Volume 9: 40th Computers and Information in Engineering Conference (CIE) 2020
DOI: 10.1115/detc2020-22115
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Two-Dimensional Team Lifting Prediction With Different Box Weights

Abstract: A novel multibody dynamics modeling method is proposed for two-dimensional (2D) team lifting prediction. The box itself is modeled as a floating-base rigid body in Denavit-Hartenberg representation. The interactions between humans and box are modeled as a set of grasping forces which are treated as unknowns (design variables) in the optimization formulation. An inverse-dynamics-based optimization method is used to simulate the team lifting motion where the dynamic effort of two humans is minimized subjected to… Show more

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Cited by 3 publications
(3 citation statements)
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“…The objective function is to minimize the summation of the normalized human joint torque squares [36,37]:…”
Section: Objective Functionsmentioning
confidence: 99%
See 1 more Smart Citation
“…The objective function is to minimize the summation of the normalized human joint torque squares [36,37]:…”
Section: Objective Functionsmentioning
confidence: 99%
“…The objective function is to minimize the summation of the normalized human joint torque squares [36, 37]: where is the specified total time for the lifting task, and and are upper and lower torque limits for the th joint, respectively.…”
Section: Optimization Formulationmentioning
confidence: 99%
“…97,98 Recently, predictive collaborative lifting simulations with a 2D 23 DOFs skeletal model were studied by Xiang and Arefeen 51 and Arefeen and Xiang. 99 Both the centric and eccentric weight liftings with different box weights were studied. The nonlinear optimization problem of collaborative lifting was solved by utilizing the SQP method, and the optimal solution was obtained in 151.99 s. A novel multibody dynamics modeling method is used to predict the collaborative lifting motion and hand grasping forces.…”
Section: Collaborative Liftingmentioning
confidence: 99%