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Dynamics Modeling of 3D Human Arm Using Switched Linear Systems

机译:使用开关线性系统的3D人体动力学建模

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A novel approach to modeling human arm with hybrid systems theory is presented. The 3D human arm mathematical model is described. The arm model is built using three rotational link. Each of them is represented as a truncated cone prism. The shape of each link is changing during any motion. Based on the analysis of the arm motion a mathematical model of a switched linear system is proposed. The design process of state-dependent switching function and division of the state-space is shown. At the end, a few simulation results are presented.
机译:提出了一种用混合系统理论对人体手臂进行建模的新颖方法。描述了3D手臂数学模型。手臂模型是使用三个旋转链接建立的。它们中的每一个都表示为截锥锥。每个链接的形状在任何运动过程中都在变化。在分析手臂运动的基础上,提出了线性切换系统的数学模型。给出了状态相关切换功能和状态空间划分的设计过程。最后,给出了一些仿真结果。

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