Journal of Biomedical Engineering Research (대한의용생체공학회:의공학회지)

The Korean Society of Medical and Biological Engineering (대한의용생체공학회)
권호 표지

A Study of Human Model Based on Dynamics

동력학기반 인체 모델 연구

  • 김창희 (한국원자력연구소 광/기전기술개발팀) ;
  • 김승호 (한국원자력연구소 광/기전기술개발팀) ;
  • 오병주 (한남대학교 전자공학과)
  • Published : 1999.08.01
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Abstract

Human can generate various posture and motion with nearly 350 muscle pairs. From the viewpoint of mechanisms, the human skeleton mechanism represents great kinematic and dynamical complexity. Physical and behavioral fidelity of human motion requires dynamically accurate modeling and controling. This paper describes a mathematical modeling, and dynamic simulation of human body. The human dynamic model is simplified as a rigid body consisting of 18 actuated degrees of freedom for the real time computation. Complex kinematic chain of human body is partitioned as 6 serial kinematic chains that is, left arm, right arm, support leg, free leg, body, and head. Modeling is developed based on Newton-Euler formulation. The validity of proposed dynamic model, which represents mathematically high order differential equation, is verified through the dynamic simulation.

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