Mathematical models for the apparent masses of standing subjects exposed to vertical whole-body vibration

Linear lumped parameter models of the apparent masses of human subjects in standing positions when exposed to vertical whole-body vibration have been developed. Simple models with a single degree-of-freedom (d.o.f.) and with two (d.o.f.) were considered for practical use. Model parameters were optimised using both the mean apparent mass of 12 male subjects and the apparent masses of individual subjects measured in a previous study. The calculated responses of two (d.o.f.) models with a massless support structure showed best agreement with the measured apparent mass and phase, with errors less than 0.1 in the normalised apparent mass (i.e., corresponding to errors less than 10% of the static mass) and errors less than 5° in the phase for a normal standing posture. The model parameters obtained with the mean measured apparent masses of the 12 subjects were similar to the means of the 12 sets of parameters obtained when fitting to the individual apparent masses. It was found that the effects of vibration magnitude and postural changes on the measured apparent mass could be represented by changes to the stiffness and damping in the two (d.o.f.) models.     

Vertical and dual-axis vibration of the seated human body: Nonlinearity,cross-axis coupling,and associations between resonances in transmissibility and apparent mass

The vertical apparent mass of the human body exhibits nonlinearity, with the principal resonance frequency reducing as the vibration magnitude increases. Measures of the transmission of vibration to the spine and the pelvis have suggested complex modes are responsible for the dominant resonance during vertical excitation, but the modes present with dual-axis excitation have not been investigated. This study was designed to examine how the apparent mass and transmissibility of the human body depend on the magnitude of vertical excitation and the addition of fore-and-aft excitation, and the relation between the apparent mass and the transmissibility of the body. The movement of the body (over the first, fifth and twelfth thoracic vertebrae, the third lumbar vertebra, and the pelvis) in the fore-and-aft and vertical directions (and in pitch at the pelvis) was measured in 12 male subjects sitting with their hands on their laps during random vertical vibration excitation (over the range 0.25–20 Hz) at three vibration magnitudes (0.25, 0.5 and 1.0 m s^?2 rms). At the highest magnitude of vertical excitation (1.0 m s^?2 rms) the effect of adding fore-aft vibration (at 0.25, 0.5, and 1.0 m s^?2 rms) was investigated. The forces in the vertical and fore-and-aft directions on the seat surface were also measured so as to calculate apparent masses. Resonances in the apparent mass and transmissibility to the spine and pelvis in the fore-and-aft and vertical directions, and pitch transmissibility to the pelvis, shifted to lower frequencies as the magnitude of vertical excitation increased and as the magnitude of the additional fore-and-aft excitation increased. The nonlinear resonant behaviour of the apparent mass and transmissibility during dual-axis vibration excitation suggests coupling between the principal mode associated with vertical excitation and the cross-axis influence of fore-and-aft excitation. The transmissibility measures are consistent with complex modes contributing to motion of the body at the principal resonance: pitch motions of the upper thoracic and lumbar spine, and vertical and fore-aft motion of the pelvis and spine. The mode varies with the magnitude of vertical and fore-and-aft excitation.     

An analytic model of the in-line and cross-axis apparent mass of the seated human body exposed to vertical vibration with and without a backrest

During vertical excitation of the seated human body there are vertical and fore-and-aft forces at the seat that are influenced by contact with a backrest, so it is desirable to take into account the effect of a backrest when developing models of the seated human body. Initially, a seven degree-of-freedom multi-body dynamic model was developed for the human body sitting with an upright posture unsupported by a backrest and exposed to vertical vibration. The model was optimized to fit the vertical apparent mass and the fore-and-aft cross-axis apparent mass measured on a seat. The model was then extended by the addition of vertical and fore-and-aft reaction forces to the upper lumbar spine to model the interaction between the human body and a backrest. By minimizing the least square error between experimental data and the analytical solution of the apparent masses on the seat and at the back, the human body model was able to represent both the vertical apparent mass and the fore-and-aft cross-axis apparent mass on the seat and at the back. Parameter sensitivity studies showed that the vertical apparent mass and the fore-and-aft cross-axis apparent mass on the seat and the backrest were all highly sensitive to the axial stiffness of the tissue beneath the pelvis. Pitch motion of the upper-body contributed to the vertical apparent mass and the fore-and-aft cross-axis apparent mass on the seat. The apparent mass at the back was more sensitive to the stiffness and damping of the lower back than the properties of the upper back.     

