Title: Dynamic digital human models for ergonomic analysis based on humanoid robotics techniques

Authors: Giovanni De Magistris; Alain Micaelli; Jonathan Savin; Clarisse Gaudez; Jacques Marsot

Addresses: CEA, LIST, LSI, rue de Noetzlin, Gif-sur-Yvette, F-91190, France ' CEA, LIST, LSI, rue de Noetzlin, Gif-sur-Yvette, F-91190, France ' Institut National de Recherche et de Sécurité (INRS), rue du Morvan, CS 60027, Vandoeuvre-lès-Nancy, F-54519, France ' Institut National de Recherche et de Sécurité (INRS), rue du Morvan, CS 60027, Vandoeuvre-lès-Nancy, F-54519, France ' Institut National de Recherche et de Sécurité (INRS), rue du Morvan, CS 60027, Vandoeuvre-lès-Nancy, F-54519, France

Abstract: Digital human models can be used for biomechanical risk factors assessment of a workstation and work activity design for which there is no physical equipment that can be tested using actual human postures and forces. Yet, using digital human model software packages is usually complex and time-consuming. A challenging aim therefore consists in developing an easy-to-use digital human model capable of computing dynamic, realistic movements and internal characteristics in quasi-real time, based on a simple description of future work tasks, in order to achieve reliable ergonomics assessments of various work task scenarios. We developed such a dynamic digital human model, which is automatically controlled in force and acceleration and inspired by human motor control and based on robotics and physics simulation. In our simulation framework, the digital human model motion was controlled by real-world Newtonian physical and mechanical laws. We also simulated and assessed experimental insert-fitting activities according to the occupational repetitive actions (OCRA) ergonomic index. Simulation led to satisfactory results: experimental and simulated ergonomics evaluations were consistent, and both joint torques and digital human model movements were realistic and coherent with human-like behaviours and performances.

Keywords: digital human models; DHM; human learning; dynamic control; ergonomic analysis; ergonomics; human modelling; dynamic modelling; biomechanics; risk assessment; work design; work activity design; human motor control; robot simulation; physics simulation; humanoid robotics; occupational repetitive actions; OCRA; joint torques; human model movements.

DOI: 10.1504/IJDH.2015.067135

International Journal of the Digital Human, 2015 Vol.1 No.1, pp.81 - 109

Received: 30 Nov 2013
Accepted: 11 Sep 2014
Published online: 27 Jan 2015 *