Title :
Computer Simulation of Dynamics of Human Leg
Author :
Nagarsheth, Hemant J. ; Surve, Sachin V. ; Patel, Mansi A.
Author_Institution :
SVNIT, Surat
Abstract :
Application of robotics in the field of medical has gained a strong footing apart from manufacturing industries, sheep-shearing, agriculture, nuclear power industries, fire-fighting, mining, underseas applications, outerspace and other application. In the present work Dynamic equation of motions of a robot arm are considered using Lagrangian-Euler formulation and programs in C, C++ and MATLAB are developed. The program encompasses the Torque, Centrifugal and Coriolis and Gravity force applied to the leg of a human being which is compared to robot manipulator. For the purpose of analysis cases of a human being lifting weight is considered. The results obtained by the program are compared with those obtained by some of the researcher like Chia-Yu E. Wang, James E. Bobrow, and David J. Reinkensmeyer.
Keywords :
control engineering computing; manipulator dynamics; manipulator kinematics; medical robotics; C programs; C++ programs; Coriolis force; Lagrangian-Euler formulation; MATLAB; centrifugal force; computer simulation; gravity force; human leg dynamics; medical robotics; robot arm motion; robot dynamics; robot kinematics; robot manipulator; torque; Agriculture; Application software; Computer simulation; Equations; Humans; Leg; Manufacturing industries; Medical robotics; Power industry; Service robots; computer simulation; human leg; kinematics and dynamics; sagittal plane;
Conference_Titel :
Automation Science and Engineering, 2007. CASE 2007. IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
978-1-4244-1154-2
Electronic_ISBN :
978-1-4244-1154-2
DOI :
10.1109/COASE.2007.4341730
