Calculation of multi-segment rigid body joint dynamics using MATLAB

Abstract

A computational model of the human upper limb was developed utilizing a matrix calculation software package (MATLAB) and a public domain suite of subroutines [Robotics Toolbox (1)]. An easily configurable model of a rigid body, serially linked manipulator was established, avoiding the need for complex numerical equations to be formulated. A generalized model of the upper limb was used to study throwing action of individual subjects by incorporating body segment parameters and kinematic data. Estimates of joint moments were calculated for multiple time instances. This technique can be utilized and adapted for modelling any arbitrary serially linked manipulator system. Inverse and forward kinematics and kinetics can be calculated, enabling biomechanical simulations to be undertaken.