Theoretical and Experimental Study of the Human Upper Limb Dynamic Behavior

2013 ◽  
Vol 748 ◽  
pp. 759-764
Author(s):  
Nicolae Dumitru ◽  
Raluca Malciu ◽  
Valentin Grecu
Keyword(s):  
Dynamic Analysis ◽  
Upper Limb ◽  
Time Variation ◽  
The Finite Element Method ◽  
Constraint Forces ◽  
Inverse Dynamic ◽  
Multipliers Method ◽  
Human Upper Limb ◽  
Kinematics Parameters

The paper presents the determination of the constraint forces acting in the human upper limb joints, using the inverse dynamic analysis procedure based on Lagrange multipliers method. The kinematics parameters time variation laws were established through experiments for the considered driving joints. The constraint forces time variation laws define the database for the dynamic analysis using the finite element method and for dimensioning an exoprosthetic system for later rehabilitation of the human upper limb motion.

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

2018 ◽  
Vol 145 ◽  
pp. 04005 ◽  
Author(s):  
Gergana Nikolova ◽  
Daniel Dantchev ◽  
Alexander Kazakoff
Keyword(s):  
Upper Limb ◽  
Neurological Diseases ◽  
Underlying Assumption ◽  
New Approach ◽  
Design Concepts ◽  
Modeling Analysis ◽  
Manipulation System ◽  
Exoskeleton Design ◽  
Human Upper Limb

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.

Generalized and Actual Constraint Forces in the Inverse Dynamic Analysis of Spatial Flexible Mechanical Systems

1991 ◽  
Author(s):  
D. C. Chen ◽  
A. A. Shabana ◽  
J. Rismantab-Sany
Keyword(s):  
Mechanical Systems ◽  
Constraint Forces ◽  
Actual System ◽  
Inverse Dynamic ◽  
Joint Torques ◽  
Elastic Bodies ◽  
Elastic Mechanism ◽  
Reaction Forces ◽  
Multi Body

Abstract In this investigation, a procedure is developed for the determination of the actual system of constraint forces in spatial flexible mechanical systems. Expressions for the generalized reaction forces in terms of the constraint Jacobian matrices of the joints are presented. The effect of the elastic deformation on the actual reaction forces is also examined numerically using the spatial flexible multi-body RSSR mechanism that consists of a set of interconnected rigid and elastic bodies. The procedure described in this investigation can also be used to determine the joint torques in kinematically driven spatial elastic mechanism and manipulator systems.

The Formulation of Kinematic Constraints in Design-Oriented Machine Dynamics

1991 ◽  
Author(s):  
Subir Kumar Saha ◽  
Jorge Angeles
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Modeling ◽  
Mechanical Systems ◽  
Orthogonal Complement ◽  
Simulation Studies ◽  
Constraint Forces ◽  
Kinematic Constraints ◽  
Machine Dynamics

Abstract In the realm of the dynamic analysis of machinery for design purposes, the determination of non-working constraint forces, which do not appear in simulation studies, is of the utmost importance. The said forces can be readily computed if suitable kinematic constraints are available. In this paper, a formulation of kinematic constraints is adopted, that pertains to the natural orthogonal complement method, introduced elsewhere, for the dynamic modeling of mechanical systems. This formulation is illustrated with several examples.

Determination of length of human upper limb long bones from their fragments

1989 ◽  
Vol 41 (3) ◽  
pp. 219-223 ◽  
Author(s):  
K.V.S. Rao ◽  
G.D. Gupta ◽  
V.N. Sehgal
Keyword(s):  
Upper Limb ◽  
Long Bones ◽  
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.

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