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hal.structure.identifierLaboratoire Images, Signaux et Systèmes Intelligents [LISSI]
dc.contributor.authorBONNET, Vincent
hal.structure.identifierControl of Artificial Movement and Intuitive Neuroprosthesis [CAMIN]
dc.contributor.authorAZEVEDO COSTE, Christine
hal.structure.identifierInteractions Sol Plante Atmosphère [UMR ISPA]
dc.contributor.authorROBERT, Thomas
hal.structure.identifierInteractive Digital Humans [IDH]
dc.contributor.authorFRAISSE, Philippe
hal.structure.identifierTokyo University of Agriculture and Technology [TUAT]
dc.contributor.authorVENTURE, Gentiane
dc.date.accessioned2024-04-08T12:11:21Z
dc.date.available2024-04-08T12:11:21Z
dc.date.issued2017-03
dc.identifier.issn1534-4320
dc.identifier.urihttps://oskar-bordeaux.fr/handle/20.500.12278/196688
dc.description.abstractEnThis study aims at developing and evaluating a new practical method for the real-time estimate of joint torques and external wrenches during multi-contact sit-to-stand task using kinematics data only. The proposed method allows also identifying subject specific body inertial segment parameters that are required to perform inverse dynamics. The identification phase is performed using simple and repeatable motions. Thanks to an accurately identified model the estimate of the total external wrench can be used as an input to solve an under-determined multi-con-tact problem. It is solved using a constrained quadratic optimization process minimising a hybrid human-like energetic criterion. The weights of this hybrid cost function are adjusted and a sensitivity analysis is performed in order to reproduce robustly human external wrench distribution. The results showed that the pro-posed method could successfully estimate the external wrenches under buttocks, feet and hands during sit-to stand tasks (RMS error lower than 20 N and 6 N.m). The simplicity and generalisation abilities of the proposed method allow paving the way of future diagnosis solutions and rehabilitation applications, including in-home use.
dc.language.isoen
dc.publisherIEEE Institute of Electrical and Electronics Engineers
dc.subject.enMulti-contact
dc.subject.enInertial parameters identification
dc.subject.enInverse dynamics
dc.subject.enSit-to-stand
dc.subject.enTransfer assistance
dc.title.enOptimal External Wrench Distribution During a Multi-Contact Sit-to-Stand Task
dc.typeArticle de revue
dc.identifier.doi10.1109/TNSRE.2017.2676465
dc.subject.halSciences de l'ingénieur [physics]/Automatique / Robotique
bordeaux.journalIEEE Transactions on Neural Systems and Rehabilitation Engineering
bordeaux.page987-997
bordeaux.volume25
bordeaux.hal.laboratoriesInteractions Soil Plant Atmosphere (ISPA) - UMR 1391*
bordeaux.issue7
bordeaux.institutionBordeaux Sciences Agro
bordeaux.institutionINRAE
bordeaux.peerReviewedoui
hal.identifierlirmm-01515473
hal.version1
hal.popularnon
hal.audienceInternationale
hal.origin.linkhttps://hal.archives-ouvertes.fr//lirmm-01515473v1
bordeaux.COinSctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.jtitle=IEEE%20Transactions%20on%20Neural%20Systems%20and%20Rehabilitation%20Engineering&rft.date=2017-03&rft.volume=25&rft.issue=7&rft.spage=987-997&rft.epage=987-997&rft.eissn=1534-4320&rft.issn=1534-4320&rft.au=BONNET,%20Vincent&AZEVEDO%20COSTE,%20Christine&ROBERT,%20Thomas&FRAISSE,%20Philippe&VENTURE,%20Gentiane&rft.genre=article


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