Title :
Dynamics modeling of human elbow joints servicing for rehabilitation robots
Author :
Baiqing, Sun ; Yanjun, Luo
Author_Institution :
Sch. of Electr. Eng., Shenyang Univ. of Technol., Shenyang
Abstract :
In this paper, for improving the efficacy of rehabilitation robotics, a dynamic model of human elbow joints is developed, in which the effects of correlative muscles are considered, using Alembert´s principle based on the biomechanics and athletic physiology. Then the proposed model is optimized by using Lagrange´s Multipliers method. Simulation results show that the proposed model is effective and reasonable.
Keywords :
biomechanics; robot dynamics; Lagrange´s multipliers method; athletic physiology; biomechanics; human elbow joints; rehabilitation robots; Biomechanics; Elbow; Humans; Lagrangian functions; Muscles; Optimization methods; Physiology; Rehabilitation robotics; Robot kinematics; Sun; Rehabilitation; dynamics modeling; elbow joints;
Conference_Titel :
Industrial Electronics and Applications, 2009. ICIEA 2009. 4th IEEE Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-2799-4
Electronic_ISBN :
978-1-4244-2800-7
DOI :
10.1109/ICIEA.2009.5138670
