An approach to observability analysis and estimation of human arm model

This article presents the analysis of a mathematical model of human arm´s dynamics in terms of observability. The research is conducted in search of an observer which gives the possibility of arm tracking. The arm´s model is based on a two-link manipulator able to move in horizontal and vertical planes. Model is analyzed after linearization and omittance of muscles representing part. The experimental part involves simulation of the motion parameters and real IMU measurements. Finally, simulation results concerning the use of observer in the form of Kalman and particle filters are presented.