Human upper limb manipulator mass center motion and mass moments of inertia variation
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 t...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
EDP Sciences
2018-01-01
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| Series: | MATEC Web of Conferences |
| Online Access: | https://doi.org/10.1051/matecconf/201814504005 |
| _version_ | 1818965575695597568 |
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| author | Nikolova Gergana Dantchev Daniel Kazakoff Alexander |
| author_facet | Nikolova Gergana Dantchev Daniel Kazakoff Alexander |
| author_sort | Nikolova Gergana |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-20T13:19:11Z |
| format | Article |
| id | doaj.art-c1f1cb5be92444f79adcb0be6229f80f |
| institution | Directory Open Access Journal |
| issn | 2261-236X |
| language | English |
| last_indexed | 2024-12-20T13:19:11Z |
| publishDate | 2018-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | MATEC Web of Conferences |
| spelling | doaj.art-c1f1cb5be92444f79adcb0be6229f80f2022-12-21T19:39:27ZengEDP SciencesMATEC Web of Conferences2261-236X2018-01-011450400510.1051/matecconf/201814504005matecconf_nctam2018_04005Human upper limb manipulator mass center motion and mass moments of inertia variationNikolova GerganaDantchev DanielKazakoff AlexanderMotion 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.https://doi.org/10.1051/matecconf/201814504005 |
| spellingShingle | Nikolova Gergana Dantchev Daniel Kazakoff Alexander Human upper limb manipulator mass center motion and mass moments of inertia variation MATEC Web of Conferences |
| title | Human upper limb manipulator mass center motion and mass moments of inertia variation |
| title_full | Human upper limb manipulator mass center motion and mass moments of inertia variation |
| title_fullStr | Human upper limb manipulator mass center motion and mass moments of inertia variation |
| title_full_unstemmed | Human upper limb manipulator mass center motion and mass moments of inertia variation |
| title_short | Human upper limb manipulator mass center motion and mass moments of inertia variation |
| title_sort | human upper limb manipulator mass center motion and mass moments of inertia variation |
| url | https://doi.org/10.1051/matecconf/201814504005 |
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