Bio-Mechanical Analysis of Human Hand

摘要

The biomechanical analysis done in this project is to assist the development of the robot assisted stroke rehabilitation system. Thus, the analysis of the upper limb’s motions focus on rehabilitation training for stroke survivor. As the human upper limb system is a natural biomechanical system, which can be modeled as links connected together by different joints with its own biological properties, the combination of robotics principles and anthropometry data are applied to carry out the modeling and analysis process. A 7 degree of freedom (DoFs) kinematical model of human arm, and an 11 DoFs human hand kinematical model are presented in this paper. The model was defined based on the literature survey and assumptions are made to reduce the complexity. Denavit-Hartenberg method is used for the positional analysis to determine the end position in 3D space while the Lagrange-Euler method is used for the dynamic analysis. A PID computed torque controller was designed by utilizing the equation of motion. The purpose of the controller is to compensate the dynamical imperfection and the presence of disturbance. MATLAB and Simulink was used in developing the mathematical model while AnyBody Modeling System was used for physical modeling and simulation.