Dynamic Modeling of the Human Upper Limb

摘要

Dynamic modeling of osteoarticular system is necessary because the exertion of various actions and natural physiological movements are essentially dynamic. The wide mobility of human body leads to the necessity of modeling the osteoarticular system as a mechanism with a large number of degrees of freedom. The differential equations system obtained are very complex and assume numerical integration. Very often we use a simplified model because the phenomena produced are so complex that accurate mathematical reproduction is practically impossible. A dynamic model must provide a good estimate of total weight and mass distribution as well as transmissibility and amortization proprieties for bones, muscles, joints, blood and skin. The paper presents a dynamic functional model considering the human upper limb as a mechanic system with 5 degrees of freedom in the case the segments are moved by their own weight forces. The bones and the muscles were modeled in Solid Works, the model of the upper limb obtained being very close as form to the real one. The differential equations of motion were solved using Lagrange formalism.