Dynamics Modeling of 3D Human Arm Using Switched Linear Systems

被引：9
|
作者：
Babiarz, Artur [1 ]
Czornik, Adam [1 ]
Klamka, Jerzy [1 ]
Niezabitowski, Michal [1 ]
机构：
[1] Silesian Tech Univ, Inst Automat Control, Fac Automat Control Elect & Comp Sci, Akad 16 St, PL-44101 Gliwice, Poland
来源：
INTELLIGENT INFORMATION AND DATABASE SYSTEMS, PT II | 2015年 / 9012卷
关键词：
Dynamics of human arm; Switched system; Switching rule; EXOSKELETON CAREX; CONTROLLABILITY; STABILITY;
D O I：
10.1007/978-3-319-15705-4_25
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A novel approach to modeling human arm with hybrid systems theory is presented. The 3D human arm mathematical model is described. The arm model is built using three rotational link. Each of them is represented as a truncated cone prism. The shape of each link is changing during any motion. Based on the analysis of the arm motion a mathematical model of a switched linear system is proposed. The design process of state-dependent switching function and division of the state-space is shown. At the end, a few simulation results are presented.
引用
收藏
页码：258 / 267
页数：10
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