Assessing the discomfort of dual-axis whole-body vibration

This paper reports on an experiment designed to provide information fundamental to the prediction of the discomfort of multi-axis vibration. Seated subjects were exposed to various level and phase combinations of 3·15 Hz vertical (a_z) and 3·15 Hz lateral (a_y) sinusoidal vibration. One part of the experiment determined the levels of two single-axis vibrations (a_zanda_y separately) which produced similar discomfort to a selection of dual-axis vibrations. In another part of the experiment subjects adjusted the level of a 3·15 Hz motion in one of the two axes to produced similar discomfort to each of seven levels of the same frequency in the other axis.It was concluded that for dual-axis motions of the type investigated the discomfort is not greatly influenced by the phase between the two single-axis components producing the motion. Thus, the discomfort caused by the circular motion given by the combinations of the two sinusoidal components differing in phase by 90 degrees is similar to that caused by the translational motion produced by the same components combined with zero phase shift. The results confirm that a meaningful estimate of the relative discomfort produced by dual-axis stimuli can be determined from the levels of a single-axis reference motion appropriately adjusted by subjects. The level of a single-axis motion giving similar discomfort to each of the dual-axis conditions in the experiment was well approximated by the root-mean-square of the two levels of this single-axis motion equivalent to the two separate components of each dual-axis motion.     

Non-linear dual-axis biodynamic response to vertical whole-body vibration

Seated human subjects have been exposed to vertical whole-body vibration so as to investigate the non-linearity in their biodynamic responses and quantify the response in directions other than the direction of excitation. Twelve males were exposed to random vertical vibration in the frequency range 0.25-25 Hz at four vibration magnitudes (0.125, 0.25, 0.625, and 1.25 m s⁻² r.m.s.). The subjects sat in four sitting postures having varying foot heights so as to produce differing thigh contact with the seat (feet hanging, feet supported with maximum thigh contact, feet supported with average thigh contact, and feet supported with minimum thigh contact). Forces were measured in the vertical, fore-and-aft, and lateral directions on the seat and in the vertical direction at the footrest.The characteristic non-linear response of the human body with reducing resonance frequency at increasing vibration magnitudes was seen in all postures, but to a lesser extent with minimum thigh contact. Appreciable forces in the fore-and-aft direction also showed non-linearity, while forces in the lateral direction were low and showed no consistent trend. Forces at the feet were non-linear with a multi-resonant behaviour and were affected by the position of the legs.The decreased non-linearity with the minimum thigh contact posture suggests the tissues of the buttocks affect the non-linearity of the body more than the tissues of the thighs. The forces in the fore-and-aft direction are consistent with the body moving in two directions when exposed to vertical vibration. The non-linear behaviour of the body, and the considerable forces in the fore-aft direction should be taken into account when optimizing vibration isolation devices.     

A model of the vertical apparent mass and the fore-and-aft cross-axis apparent mass of the human body during vertical whole-body vibration

The apparent mass of the human body reflects gross movements caused by whole-body vibration and can be used to predict the influence of body dynamics on seat transmissibility. With vertical excitation, various models fit the measured vertical apparent mass of the human body, but experiments also show high fore-and-aft forces on the seat (the fore-and-aft cross-axis apparent mass) that have not influenced current models. This paper defines a model that predicts the vertical apparent mass and the fore-and-aft cross-axis apparent mass of the seated human body during vertical excitation. A three degree-of-freedom model with vertical, fore-and-aft and rotational (i.e. pitch) degrees of freedom has been developed with twelve model parameters (representing inertia, stiffness, damping, and geometry) optimised to the measured vertical apparent mass and the measured fore-and-aft cross-axis apparent mass of the body. The model provides close fits to the moduli and phases for both median data and the responses of 12 individual subjects. The optimum model parameters found by fitting to the median apparent mass of 12 subjects were similar to the medians of the same parameters found by fitting to the individual apparent masses of the same 12 subjects. The model suggests the seated human body undergoes fore-and-aft motion on a seat when exposed to vertical excitation, with the primary resonance frequency of the apparent mass arising from vertical motion of the body. According to the model, changes in the vertical, fore-and-aft, or rotational degree of freedom have an effect on the resonance in the fore-and-aft cross-axis apparent mass.     

