GENERATION OF POSTURE AND HUMAN MOVEMENT FOR WORKSPACE DESIGN

This paper deals with modelling of human movement in order to provide an analysis and simulation tool which could be used for workspace design. The goal of this work is to generate postures and displacements in an automatic way thanks to the state of the art on the human movement. We are interested in systematic generation of human motion and postures that correspond to working tasks defined by grasps or, more generally, by locations of particular frames linked to hands, head or another body of interest. These tasks are reaching — point to point — tasks or tasks with imposed cartesian path. So the problem is: how to control global posture when frames attached to some bodies are imposed? For that, kinematic models resulting from robotics are used and a redundancy resolution scheme is proposed that makes possible to take into account the articular limits.