TITLE

A Kinematic and Dynamic Model of the Human Upper Extremity

AUTHOR(S)
Mansour, G.; Mitsi, S.; Bouzakis, K. D.
PUB. DATE
March 2010
SOURCE
International Review of Mechanical Engineering;Mar2010, Vol. 4 Issue 3, p353
SOURCE TYPE
Academic Journal
DOC. TYPE
Article
ABSTRACT
In this paper a kinematic and dynamic model of the human upper extremity is developed. The human upper extremity is modelled as a spatial mechanism with seven degrees of freedom. The input motions are the flexion-extension, abduction-adduction and external-internal rotation of the arm with respect to shoulder, the flexion-extension and pronation-supination of the elbow and the wrist flexion-extension and abduction-adduction motion. The developed model allows to simulate the upper extremity movement and to determine the input torques and joint forces under different loads. These results can be used for the detection of dangerous movements of a patient having orthopaedic problems or for the design of prosthetic devices.
ACCESSION #
76125792

 

Related Articles

  • MODELING AND SIMULATION OF ROBOTIC HUMANOID ARM. RANJAN, RANJEET; KUMAR, ARBIND; DHYANI, PRAVEEN // International Journal of Engineering Science & Technology;Jun2012, Vol. 4 Issue 6, p2616 

    In this paper block model and machine model of Robotic humanoid arm has been generated Using MATLAB Simulink. Equations of Kinematics are derived by using D-H notation. By this equation and inverse kinematics parameters for the motion trajectory have been determined. Kinematic parameters are...

  • Quantization of human motions and learning of accurate movements. Burdet, E.; Milner, T. E. // Biological Cybernetics;1998, Vol. 78 Issue 4, p307 

    Abstract. This paper presents a mathematical model for the learning of accurate human arm movements. Its main features are that the movement is the superposition of smooth submovements, the intrinsic deviation of arm movements is considered, visual and kinesthetic feedback are integrated in the...

  • On singularities of multi-degree-of-freedom spherical mechanisms. Zarkandi, Soheil // Journal of Mechanical Science & Technology;Mar2012, Vol. 26 Issue 3, p839 

    For spherical mechanisms, instantaneous poles are as the counterparts of instant centers in planar mechanisms. However, they are not fully exploited to study the kinematic behavior of spherical mechanisms as the instant centers are for planar ones. The main purpose of this paper is the...

  • The kinematics study of a class of spatial parallel mechanism with fewer degrees of freedom. Zhou, Kai; Zhao, Jing-Shan; Tan, Zhong-Yi; Mao, De-Zhu // International Journal of Advanced Manufacturing Technology;May2005, Vol. 25 Issue 9/10, p972 

    This paper presents a novel methodology to study the kinematics of a class of spatial parallel mechanisms with fewer degrees of freedom (DoF). Compared with the traditional methods, the distinctive merit of this methodology is that it shortens the whole process greatly based on the analysis of...

  • The Kinematic Model with Three Degrees of Freedom Associated to the Direct Throwing in Basketball Game. IACOB, Radu; BUDESCU, Emil; MERTICARU, Eugen; OPRISAN, Cezar // Applied Mechanics & Materials;2014, Issue 658, p495 

    The paper presents a reverse kinematics analysis for the free throwing to the basket in order to determine the possible angular movement speed of the arm segments during throwing flexion. The body segments offering three freedom degrees to the kinematics model are: the arm, the forearm and the...

  • Design and Analysis of a novel Heavy-load Positionerwith series-parallel Mechanism. TANG Yan-hua // Applied Mechanics & Materials;2014, Issue 635-637, p145 

    A heavy-load positioner with series-parallel mechanism was put forward according to the heavy-load positioner's task demand. Two rotational DOFs were realized by the spherical 3-DOF mechanism with a restricted embranchment instead of traditional gear-driven mechanism, the other by the serial...

  • Grasping Optimization in a Three Fingers Final Effector. Mauledoux, Mauricio; Prada, Vladimir; Avil├ęs, Oscar F. // Applied Mechanics & Materials;2014, Vol. 713-715, p919 

    This paper presents the optimization of gripping points of an end effector of three fingers, and this is done by ensuring that the force exerted on the object is minimum. It begins with the design of the gripper has two degrees of freedom (DOF) for each finger. Is performed a brief mathematical...

  • REACH ENVELOPE OF A 9-DEGREE-OF-FREEDOM MODEL OF THE UPPER EXTREMITY. Yang, J.; Abdel-Malek, K.; Nebel, K. // International Journal of Robotics & Automation;2005, Vol. 20 Issue 4, p240 

    Presents a mathematical formulation for modeling the upper extremity that is capable of considering a large number of degrees of freedom. Use of kinematic models to determine the reach envelope in closed form and to better understand human motion; Transformation of unilateral inequality...

  • Dynamics Analysis of a Three-DOF Planar Serial-Parallel Mechanism for Active Dynamic Balancing with Respect to a Given Trajectory. Kun Wang; Minzhou Luo; Tao Mei; Jianghai Zhao; Yi Cao // International Journal of Advanced Robotic Systems;Jan2013, Vol. 10, p1 

    The concept of dynamic balancing with respect to a given trajectory is proposed in this paper. Trajectory-based dynamic balancing is a technique that brings additional mechanisms to unbalanced mechanisms with the purpose of actuating the original mechanism to move along a predefined trajectory,...

Share

Read the Article

Courtesy of THE LIBRARY OF VIRGINIA

Sorry, but this item is not currently available from your library.

Try another library?
Sign out of this library

Other Topics