Robotic model for simulating upper body movement

A model of the human upper limb was developed for predicting the motion of the human upper limb while performing activities of daily living. This study focuses on the effect of a joint limit function on the ability of the model to perform human like movements. This measurement was analysed by comparing the modelled joint movements with recorded movements of subjects while drinking from a cup, opening a door, turning a steering wheel, and lifting a box. The joint limit function was tested with four weighting factors: 0.00, 0.01, 0.05, and 0.10. The model showed that, for the joint limit function used, that the best results occurred when the weighting factor was 0.00. This shows that the joint limit function had a negative effect on the ability of the model to perform human like movements.