Subjective ratings of whole-body vibration for single- and multi-axis motion

Real-world whole-body vibration exposures comprise motion in fore-aft, lateral, and vertical directions simultaneously. There can also be components of roll, pitch, and yaw. If evaluating vibration with respect to human response, most investigators will use methods defined in ISO 2631-1. This uses frequency weightings that were originally derived from laboratory studies of the subjective responses to vibration in one direction at a time. This paper describes experiments that were carried out using a 6 degree-of-freedom vibration simulator to validate the applicability of ISO 2631-1 in multi-axis environments. Fifteen subjects were exposed to 87 stimuli comprising single-axis, dual-axis, and tri-axial random vibration, to which they were required to produce subjective ratings. It is shown that in this study the root-sum-of-squares method of summation of subjective ratings in individual axes was an adequate technique for prediction of subjective rating of multi-axis vibration. Better agreement between objective and subjective measures of vibration was obtained for unweighted vibration than for frequency weighted signals. The best agreement for this study was achieved when axis multiplying factors were set at 2.2 and 2.4 for x- and y-axis vibration, respectively. Different values could be appropriate for other postures, seats, and vibration conditions and should be determined in future studies.     

Analyses of biodynamic responses of seated occupants to uncorrelated fore-aft and vertical whole-body vibration

The apparent mass and seat-to-head-transmissibility response functions of the seated human body were investigated under exposures to fore-aft (x), vertical (z), and combined fore-aft and vertical (x and z) axis whole-body vibration. The coupling effects of dual-axis vibration were investigated using two different frequency response function estimators based upon the cross- and auto-spectral densities of the response and excitation signals, denoted as H₁ and H_v estimators, respectively. The experiments were performed to measure the biodynamic responses to single and uncorrelated dual-axis vibration, and to study the effects of hands support, back support and vibration magnitude on the body interactions with the seatpan and the backrest, characterized in terms of apparent masses and the vibration transmitted to the head. The data were acquired with 9 subjects exposed to two different magnitudes of vibration applied along the individual x- and z-axis (0.25 and 0.4 m/s² rms), and along both the axis (0.28 and 0.4 m/s² rms along each axis) in the 0.5-20 Hz frequency range. The two methods resulted in identical single-axis responses but considerably different dual-axis responses. The dual-axis responses derived from the H_v estimator revealed notable effects of dual-axis vibration, as they comprised both the direct and cross-axis responses observed under single axis vibration. Such effect, termed as the coupling effect, was not evident in the dual-axis responses derived using the commonly used H₁ estimator. The results also revealed significant effects of hands and back support conditions on the coupling effects and the measured responses. The back support constrained the upper body movements and thus showed relatively weaker coupling compared to that observed in the responses without the back support. The effect of hand support was also pronounced under the fore-aft vibration. The results suggest that a better understanding of the seated human body responses to uncorrelated multi-axis whole-body vibration could be developed using the power-spectral-density based H_v estimator.     

Effect of voluntary periodic muscular activity on nonlinearity in the apparent mass of the seated human body during vertical random whole-body vibration

