Effect of joystick stiffness, movement speed and movement direction on joystick and upper limb kinematics when using hydraulic-actuation joystick controls in heavy vehicles

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Abstract
Despite the widespread use of hydraulic-actuation joysticks in mobile North American construction, mining and forestry vehicles, the biomechanical effects that joysticks have on their human operators has not been studied extensively. Using nine unskilled joystick operators and a laboratory mock-up with a commonly used North American heavy off-road equipment hydraulic-actuation joystick and operator seat, the purpose of this work was to quantify and compare the effects of three hydraulic-actuation joystick stiffnesses and two movement speeds on upper limb and joystick kinematics as one of the initial steps towards the development of a hydraulic-actuation joystick design protocol. In addition to providing a detailed description of the kinematics of a constrained occupational task, coupled with the corresponding effects of the task on operator upper limb kinematics, results from principal component analysis and ANOVA procedures revealed a number of differences in joystick and upper limb angle ranges and movement curve shapes resulting from the various joystick stiffness-speed combinations tested. For the most part, these joystick motion alterations were caused by small, insignificant changes in one or more upper limb joint angles. The two exceptions occurred for forward movements of the joystick; the fast speed – light stiffness condition movement pattern shape change was caused primarily by an alteration of the elbow flexion–extension movement pattern. Similarly, the fast speed – normal stiffness condition movement curve shape perturbation – was caused principally by a combination of significant movement curve shape alterations to elbow flexion–extension, external–internal shoulder rotation and flexion–extension of the shoulder. The finding that joystick stiffness and speed alterations affect joystick and upper limb kinematics minimally indicates that the joystick design approach of modelling the joystick and operator upper limb as a closed linkage system should be pursued. This approach would allow one to simulate the upper limb and joystick kinematics that result from virtual changes to upper limb and joystick lengths.

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