| Issue |
MATEC Web Conf.
Volume 145, 2018
NCTAM 2017 – 13th National Congress on Theoretical and Applied Mechanics
|
|
|---|---|---|
| Article Number | 04005 | |
| Number of page(s) | 8 | |
| Section | Biomechanics | |
| DOI | https://doi.org/10.1051/matecconf/201814504005 | |
| Published online | 09 January 2018 | |
Human upper limb manipulator mass center motion and mass moments of inertia variation
Institute of Mechanics, Bulgarian Academy of Sciences, Acad. G. Bonchev Str., Building 4, Sofia 1113, Bulgaria
* Corresponding author: gergana1973@gmail.com
Motion control is complicated for people having traumas or neurological diseases. An underlying assumption in our work is that the motion of healthy people is optimal with respect to positioning accuracy, movement response, and energy expenditure. In this paper, a new approach for determination of the human upper limb mass-inertial characteristics is presented by using the 3D geometrical mathematical modeling analysis approach. Two examples will be given to illustrate the main features and advantages of the proposed design concepts. The objective of the work presented in this paper is a determination of the mass properties of a two joints human upper limb manipulator. Results are aimed to have application in an exoskeleton design, the design of manipulation system and external manipulation system, serving people with some motion difficulties, as well as in sport and rehabilitation.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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