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.
• 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

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

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