3D modelling and simulation of human upper limb

Abstract

In this paper we analyse the kinematics and dynamics of the human upper limb to determine the position and the orientation of the shoulder and elbow joints in accordance with the forward and reverse kinematic mathematical model and the Jacobian forward and reverse kinematic mathematical model. We also developed a 3D human arm model in a computer aided-design software based on the result determined from mathematical models and in accordance with five degrees of freedom offered by anatomical position of human arm revolute joints associated to the shoulder and elbow. We simulated the entire dynamics of human arm in Matlab-Simulink in order to control the movement according to different predefined trajectories.