Human upper limb positional analysis using homogenous transformation matrix-Reference-Cited by-同舟云学术

Human upper limb positional analysis using homogenous transformation matrix

Published:2023-09-01 Issue:Vol.14, no.3 Volume: Page:567
ISSN:2734-8458
Container-title:Balneo and PRM Research Journal
language:en
Short-container-title:

Author:

Musunoiu Novetschi Monica¹,Mereuta Elena²,Nazer Tarek²,Ganea Daniel²,Mereuta Claudiu³

Affiliation:

1. ”Dunarea de Jos” University of Galati, Faculty of Engineering, Department of Mechanical Engineering;

2. ”Dunarea de Jos” University of Galati, Faculty of Engineering, Department of Mechanical Engineering

3. ”Dunarea de Jos” University of Galati, Faculty of Faculty of Physical Education and Sport, Department of Individual Sports, and Physiotherapy

Abstract

A mathematical model is presented to determine the spatial displacement of an endeffector attached to the human upper limb kinematic chain. The proposed method in-volves the successive application of the homogenous rotation matrices associated with each element movement to determine the general transfer matrix or the so-called homoge-neous transformations matrix. This method is proven to be an error free method for esti-mating the position and orientation of an end-effector attached to a kinematic chain. The methodology presented in this paper combines a well know mathematical technique used in engineering (in the development of space robots) and the anatomical features of the human upper limb to estimate not only the end-effector 3D position but also the limb pos-es during a particular displacement.

Publisher

Romanian Association of Balneology

Subject

General Medicine

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