The principal resonance frequency in the driving-point impedance of the human body decreases with increasing vibration magnitude—a nonlinear response. An understanding of the nonlinearities may advance understanding of the mechanisms controlling body movement and improve anthropodynamic modelling of responses to vibration at various magnitudes. This study investigated the effects of vibration magnitude and voluntary periodic muscle activity on the apparent mass resonance frequency using vertical random vibration in the frequency range 0.5-20 Hz. Each of 14 subjects was exposed to 14 combinations of two vibration magnitudes (0.25 and 2.0 m s⁻² root-mean square (rms)) in seven sitting conditions: two without voluntary periodic movement (A: upright; B: upper-body tensed), and five with voluntary periodic movement (C: back-abdomen bending; D: folding-stretching arms from back to front; E: stretching arms from rest to front; F: folding arms from elbow; G: deep breathing). Three conditions with voluntary periodic movement significantly reduced the difference in resonance frequency at the two vibration magnitudes compared with the difference in a static sitting condition. Without voluntary periodic movement (condition A: upright), the median apparent mass resonance frequency was 5.47 Hz at the low vibration magnitude and 4.39 Hz at the high vibration magnitude. With voluntary periodic movement (C: back-abdomen bending), the resonance frequency was 4.69 Hz at the low vibration magnitude and 4.59 Hz at the high vibration magnitude. It is concluded that back muscles, or other muscles or tissues in the upper body, influence biodynamic responses of the human body to vibration and that voluntary muscular activity or involuntary movement of these parts can alter their equivalent stiffness.     

Dynamic and subjective responses of seated subjects exposed to simultaneous vertical and fore-and-aft whole-body vibration: The effect of the phase between the two single-axis components

Subjective and dynamic responses of seated subjects exposed to simultaneous vertical and fore-and-aft sinusoidal whole-body vibration were investigated. The effect of the phase difference between the vertical and the fore-and-aft vibration on the responses was of a particular interest in this study. Fifteen subjects were exposed to dual-axis vibrations at six frequencies (2.5-8 Hz) and at eight phases between the two single-axis components (0-315°). The magnitude of vibration in each axis was constant at 0.7 m s⁻² rms. Discomfort caused by vibration was measured by the method of magnitude estimation. The motion of the body were measured at the head and three locations along the spine with accelerometers attached to the body surface. The most significant effect of the phase between the two single-axis components on the discomfort was observed at 5 Hz: about 40% difference in the median discomfort estimate caused by changing the phase. The transmissibilities from vertical seat vibration to vertical motions of the spine varied from 0.5 to 2.0 by changing the phase between the two single-axis components at frequencies from 2.5 to 5 Hz. The effect of the phase observed in the dynamic response was not predicted by the superposition of the responses to each single-axis vibration. The discomfort caused by the dual-axis vibration tended to be correlated better with the combinations of the dynamic responses measured in the two axes than with the dynamic responses in a single axis.     

Modelling resonances of the standing body exposed to vertical whole-body vibration: Effects of posture

Lumped parameter mathematical models representing anatomical parts of the human body have been developed to represent body motions associated with resonances of the vertical apparent mass and the fore-and-aft cross-axis apparent mass of the human body standing in five different postures: ‘upright’, ‘lordotic’, ‘anterior lean’, ‘knees bent’, and ‘knees more bent’. The inertial and geometric parameters of the models were determined from published anthropometric data. Stiffness and damping parameters were obtained by comparing model responses with experimental data obtained previously.The principal resonance of the vertical apparent mass, and the first peak in the fore-and-aft cross-axis apparent mass, of the standing body in an upright posture (at 5–6 Hz) corresponded to vertical motion of the viscera in phase with the vertical motion of the entire body due to deformation of the tissues at the soles of the feet, with pitch motion of the pelvis out of phase with pitch motion of the upper body above the pelvis. Upward motion of the body was in phase with the forward pitch motion of the pelvis. Changing the posture of the upper body had minor effects on the mode associated with the principal resonances of the apparent mass and cross-axis apparent mass, but the mode changed significantly with bending of the legs. In legs-bent postures, the principal resonance (at about 3 Hz) was attributed to bending of the legs coupled with pitch motion of the pelvis in phase with pitch motion of the upper body. In this mode, extension of the legs was in phase with the forward pitch motion of the upper body and the upward vertical motion of the viscera.     

