Joint moment determination for ergonomic simulation of reaching movement: PID controllers contribution

摘要

Dufour and Wang consider that ergonomic evaluation (i.e. unconfort evaluation) of simulated human movements cannot only be dealt by kinematics data but also by joint moments. The estimation of these unobservable data is an inverse dynamic problem. To solve this one, four methods are proposed in the literature. These methods base on vectors and Euler angles, quaternions, homogeneous matrices, or generalised coordinates and forces. However, Dumas et al. (2007) recommend to use quaternions method or homogeneous matrices method. In our study, we compute joint moments with a homogeneous matrices method and with a robotic method which is based on PID controllers (proportional, integral, derived) (Khalil and Dombre 1999). We compare these two methods after the trajectories reconstruction made with the forward dynamic model (FDM) and the forward geometric model (FGM). The investigated movement is the reaching movement, a usually simulated movement.