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The Creation Of A Robotics Based Human Upper Body Model For Predictive Simulation Of Prostheses Performance, Derek James Lura
The Creation Of A Robotics Based Human Upper Body Model For Predictive Simulation Of Prostheses Performance, Derek James Lura
USF Tampa Graduate Theses and Dissertations
This work focuses on the use of 3D motion capture data to create and optimize a robotic human body model (RHBM) to predict the inverse kinematics of the upper body. The RHBM is a 25 degrees of freedom (DoFs) upper body model with subject specific kinematic parameters. The model was developed to predict the inverse kinematics of the upper body in the simulation of a virtual person, including persons with functional limitations such as a transradial or transhumeral amputation. Motion data were collected from 14 subjects: 10 non-amputees control subjects, 1 person with a transradial amputation, and 3 persons with …