Description: The paper presents the analysis of human
arm joints is carried out and the study is extended
to the robot manipulator. This study will first focus on
the kinematics of human upper arm which include the
movement of each joint in shoulder, wrist, elbow and
fingers. Those analyses are then extended to the design of
a human robot manipulator. A simulator is built for
Direct Kinematics and Inverse Kinematics of human
upper arm. In the simulation of Direct Kinematics, the
human joint angles can be inserted, while the position
and orientation of each finger tips (end-effector) are
shown. The simulation of human arm forward kinematics is
performed through MATLAB Graphical User Interface
and VRML. tained from kinematics analysis, the human
manipulator joints can be designed to follow
prescribed position trajectories.
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File list (Check if you may need any files):
IMECS2009_pp1348-1351.pdf
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