Human movement joint kinematics

The manipulator constitutes the mechanical system of the robot and Is composed of two essential elements various parts, linked via suitable joints (kinematic pairs), which are responsible for the robot s movements (translation and rotation), and gripping devices which mimic the actions of the human... 

Della Croce, U., Leardini, A., Chiari, L., and Cappozzo, A., Human movement analysis using stereophotogrammetry—Part 4 Assessment of anatomical landmark misplacement and its effects on joint kinematics. Gait Posture, 21, pp. 226-237, 2005. 

There are two different sensor subsystems namely, the wireless wearable accelerometer subsystem, and instrumented platform. The function of wireless wearable accelerometer subsystem is to measure joint kinematics and instrumented platform to quantify the vertical ground reaction forces of human movement. 

In this chapter we have examined forward and inverse dynamics approaches to the study of human motion. We have outlined the steps involved in using the inverse approach to studying movement with a particular focus on human gait. This is perhaps the most commonly used method for examining joint kinetics. The forward or direct dynamics approach requires that one start with knowledge of the neural command signal, the muscle forces, or, perhaps, the joint torques. These are then used to compute kinematics. 

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