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Experimental Robotics II pp 521–530Cite as

Experimental evaluation of human arm kinematics

  • Section 10: Modelling And Control
  • Conference paper
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 190))

Abstract

The paper deals with the mathematical modelling of the human arm kinematics. A six-degrees-of-freedom model is obtained based on the measurement of some selective movements of the arm related to the spatial position of the wrist. Three joints are considered, the sternoclavicular joint, the glenohumeral joint and the elbow joint, while the wrist itself is not taken into account. The developed model does not correspond to the anatomical properties of the arm but approximates only its outer motion characteristics. The main advantage is its simplicity which is useful for further numerical processing, workspace calculation and evaluation.

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References

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Authors and Affiliations

  1. The Jožef Stefan Institute, Jamova 39, Yugoslavia

    Jadran Lenarčič & Andreja Umek

Authors
  1. Jadran Lenarčič
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  2. Andreja Umek
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Editor information

Raja Chatila Gerd Hirzinger

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© 1993 Springer-Verlag London Limited

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Lenarčič, J., Umek, A. (1993). Experimental evaluation of human arm kinematics. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036162

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  • DOI: https://doi.org/10.1007/BFb0036162

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19851-2

  • Online ISBN: 978-3-540-39323-8

  • eBook Packages: Springer Book Archive

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