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Calculation of multi-segment rigid body joint dynamics using MATLAB

T M Barker1, C Kirtley, J Ratanapinunchai

  • 1School of Mechanical, Manufacturing and Medical Engineering, Queensland University of Technology, Brisbane, Australia.

Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine
|January 1, 1997
PubMed
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A new computational model simplifies human upper limb biomechanics for studying actions like throwing. This robotics-based approach calculates joint moments and enables detailed simulations.

Area of Science:

  • Biomechanics
  • Robotics
  • Human Movement Analysis

Background:

  • Accurate modeling of the human upper limb is crucial for understanding complex movements.
  • Previous methods often require complex numerical equations, limiting accessibility.

Purpose of the Study:

  • To develop a simplified, configurable computational model of the human upper limb.
  • To enable the study of specific actions, such as throwing, using individual subject data.
  • To facilitate biomechanical simulations through inverse and forward kinematics and kinetics.

Main Methods:

  • Utilized MATLAB and the public domain Robotics Toolbox for model development.
  • Created a generalized, rigid-body, serially linked manipulator model.
  • Incorporated individual body segment parameters and kinematic data for simulations.

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Main Results:

  • Successfully developed an easily configurable upper limb model.
  • Calculated estimates of joint moments for multiple time instances during throwing actions.
  • Demonstrated the model's capability for inverse and forward kinematics and kinetics calculations.

Conclusions:

  • The developed computational model provides an accessible method for biomechanical simulations of the upper limb.
  • This technique is adaptable for modeling various serially linked manipulator systems.
  • Enables detailed analysis of human movement and joint dynamics.