Definition of Task Positions based on Anthropometric Data

5.3 Number and Definition of Task Positions

5.3.2 Definition of Task Positions based on Anthropometric Data

The second method to define task positions is to use statistically determined anthropometric data. The dimensions of human beings are normally distributed and can be found in tables such as the DIN 33402-2:2005-12 Ergonomie - Körpermaße des Menschen. This document provides the mean human body measurements such as height, length and width of lower limb, etc. of the user for females and males in Germany for the 5th, 50th and 95th percentile.

The 50th percentile represents the mean which means that 50% of the population are either below or above the mean. Similarly the 5th percentile represents the number for which 5% of the population are below that value and 95% are above. The 95th percentile is analogues to the 5th percentile in which 5% are larger than this value.

Given the biological model of the user as seen from Fig. 19c we can simulate the movement of the lower limb and determine the information required from DIN 33402. Fig. 24 represents the user in a seated position. To define this as well as the other two task position we need to determine the body measurements required to calculate the task positions for each user.

The first task position is defined as the sit task position. The second task position will be called as the transitional task position, while the final task position is defined as the stand stand task position. Each task positions is characterized by its orientation 'ⁱ and position

Wtⁱ_M. Since it is our aim to create an ergonomic movement of the seat that is identical to the movement of the human thigh it is convenient to attach the coordinate frame M rigidly to the kneep_kneejoint of the user which is also defined as the moving rotational jointpⁱ_knee. Thus the translation ofMin thexy-plane ofW is measured using the 2⇥1 translation vector tⁱ_M = pⁱ_knee. Orientation ofM with respect toW shall be measured using the angle'ⁱ_thigh and shall be described using a proper 2⇥2 rotation matrixRⁱ_M('ⁱ_thigh)as seen in Fig. 23.

(a) (b)

Figure 23Task positions of frameMin configuration 1 (a) and configurationi(b) with respect to a world coordinate frameW (Pictures taken from (Reimer et al., 2017))

Bio-Kinematic Design of Individualized Lift-Assist Chairs for the Support of Sit-to-Stand Movement 39

Task Position: Sit

Geometrically the user is expected to sit on the chair such that his back rest gently against the backrest of the chair. In that case the hip joint, modeled asp¹_hipis located at half the body width along and half the thigh width along thex-axis andy-axis respectively as seen in Fig.

24. The thigh and shank will be positioned such that the shank is oriented perpendicular to the ground, i.e. thex-axis. Given the height of the chair one can compute the angle'¹_thigh

'¹_thigh =⇡ arcsin(cheight+¹₂ ·h lshank

l_thigh ) (5.18)

wherec_heightis the height of the chair. The position of theM coordinate frame is therefore located at

Wp¹_knee = 0 BB B@

l_thigh·sin('¹_thigh 90 ) l_shank

1 CC

CA ^(5.19)

a

h

W

l

!

. c

height

Figure 24Schematic view of the first task position (Drawing by Corinna Eder)

Task Position: Transition

The second task position is the transitional task position between thesitandstand configu-ration. The transitional task position was characterized arbitrarily at a knee flexion of 60 as seen in Fig. 25 which implies that '²_thigh = 130 and '²_shank = 70 . The position of the M coordinate frame is therefore located at

Wp²_knee = 0 BB B@

l_thigh·sin('²_thigh 90 ) +l_shank·cos(70 ) l_shank·sin(70 )

1 CC

CA ^(5.20)

W

!

_130°

60°

!_!!!"#

W!_!^! _W

!_!^!

Figure 25Schematic view of the first and second task position (Drawing by Corinna Eder)

Bio-Kinematic Design of Individualized Lift-Assist Chairs for the Support of Sit-to-Stand Movement 41

Task Position: Stand

The final task position is defined at a knee flexion of 20 as seen in Fig. 26. While standing would imply no knee flexion - as the thigh is approximately aligned with the shank - this angle was chosen, again arbitrarily to illustrate the concept behind this computational bio-kinematic approach to individualize this particular lift-assist mechanism. The stand task position is therefore positioned at

Wp³_knee = 0 BB B@

l_thigh·sin('³_thigh 90 ) +s·cos(80 ) l_shank·sin(80 )

1 CC

CA ^(5.21)

W

!

100°

20°

W!_!^! ^W!_!^!

80°

Figure 26Schematic view of the first and third task position (Drawing by Corinna Eder)

Table 2Definition of task positions

Task Position Orientation'ⁱ Position^Wtⁱ_B Sit (i= 1) '¹_thigh

B@l_thigh·sin('¹_thigh 90 ) l_shank

1 CA

Transition (i= 2) 130

B@l_thigh·sin('²_thigh 90 ) +l_shank·cos(70 ) l_shank·sin(70 )

1 CA

Stand (i= 3) 100

B@l_thigh·sin('³_thigh 90 ) +s·cos(80 ) l_shank·sin(80 )

1 CA

The task positions are summarized in Tab. 2. To calculate each task position we require data on the length of the thighl_thigh, the shankl_shank. Further to determine'¹_thighwe must determine the width of the thighaand the width of the bodyhas summarized here:

• Femoral lengthl_thigh

• Tibial lengthl_shank

• Width of the thighw_thigh

• Body depthw_body

Figure 27Tibial length, width of thigh, body width and total length of lower limb taken from DIN 33402-2:2005-12

As seen in Fig. 27, DIN 33402 provides statistical body measurements on the tibial length l_shank, width of the thighw_thigh, width of the bodyw_thighand total lower limb lengthl_leg. Since the femoral length it is calculated by subtracting half of the body length and the tibial length as seen here

l_thigh =l_leg l_shank 1

2 ·w_body (5.22)

Table 3 lists the body measurements for the 5th, 50th and 95th percentile for female and males for 18 - 65 year olds.

Bio-Kinematic Design of Individualized Lift-Assist Chairs for the Support of Sit-to-Stand Movement 43

Table 3Anthropometric Data based on DIN 33402-2:2005-12

Segment Gender 5th Percentile 50th Percentile 95th Percentile

Tibial lengthl_shank ^male ^{430 mm} ^{460 mm} ^{480 mm}

female 400 mm 425 mm 450 mm

Width of thighw_thigh ^male ^{130 mm} ^{150 mm} ^{180 mm}

female 125 mm 145 mm 175 mm

Width of bodyw_body ^male ^{260 mm} ^{285 mm} ^{380 mm}

female 245 mm 290 mm 345 mm

Total length of lower limbw_leg ^male ^{965 mm} ^{1045 mm} ^{1140 mm}

female 925 mm 990 mm 1055 mm

Calculated femoral lengthl_thigh ^male ^{405 mm} ^{442.5 mm} ^{470 mm}

female 402.5 mm 420 mm 432.5 mm

Im Dokument Bio-Kinematic Design of Individualized Lift-Assist Chairs for the Support of Sit-to-Stand Movement (Seite 53-58)