An Experimental Method to Estimate Upper Limbs Inertial Parameters During Handcycling

in Journal of Applied Biomechanics

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Ghazaleh Azizpour University of Brescia

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Matteo Lancini University of Brescia

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Giovanni Incerti University of Brescia

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Paolo Gaffurini Casa di Cura Domus Salutis

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Giovanni Legnani University of Brescia

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DOI:
https://doi.org/10.1123/jab.2017-0136
Keywords:
handbike; human arm; kinematics; kinetics; dynamics
In Print:
Volume 34: Issue 3
Page Range:
175–183
Restricted access

This study proposes an experimental method to estimate personalized inertial parameters of upper limbs during handcycling by using a planar dynamic model. The handle forces are expressed as a product of a matrix describing the kinematics terms and a vector of inertial parameters of arm and forearm. The parameters are estimated by measuring the handle forces during a suitable “passive test” and inverting the mentioned matrix. The data were acquired while an operator actuated the handle and the subject’s muscles were relaxed. To validate the estimation procedure, it was applied to a custom-made artificial arm mechanism, and the results were compared with its known parameters. The method was then used to estimate the inertial parameters of 6 human subjects. The estimated parameters were used to compute the exchanged forces and compared with the measured ones obtaining an average error of 14% both for Fx and Fy. These errors are significantly smaller than those obtained using dynamic parameters extracted from the literature to compute the forces, which were 50% for Fx and 19% for Fy. An individual evaluation of inertial parameters better describes interaction forces during handcycling, especially for subjects whose body structures are different from the average population.

Azizpour, Lancini, Incerti, and Legnani are with the Department of Mechanical and Industrial Engineering (DIMI), University of Brescia, Brescia, Italy. Gaffurini is with LARIN: Neuromuscular and Adapted Physical Activity Laboratory, Rehabilitation Service, Casa di Cura Domus Salutis, Brescia, Italy.

Azizpour (g.azizpour@unibs.it) is corresponding author.
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Journal of Applied Biomechanics

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