论文信息 - A Characterization of Human Locomotion by CATRASYS (Cassino Tracking System)

A Characterization of Human Locomotion by CATRASYS (Cassino Tracking System)

This paper presents an experimental characterization of human locomotion by a cable-based measuring system, namely CATRASYS, which has been designed and built at LARM (Laboratory of Robotics and Mechatronics). With CATRASYS, trajectories of the human limb extremity and its orientation have been characterized by lab tests during walking. Forces that are exerted by a limb of the experimental subject against cable sensors have been measured as well. Based on experimental results, modelling and characterization of the walking gait has been proposed in this paper.

Marco Ceccarelli | T. Li | M. Ceccarelli | T. Li

[1] Marco Ceccarelli,et al. An application of CaTraSys, a cable-based parallel measuring system for an experimental characterization of human walking , 2009, Robotica.

[2] John Miller Cooper,et al. The biomechanics of human movement , 1989 .

[3] Marco Ceccarelli,et al. CATRASYS (Cassino Tracking System): A Wire System for Experimental Evaluation of Robot Workspace , 2002, J. Robotics Mechatronics.

[4] I-Ming Chen,et al. A low cost wearable optical-based goniometer for human joint monitoring , 2010 .

[5] Marco Ceccarelli,et al. Experimental Determination of Robot Workspace by Means of CATRASYS (Cassino Tracking System) , 2000 .

[6] Gérard Poisson,et al. Optimal Synthesis of a New Spherical Parallel Mechanism for Application to Tele-Echography Chain , 2011 .

[7] Patrick Lacouture,et al. An auto-adaptable algorithm to generate human-like locomotion for different humanoid robots based on motion capture data , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8] Guang-Zhong Yang,et al. A stereoscopic fibroscope for camera motion and 3D depth recovery during Minimally Invasive Surgery , 2009, 2009 IEEE International Conference on Robotics and Automation.