Kineto-Dynamic Modeling of Human Upper Limb for Robotic Manipulators and Assistive Applications

2020 ◽  
pp. 23-51
Author(s):  
Giuseppe Averta ◽  
Gemma C. Bettelani ◽  
Cosimo Della Santina ◽  
Matteo Bianchi
Keyword(s):  
Dynamic Modeling ◽  
Upper Limb ◽  
Robotic Manipulators ◽  
Human Upper Limb

scholarly journals A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

2021 ◽  
Vol 11 (13) ◽  
pp. 5865
Author(s):  
Muhammad Ahsan Gull ◽  
Mikkel Thoegersen ◽  
Stefan Hein Bengtson ◽  
Mostafa Mohammadi ◽  
Lotte N. S. Andreasen Struijk ◽  
...  
Keyword(s):  
Upper Limb ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Trajectory Tracking Control ◽  
Upper Limb Exoskeleton ◽  
And Performance ◽  
Physically Disabled People ◽  
Human Upper Limb

Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

Adaptive Information Fusion for Human Upper Limb Movement Estimation

2012 ◽  
Vol 42 (5) ◽  
pp. 1100-1108 ◽  
Author(s):  
Zhi-Qiang Zhang ◽  
Lian-Ying Ji ◽  
Zhi-Pei Huang ◽  
Jian-Kang Wu
Keyword(s):  
Information Fusion ◽  
Upper Limb ◽  
Limb Movement ◽  
Human Upper Limb

scholarly journals Unvealing the Principal Modes of Human Upper Limb Movements through Functional Analysis

2017 ◽  
Vol 4 ◽  
Author(s):  
Giuseppe Averta ◽  
Cosimo Della Santina ◽  
Edoardo Battaglia ◽  
Federica Felici ◽  
Matteo Bianchi ◽  
...  
Keyword(s):  
Functional Analysis ◽  
Upper Limb ◽  
Limb Movements ◽  
Upper Limb Movements ◽  
Human Upper Limb

scholarly journals HUMAN UPPER LIMB 3D MODEL OBTAINED THROUGH A NEW MODELING TECHNIQUE

2010 ◽  
Vol XIX (IX), 2010/2 (2) ◽  
Author(s):  
COPILUÅžI Cristian ◽  
GRECU Valentin ◽  
STANCA Cristina
Keyword(s):  
Upper Limb ◽  
3D Model ◽  
Modeling Technique ◽  
Human Upper Limb

Human Upper Limb Experimental Analysis for Assistive Devices in Feeding Process

2021 ◽  
Vol 42 ◽  
pp. 122-127
Author(s):  
Cristian Copilusi ◽  
Ionut Geonea ◽  
Alexandru Margine ◽  
Adrian Rosca
Keyword(s):  
Upper Limb ◽  
Experimental Analysis ◽  
Command And Control ◽  
Disabled Persons ◽  
Assistive Devices ◽  
Upper Arm ◽  
Experimental Process ◽  
Feeding Process ◽  
And Control ◽  
Human Upper Limb

This research addresses attention to human upper limb experimental analysis during feeding process aiding disabled persons. The research core is focused on the experimental process of obtaining the angular amplitudes and trajectories developed by the human upper arm during feeding process. The research originality consists on the obtained results which can be used in further researches for command and control of robotic assisting devices.

A Real-Time Method for Manipulating a Realistic Human Upper Limb

2010 ◽  
Author(s):  
D. Ascione ◽  
G. Laccetti ◽  
M. Lapegna ◽  
D. Romano
Keyword(s):  
Real Time ◽  
Upper Limb ◽  
Human Upper Limb

The Shoulders and Arms of Sunghir 1 to 3

2014 ◽  
Author(s):  
Erik Trinkaus ◽  
Alexandra P. Buzhilova ◽  
Maria B. Mednikova ◽  
Maria V. Dobrovolskaya
Keyword(s):  
Upper Limb ◽  
Coracoid Process ◽  
Left Forearm ◽  
Left Hand ◽  
Forearm Bones ◽  
Limb Asymmetry ◽  
Human Upper Limb ◽  
Left Humerus ◽  
Limb Proportions

The three partial skeletons from Sunghir retain substantial portions of their shoulder and arm remains, from the proximal clavicle to the distal radius and ulna. The scapulae, as with most of those from the Pleistocene, retain principally the spine, the glenoid area, the coracoid process, and the axillary border. The left forearm of Sunghir 2 is absent (as is his left hand), and the left humerus consists of a diaphyseal section without the metaphyses and a partial proximal epiphysis. It is nonetheless possible to assess both overall upper limb proportions (chapter 11) and a number of aspects that relate to upper limb asymmetry, clavicle and scapular morphology, glenohumeral proportions, diaphyseal robustness, cubital articulations, and reflections of pronation-supination hypertrophy for all three of them. Although humans are considered to be bilaterally symmetrical in their limbs, there are small degrees of asymmetry in most limb bones. These asymmetries are frequently exaggerated in the human upper limb, given our handedness and the subsequent preference for use of the dominant arm in more mechanically demanding activities (Raymond and Pontier 2004). In general, the level of asymmetry in the dimensions of epiphyses, and especially of articulations, is modest. However, substantial asymmetry in measures of upper limb diaphyses (particularly of the humerus) have been documented in samples of recent humans (e.g., Ruff and Jones 1981; Fresia et al. 1990; Trinkaus et al. 1994; Roy et al. 1994; Churchill 1994; Steele and Mays 1995; Sakaue 1997; Mays 2002; Auerbach and Ruff 2006; Cowgill 2008; Auerbach and Raxter 2008), as well as in a number of Late Pleistocene humans (e.g., Trinkaus et al. 1994; Churchill and Formicola 1997; Cowgill 2008; Shang and Trinkaus 2010; Cowgill et al. 2012b; Mednikova 2012; Volpato et al. 2012). Moreover, as is indicated by labial anterior dental striations and one individual’s forearm bones, such handedness extends back through the genus Homo (Weaver et al. 2001; Frayer et al. 2012).

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