- Tytuł:
- The dynamics of the human arm with an observer for the capture of body motion parameters
- Autorzy:
-
Babiarz, A.
Bieda, R.
Jaskot, K.
Klamka, J. - Powiązania:
- https://bibliotekanauki.pl/articles/201899.pdf
- Data publikacji:
- 2013
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
human arm
observability
Kalman filter
particle filter - Opis:
- The paper presents an analysis of a mathematical model of the human arm dynamics in terms of observability. The purpose of the performed experiments is the selection of an observer for the possibility of arm tracking. The arm model is based on the two-link manipulator moving horizontally and vertically. For the study a model was linearized and the model part responsible for the work of human muscles was omitted. The experimental part involved simulated measurements of the motion parameters that imitate real-IMU (Inertial Measurement Unit) measurements. Finally, the simulation results using the observer in the form of a Kalman filter and the particle filter have been presented.
- Źródło:
-
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2013, 61, 4; 955-971
0239-7528 - Pojawia się w:
- Bulletin of the Polish Academy of Sciences. Technical Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł