Computer Simulation of Dynamics of Human Leg

Author

Nagarsheth, Hemant J. ; Surve, Sachin V. ; Patel, Mansi A.

Author_Institution

SVNIT, Surat

fYear

2007

fDate

22-25 Sept. 2007

Firstpage

249

Lastpage

254

Abstract

Application of robotics in the field of medical has gained a strong footing apart from manufacturing industries, sheep-shearing, agriculture, nuclear power industries, fire-fighting, mining, underseas applications, outerspace and other application. In the present work Dynamic equation of motions of a robot arm are considered using Lagrangian-Euler formulation and programs in C, C++ and MATLAB are developed. The program encompasses the Torque, Centrifugal and Coriolis and Gravity force applied to the leg of a human being which is compared to robot manipulator. For the purpose of analysis cases of a human being lifting weight is considered. The results obtained by the program are compared with those obtained by some of the researcher like Chia-Yu E. Wang, James E. Bobrow, and David J. Reinkensmeyer.

Keywords

control engineering computing; manipulator dynamics; manipulator kinematics; medical robotics; C programs; C++ programs; Coriolis force; Lagrangian-Euler formulation; MATLAB; centrifugal force; computer simulation; gravity force; human leg dynamics; medical robotics; robot arm motion; robot dynamics; robot kinematics; robot manipulator; torque; Agriculture; Application software; Computer simulation; Equations; Humans; Leg; Manufacturing industries; Medical robotics; Power industry; Service robots; computer simulation; human leg; kinematics and dynamics; sagittal plane;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation Science and Engineering, 2007. CASE 2007. IEEE International Conference on

Conference_Location

Scottsdale, AZ

Print_ISBN

978-1-4244-1154-2

Electronic_ISBN

978-1-4244-1154-2

Type

conf

DOI

10.1109/COASE.2007.4341730

Filename

4341730