Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Development of a biomechanically accurate kinematic model for the human arm and hand
Submission Author:
Leonardo de la Roca , RJ
Co-Authors:
Leonardo de la Roca, Gabriel Luc Rodrigues, José Geraldo Telles Ribeiro, Americo Barbosa da Cunha Junior, Gabriel de Araújo
Presenter: Leonardo de la Roca
doi://10.26678/ABCM.COBEM2021.COB2021-2180
Abstract
Mechanical prosthesis designs appear throughout our history demonstrating the human desire to recover what has been lost from its physiology. With the constant evolution of technology over time, more and more complex prostheses have been developed, assimilating a wider range of functionalities for the user. Besides that, modern prostheses are still expensive and inaccessible to the low-income population. Even state-of-the-art devices are limited in terms of fidelity to the complexity of human biomechanics, some of that because their degrees of freedom are often drastically reduced. In recent years, promising technologies have emerged, with potential to offer solutions to the problems previously mentioned. Innovative ways to measure the upper limbs' range of motion, artificial muscles, and compact mechanisms capable of incorporating more faithful movements are some examples of technologies with the potential to quickly change the scenario of prostheses and bioinspired robots. Alongside those technologies, computational models, able to represent the complex behaviour of the human arm and hand movements, are crucial for the development of control techniques that can benefit from such parameterized models. The present work offers a 34 degrees of freedom kinematic model of the upper limb, based on the Denavit-Hartenberg parameters, able to perform natural and biomechanically expected movements.
Keywords
Bioinspired kinematics, Hand and arm prosthesis, biomechanics, Biomedical engineering
