Accessibility navigation


Methods for kinematic modeling of biological and robotic systems

Ouerfelli, M., Kumar, V. and Harwin, W. S. (2000) Methods for kinematic modeling of biological and robotic systems. Medical Engineering & Physics, 22 (7). pp. 509-520. ISSN 1350-4533

Full text not archived in this repository.

To link to this article DOI: 10.1016/S1350-4533(00)00063-1

Abstract/Summary

The main objective is to develop methods that automatically generate kinematic models for the movements of biological and robotic systems. Two methods for the identification of the kinematics are presented. The first method requires the elimination of the displacement variables that cannot be measured while the second method attempts to estimate the changes in these variables. The methods were tested using a planar two-revolute-joint linkage. Results show that the model parameters obtained agree with the actual parameters to within 5%. Moreover, the methods were applied to model head and neck movements in the sagittal plane. The results indicate that these movements are well modeled by a two-revolute-joint system. A spatial three-revolute-joint model was also discussed and tested.

Item Type:Article
Refereed:Yes
Divisions:Faculty of Science > School of Systems Engineering
ID Code:19018
Uncontrolled Keywords:modeling, biological, robotics, kinematics
Publisher:Elsevier

University Staff: Request a correction | Centaur Editors: Update this record

Page navigation