Human upper limb manipulator mass center motion and mass moments of inertia variation

被引：1

作者：

Nikolova, Gergana ^{[1
]}

Dantchev, Daniel ^{[1
]}

Kazakoff, Alexander ^{[1
]}

机构：

[1] Bulgarian Acad Sci, Inst Mech, Acad G Bonchev Str,Bldg 4, BU-1113 Sofia, Bulgaria

来源：

13TH NATIONAL CONGRESS ON THEORETICAL AND APPLIED MECHANICS (NCTAM 2017) | 2018年 / 145卷

关键词：

ARM; PARAMETERS;

D O I：

10.1051/matecconf/201814504005

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

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.

引用

页数：8