Uncertainty in the evaluation of occupational exposure to whole-body vibration

Uncertainties associated with field assessments of daily exposure to whole-body vibration (WBV) have been investigated in four categories of work vehicles (fork lift trucks, wheel loaders, garbage trucks, buses) in different working conditions. A total of 50 vehicles were included in the study. WBV exposures were measured in different field conditions in marble quarries, marble laboratories, dockyards, paper mills, transportation and public utilities: over 700 individual vibration measurements were analysed to quantify relevant uncertainty components due to changes in the operators’ working methods, variations in the characteristics and conditions of the machines, changes in the characteristics of the travelling surface, uncertainty in the evaluation of exposure duration, and systematic errors due to measurement equipment. The methods used in the study to calculate measurement uncertainties are in accordance with the ISO publication “Guide to the Expression of Uncertainty in Measurement”. The study made it possible to isolate major sources of uncertainty in field assessment of daily exposures to WBV. The investigation revealed that, in all the field conditions, differences in the characteristics of the machines and/or in working cycles were the most relevant uncertainty components. The overall relative uncertainty p in WBV field assessment was in the range 14% <p<32%, whereas the relative uncertainty caused by transducer and measurement equipment in a correctly calibrated system is less than 4%.     

A study of the subjective equivalence of noise and whole-body vibration

An experiment has been conducted to determine the subjective equivalence of 1000 Hz pure tone noise and 10 Hz sinusoidal whole-body vertical vibration. Each of 20 male subjects was exposed to all 64 possible combinations of 8 levels of noise (65 dB to 100 dB SPL) and 8 levels of vibration (0·20 m/s² r.m.s. to 1·2 m/s² r.m.s.). The noise was presented via circumaural headphones and the vibration exposure was by means of a flat hard seat. The method of constant stimuli was used. Both stimuli were presented simultaneously for a period of ten seconds and subjects were asked to indicate whether, if they were to be presented with the combination again, they would prefer that the noise or the vibration should be reduced.It was concluded that the subjects were relatively self-consistent and that the major source of variability was due to intersubject differences. The conditions for equivalence for 50% of the subjects ranged from about 0·2 m/s² r.m.s. at 69 dB to 1·2 m/s² r.m.s. at 94 dB. The results are presented in a form that enables an estimate to be made of the percentage of subjects who prefer reduced noise or vibration at any of the given combinations of the two stimuli. Further studies to extend the range and establish the general applicability of these results are suggested. It is considered that such results could be employed as a guide to reducing either the noise or the vibration in some environments.     

Bounds to frequencies of shafts in torsional vibration with restraints and attached masses

In this paper upper and lower bounds are given to eigenvalues of torsional vibration of the following uniform structures: free shaft elastically restrained at a point; fixed shaft elastically restrained at a point; free shaft with masses elastically attached at points; fixed shaft with a mass elastically attached over an interval. Upper bounds were obtained by using the well-known Rayleigh-Ritz procedure. The more difficult problem of obtaining lower bounds was resolved by using recently developed methods of Bazley and Fox. The various problems discussed in this paper illustrate the use of these lower bound methods and their effectiveness in producing excellent bounds.     

Numerical assessment of fore-and-aft suspension performance to reduce whole-body vibration of wheel loader drivers

While driving off-road vehicles, operators are exposed to whole-body vibration acting in the fore-and-aft direction. Seat manufacturers supply products equipped with fore-and-aft suspension but only a few studies report on their performance. This work proposes a computational approach to design fore-and-aft suspensions for wheel loader seats. Field tests were conducted in a quarry to analyse the nature of vibration to which the driver was exposed. Typical input signals were recorded to be reproduced in the laboratory. Technical specifications are defined for the suspension. In order to evaluate the suspension vibration attenuation performance, a model of a sitting human body was developed and coupled to a seat model. The seat model combines the models of each suspension component. A linear two-degree-of-freedom model is used to describe the dynamic behaviour of the sitting driver. Model parameters are identified by fitting the computed apparent mass frequency response functions to the measured values. Model extensions are proposed to investigate postural effects involving variations in hands and feet positions and interaction of the driver's back with the backrest. Suspension design parameters are firstly optimized by computing the seat/man model response to sinusoidal acceleration. Four criteria including transmissibility, interaction force between the driver's back and the backrest and relative maximal displacement of the suspension are computed. A new suspension design with optimized features is proposed. Its performance is checked from calculations of the response of the seat/man model subjected to acceleration measured on the wheel loader during real work conditions. On the basis of the computed values of the SEAT factors, it is found possible to design a suspension that would increase the attenuation provided by the seat by a factor of two.     

