
39
. 10.1016/j.cad.2010.11.009
28.
Ozsoy
,
B.
,
Yang
,
J.
,
Howard
,
B.
,
Domire
,
Z. J.
, and
Boros
,
R.
,
2011
, “
Direct Optimisation-Based Planar Human Vertical Jumping Simulation
,”
Int. J. Hum. Fact. Modell. Simul.
,
2
(
1
), pp.
47
66
. 10.1504/IJHFMS.2011.041637
29.
Ozsoy
,
B.
,
2014
, “
Three-Dimensional Sit-To-Stand Motion Prediction
,” PhD Dissertation,
Texas Tech University
,
Lubbock, TX
.
30.
Yang
,
J.
,
Marler
,
T.
, and
Rahmatalla
,
S.
,
2011
, “
Multi-Objective Optimization Base Method for Upper Body Posture Prediction: Development and Validation
,”
Robotica
,
29
(
2
), pp.
245
253
. 10.1017/S026357471000010X
31.
Marler
,
T.
,
Arora
,
J.
,
Yang
,
J.
,
Kim
,
J.
, and
Abdel-Malek
,
K.
,
2009
, “
Use of Multi-Objective Optimization for Digital Human Posture Prediction
,”
Eng. Optim.
,
41
(
10
), pp.
925
943
. 10.1080/03052150902853013
32.
Denavit
,
J.
, and
Hartenberg
,
R. S.
,
1955
, “
A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices
,”
ASME J. Appl. Mech.
,
77
, pp.
215
221
.
33.
Rosenbaum
,
D. A.
,
Cohen
,
R. G.
,
Meulenbroek
,
R. G. J.
, and
Vaughan
,
J.
,
2006
,
Plans for Grasping Objects In Motor Control and Learning
,
M. L.
Latash
and
F.
Lestienne
, ed., pp.
9
25
.
34.
Rosenbaum
,
D. A.
,
Marchak
,
F.
,
Barnes
,
H. J.
,
Vaughan
,
J.
,
Slotta
,
J. D.
, and
Jorgensen
,
M. J.
,
1990
, “Constraints for Action Selection: Overhand Versus Underhand Grips”,
M.
Jeannerod
, ed.,
Attention and Performance 13: Motor Representation and Control
,
Lawrence Erlbaum Associates, Inc.
,
Hillsdale, NJ
, pp.
321
342
.
35.
Cohen
,
R.
, and
Rosenbaum
,
D.
,
2004
, “
Where Grasps Are Made Reveals How Grasps Are Planned: Generation and Recall of Motor Plans
,”
Exp. Brain Res.
,
157
(
4
), pp.
486
495
. 10.1007/s00221-004-1862-9
36.
Xiang
,
Y.
,
Chung
,
H. J.
,
Kim
,
H. J.
,
Bhatt
,
R.
,
Marler
,
R. T.
,
Rahmatalla
,
S.
,
Yang
,
J.
,
Arora
,
J. S.
, and
Abdel-Malek
,
K.
,
2010
, “
Predictive Dynamics: An Optimization-Based Novel Approach for Human Motion Simulation
,”
Struct. Multidiscip. Optim.
,
41
(
3
), pp.
465
479
. 10.1007/s00158-009-0423-z
You do not currently have access to this content.