Analysis of Human Arm Joints and Extension of the Study to Robot Manipulator

摘要

Abstract — The paper presents the analysis of human arm joints is carried out and the study is extended to the robot manipulator. This study will first focus on the kinematics of human upper arm which include the movement of each joint in shoulder, wrist, elbow and fingers. Those analyses are then extended to the design of a human robot manipulator. A simulator is built for Direct Kinematics and Inverse Kinematics of human upper arm. In the simulation of Direct Kinematics, the human joint angles can be inserted, while the position and orientation of each finger tips (end-effector) are shown. The simulation of human arm forward kinematics is performed through MATLAB Graphical User Interface and VRML. tained from kinematics analysis, the human manipulator joints can be designed to follow prescribed position trajectories.