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Development of a revolute-type kinematic model for human upper limb using a matrix approach

Published online by Cambridge University Press:  27 September 2021

Anil Kumar Gillawat Open the ORCID record for Anil Kumar Gillawat [Opens in a new window]
Anil Kumar Gillawat*
Affiliation:
Mechanical Engineering Department, National Institute of Technology Calicut, Kerala, India E-mail: anilkumargillawat@gmail.com
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Abstract

A mathematical model is proposed for a revolute joint mechanism with an n-degree of freedom (DOF). The matrix approach is used for finding the relation between two consecutive links to determine desired link parameters such as position, velocity and acceleration using the forward kinematic approach. The matrix approach was confirmed for a proposed 10 DOF revolute type (R-type) human upper limb model with servo motors at each joint. Two DOFs are considered each at shoulder, elbow and wrist joint, followed by four DOF for the fingers. Two DOFs were considered for metacarpophalangeal (mcp) and one DOF each for proximal interphalangeal (pip) and distal interphalangeal (dip) joints. MATLAB script function was used to evaluate the mathematical model for determining kinematic parameters for all the proposed human upper limb model joints. The simplified method for kinematic analysis proposed in this paper will further simplify the dynamic modeling of any mechanism for determining joint torques and hence, easy to design control system for joint movements.

Keywords

revolute jointskinematic analysismathematical modelingdegree of freedommanipulator
Type
Research Article
Information
Robotica , Volume 40 , Issue 6 , June 2022 , pp. 1833 - 1854
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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