A New Discomfort Function for Optimization-Based Posture Prediction

Using multi-objective optimization, we develop a new human performance measure for direct optimizationbased posture prediction that incorporates three key factors associated with musculoskeletal discomfort: 1) the tendency to move different segments of the body sequentially, 2) the tendency to gravitate to a comfortable neutral position, and 3) the discomfort associated with moving while joints are near their respective limits. This performance measure operates in real-time and provides realistic postures. The results are viewed using Santos TM , an advanced virtual human, and they are validated using motion-capture. This research lays groundwork for studying how and why humans move as they do.