Journal article
Reach Envelope of Human Extremities
Tsinghua science and technology, Vol.9(6), pp.653-666
12/01/2004
Abstract
Significant attention in recent years has been given to obtain a better understanding of human joint ranges, measurement, and functionality, especially in conjunction with commands issued by the central nervous system. While researchers have studied motor commands needed to drive a limb to follow a path trajectory, various computer algorithms have been reported that provide adequate analysis of limb modeling and motion. This paper uses a rigorous mathematical formulation to model human limbs, understand their reach envelope, delineate barriers therein where a trajectory becomes difficult to control, and help visualize these barriers. Workspaces of a typical forearm with 9 degrees of freedom, a typical finger modeled as a 4degree-of-freedom system, and a lower extremity with 4 degrees of freedom are discussed. The results show that using the proposed formulation, joint limits play an important role in distinguishing the barriers.
Details
- Title: Subtitle
- Reach Envelope of Human Extremities
- Creators
- Jingzhou YangYunqing ZhangLiping ChenKarim Abdel-Malek
- Resource Type
- Journal article
- Publication Details
- Tsinghua science and technology, Vol.9(6), pp.653-666
- ISSN
- 1007-0214
- eISSN
- 1878-7606
- Language
- English
- Date published
- 12/01/2004
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984204106502771
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