Multibody model of a human body

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23640%2F14%3A43930405" target="_blank" >RIV/49777513:23640/14:43930405 - isvavai.cz</a>

Výsledek na webu

—

DOI - Digital Object Identifier

—

Jazyk výsledku

angličtina

Název v původním jazyce

Multibody model of a human body

Popis výsledku v původním jazyce

Purpose of this work is to establish a model of human body based on the multibody principle. System of rigid bodies constrained in open kinematic tree structure to approximate external geometry of a real humanoid is being demonstrated. Author uses Lagrange’s equations of a mixed type with multipliers for derivation of equation of motion. Firstly the energy balance method are introduced, namely the kinetic and the potential energy for most general case (centre of gravity does not coincide with origin of local body-fixed coordinate system). The bodies are linked with spherical joints representing the real joints of the human. As consequence, the equations of kinematic constraints are derived and the equation of motion of a full human body system in a compact matrix is developed. Finally author presents numerical of solution of contact-less motion of the system provide in MATLAB software.

Název v anglickém jazyce

Multibody model of a human body

Popis výsledku anglicky

Purpose of this work is to establish a model of human body based on the multibody principle. System of rigid bodies constrained in open kinematic tree structure to approximate external geometry of a real humanoid is being demonstrated. Author uses Lagrange’s equations of a mixed type with multipliers for derivation of equation of motion. Firstly the energy balance method are introduced, namely the kinetic and the potential energy for most general case (centre of gravity does not coincide with origin of local body-fixed coordinate system). The bodies are linked with spherical joints representing the real joints of the human. As consequence, the equations of kinematic constraints are derived and the equation of motion of a full human body system in a compact matrix is developed. Finally author presents numerical of solution of contact-less motion of the system provide in MATLAB software.

Druh

O - Ostatní výsledky

CEP obor

—

OECD FORD obor

10610 - Biophysics

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2014

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů