RBE Colloquium Series Presents
Dr. Hideyuki Kimpara
Visiting Research Scientist
Modeling Active Human Motions
Abstract: WPI-Toyota collaborative research project started in April 2016, and will terminated at the end of this February. The main scope of this project was better understandings of active human motion and underlying motion planning & control theory. Better understandings of human-machine (products/services) interface may improve overall human experience with any devices. In order to adapt motion algorithms of robotics into biomechanical models, we developed a simulation framework of human-vehicle interactions (Human Model-based Active Driving System: HuMADS) using OpenSim platform. We adapted a centralized position/force feedback controller for human arms and legs to achieve steering wheel and pedal tasks. This colloquium talk shows representative outputs from this project including development and validation of HuMADS, demonstration of human vehicle driving, evaluation of driving performance and driver control workloads. Because human motion is generally faster than algorithms-based performance, we conducted force anticipation study of human motions in latter term of this project. Preliminary test results show that humans may use anticipations to complete task in quick, smooth and energy efficient. This may suggest a new feedforward control design to express human-like motions in the future.
Bio: Hideyuki Kimpara is a researcher at Toyota Central R&D Labs., Inc. (TCRDL) in Japan and Sr. Principal Engineer at Toyota Research Institute N.A. (TRI-NA) in Ann Arbor, Michigan. He received the B.S. and M.S. degrees from Keio University, Japan, in 1998 and 2000, respectively, and the Dr. Eng. degree from Nagoya University, Japan, in 2015. Since he joined TCRDL in 2000, his major contribution in injury biomechanics research was development of a human body model, THUMS (Total Human Model for Safety). During research projects of small females and rib fracture injury, he visited the Bioengineering Center of Wayne State University, Detroit, MI, from 2002 to 2006. After finishing Active THUMS project at TCRDL, he was dispatched to TRI-NA and assigned a human motion research with Worcester Polytechnic Institute, Worcester, MA in 2016. His current research interests include human motion generation and prediction, robotics, applied biomechanics, and integrated safety for future mobility.