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http://yadda.icm.edu.pl:80/baztech/element/bwmeta1.element.baztech-6f483c4c-3f88-4743-821e-fa3ac2261fea

Czasopismo

Bulletin of the Polish Academy of Sciences. Technical Sciences

Tytuł artykułu

The dynamics of the human arm with an observer for the capture of body motion parameters

Autorzy Babiarz, A.  Bieda, R.  Jaskot, K.  Klamka, J. 
Treść / Zawartość
Warianty tytułu
Języki publikacji EN
Abstrakty
EN The paper presents an analysis of a mathematical model of the human arm dynamics in terms of observability. The purpose of the performed experiments is the selection of an observer for the possibility of arm tracking. The arm model is based on the two-link manipulator moving horizontally and vertically. For the study a model was linearized and the model part responsible for the work of human muscles was omitted. The experimental part involved simulated measurements of the motion parameters that imitate real-IMU (Inertial Measurement Unit) measurements. Finally, the simulation results using the observer in the form of a Kalman filter and the particle filter have been presented.
Słowa kluczowe
EN human arm   observability   Kalman filter   particle filter  
Wydawca Polska Akademia Nauk, Wydział IV Nauk Technicznych
Czasopismo Bulletin of the Polish Academy of Sciences. Technical Sciences
Rocznik 2013
Tom Vol. 61, nr 4
Strony 955--971
Opis fizyczny Bibliogr. 46 poz., rys., wykr., tab.
Twórcy
autor Babiarz, A.
  • Institute of Automatic Control, Silesian University of Technology, 16 Akademicka St., 44-101 Gliwice, Poland, artur.babiarz@polsl.pl
autor Bieda, R.
  • Institute of Automatic Control, Silesian University of Technology, 16 Akademicka St., 44-101 Gliwice, Poland
autor Jaskot, K.
  • Institute of Automatic Control, Silesian University of Technology, 16 Akademicka St., 44-101 Gliwice, Poland
autor Klamka, J.
  • Institute of Automatic Control, Silesian University of Technology, 16 Akademicka St., 44-101 Gliwice, Poland
Bibliografia
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[45] M.S. Arulampalam, S. Maskell, N. Gordon, and T. Clapp, “A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking”, IEEE Trans. on Signal Processing 50 (2), 174-188 (2002).
[46] K. Jaskot and A. Babiarz, “The inertial measurement unit for detection of position”, Electrical Engineering Review 86 (11a), 323-333 (2010).
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