Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICCA.2010.5524383
Title: Modelling human falling process based on a five-link bipedal robot
Authors: Xu, J.-X. 
Sun, Y.
Pang, C.K. 
Issue Date: 2010
Source: Xu, J.-X.,Sun, Y.,Pang, C.K. (2010). Modelling human falling process based on a five-link bipedal robot. 2010 8th IEEE International Conference on Control and Automation, ICCA 2010 : 2212-2217. ScholarBank@NUS Repository. https://doi.org/10.1109/ICCA.2010.5524383
Abstract: In this paper we develop a dynamic model to mimic and simulate human falling process when tripping over an obstacle. The work consists of three parts. First a 5-link bipedal model is established, the joint trajectories of knee and hip are generated. Next several constraints are taken into consideration, which take the physical, physiological and environmental constraints into consideration. Hence the fall process can be modeled in a realistic manner. A number of important factors that characterize the fall process, such as reaction time, inclining angle, stable range, initial speed, are investigated. The whole falling process is formulated according to biological characteristics and stability analysis, which further offers an effective way to identify and distinguish falling from normal activities, so that the falling can be predicted and a prevention device can be activated in advance. © 2010 IEEE.
Source Title: 2010 8th IEEE International Conference on Control and Automation, ICCA 2010
URI: http://scholarbank.nus.edu.sg/handle/10635/71004
ISBN: 9781424451951
DOI: 10.1109/ICCA.2010.5524383
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