The Experimental Research about the Human Back Kinematic Characteristics with Difference Stride

Abstract

The human back is flat and broad, and has less interference with the limbs. It is often used as a platform for carrying heavy objects or wearable equipment. For wearable equipment such as wearable robot arm, a relatively stable environment is usually required for terminal execution of tasks. In the process of human movement, due to the high flexibility of human and softness of the back muscles, there will be great interference to the wearable manipulators, which is not conducive to the task completion. The analysis of the motion law of the back can effectively lay the foundation for the wearable robot arm to resist the interference of human kinematic characteristic. The analysis of human back kinematic characteristic can effectively lay the foundation for the wearable manipulator to resist the interference of human movement. In this paper, 3D optical motion capture is used to obtain the back motion data when the human body moves at a constant speed under different stride lengths. The installation position of the relatively stable wearable manipulator is determined according to the spatial displacement, velocity and the rotation of different sections of different points on the back. Through comparison, this paper concluded that the lower back was more stable than other positions in the process of walking and could be used as a platform for installation of wearable equipment. The kinematic characteristics of stable position is parameterized, which is used in the control of wearable manipulators, and has significance in the fields of ergonomics, sports science and bionic mechanism.