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Automatic Placement of the Human Head Thanks to Ergonomic and Visual Constraints

[+] Author Affiliations
Bilal Boualem

University of Tlemcen, Tlemcen, AlgeriaInstitut de Recherche en Communications et Cybernétique de Nantes, Nantes, France

Damien Chablat

Institut de Recherche en Communications et Cybernétique de Nantes, Nantes, France

Abdelhak Moussaoui

University of Tlemcen, Tlemcen, AlgeriaUniversity of Lorraine, Metz, France

Paper No. DETC2015-46153, pp. V05CT08A001; 10 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME


This article aims to create automatic placement and trajectory generation for the head and the eyes of a virtual mannequin. This feature allows the engineer using off-line programming software of mannequin to quickly verify the usability and accessibility of a visual task. An inverse kinematic model is developed taking into account the joint limits of the neck and the eyes as well as interference between the field of view and the environmental objects. This model uses the kinematic redundancy mechanism: the head and eyes. The resolution algorithm is presented in a planar case for educational reasons and in a spatial case.

Copyright © 2015 by ASME



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