Biomedical Engineering Reference
In-Depth Information
kinematic loops (or closures). A variant of this approach,
called the natural coordinates approach, considers the
generalized coordinates of specific points and unit vectors
attached to rigid bodies and thus simplifies the processing of
joints, by often simply associating the common points or unit
vectors between two successive segments and ultimately
corresponding to an assembly. Additional constraint
equations are required to express the rigidity of the bodies or
fix the norm of unit vectors, but they have the advantage of
being simple functions of the coordinates and provide an
excellent conditioning for numerical integration [GAR 87].
Figure 3.2.
Parameterization of the lower limb in
natural coordinates (adapted from [DUM 07])
