Application of robotic indices to evaluate human upper-limb force capacities

摘要

The aim of the present study was to apply several indices originating from the robotics field to evaluate the upper-limb force generation capacities. From a rigid body model of the upper-limb, motion capture, and joint torque data at the shoulder, elbow, and wrist, the proposed indices allow to evaluate the force that can be generated at the hand in all Cartesian directions. The interest and limits of such indices are discussed in the framework of ergonomic and rehabilitation applications.