Magnitude-dependence of equivalent comfort contours for fore-and-aft, lateral and vertical whole-body vibration

It is currently assumed that the same frequency weightings, derived from studies of vibration discomfort, can be used to evaluate the severity of vibration at all vibration magnitudes from the threshold of vibration perception to the vibration magnitudes associated with risks to health. This experimental study determined equivalent comfort contours for the whole-body vibration of seated subjects over the frequency range 2-315 Hz in each of the three orthogonal axes (fore-and-aft, lateral and vertical). The contours were determined at vibration magnitudes from the threshold of perception to levels associated with severe discomfort and risks to health.At frequencies greater than 10 Hz, thresholds for the perception of vertical vibration were lower than thresholds for fore-and-aft and lateral vibration. At frequencies less than 4 Hz, thresholds for vertical vibration were higher than thresholds for fore-and-aft and lateral vibration. The rate of growth of sensation with increasing vibration magnitude was highly dependent on the frequency and axis of vibration. Consequently, the shapes of the equivalent comfort contours depended on vibration magnitude. At medium and high vibration magnitudes, the equivalent comfort contours were reasonably consistent with the frequency weightings for vibration discomfort in current standards (i.e. W_b and W_d). At low vibration magnitudes, the contours indicate that relative to lower frequencies the standards underestimate sensitivity at frequencies greater than about 30 Hz. The results imply that no single linear frequency weighting can provide accurate predictions of discomfort caused by a wide range of magnitudes of whole-body vibration.     

Effect of phase on discomfort caused by vertical whole-body vibration and shock--experimental investigation

An experimental study has investigated the effect of "phase" on the subjective responses of human subjects exposed to vertical whole-body vibration and shock. The stimuli were formed from two frequency components: 3 and 9 Hz for continuous vibrations and 3 and 12 Hz for shocks. The two frequency components, each having 1.0 ms(-2) peak acceleration, were combined to form various waveforms. The effects of the vibration magnitude on the discomfort caused by the input stimuli were also investigated with both the continuous vibrations and the shocks. Various objective measurements of acceleration and force at the seat surface, the effects of different frequency weightings and second and fourth power evaluations were compared with judgments of the discomfort of the stimuli. It was found that a 6% to 12% increase in magnitude produced a statistically significant increase in discomfort with both the continuous vibrations and the shocks. Judgments of discomfort caused by changes in vibration magnitude were highly correlated with all of the objective measurements used in the study. The effects on discomfort of the phase between components in the continuous vibrations were not statistically significant, as predicted using evaluation methods with a power of 2. However, small changes in discomfort were correlated with the vibration dose value (VDV) of the Wb frequency-weighted acceleration. The effect of phase between frequency components within the shocks was statistically significant, although no objective measurement method used in the study was correlated with the subjective judgments.     

Effective seat-to-head transmissibility in whole-body vibration: Effects of posture and arm position

Seat-to-head transmissibility is a biomechanical measure that has been widely used for many decades to evaluate seat dynamics and human response to vibration. Traditionally, transmissibility has been used to correlate single-input or multiple-input with single-output motion; it has not been effectively used for multiple-input and multiple-output scenarios due to the complexity of dealing with the coupled motions caused by the cross-axis effect. This work presents a novel approach to use transmissibility effectively for single- and multiple-input and multiple-output whole-body vibrations. In this regard, the full transmissibility matrix is transformed into a single graph, such as those for single-input and single-output motions. Singular value decomposition and maximum distortion energy theory were used to achieve the latter goal. Seat-to-head transmissibility matrices for single-input/multiple-output in the fore-aft direction, single-input/multiple-output in the vertical direction, and multiple-input/multiple-output directions are investigated in this work. A total of ten subjects participated in this study. Discrete frequencies of 0.5-16 Hz were used for the fore-aft direction using supported and unsupported back postures. Random ride files from a dozer machine were used for the vertical and multiple-axis scenarios considering two arm postures: using the armrests or grasping the steering wheel. For single-input/multiple-output, the results showed that the proposed method was very effective in showing the frequencies where the transmissibility is mostly sensitive for the two sitting postures and two arm positions. For multiple-input/multiple-output, the results showed that the proposed effective transmissibility indicated higher values for the armrest-supported posture than for the steering-wheel-supported posture.