Biomedical Engineering Reference
In-Depth Information
z
54
z
55
z
46
L
13
z
52
z
51
z
43
z
44
z
53
z
45
L
12
z
33
L
14
z
37
z
34
z
42
z
35
L
15
z
36
z
32
z
31
z
30
z
48
L
11
z
47
z
38
L
16
z
29
z
28
z
27
z
25
z
24
z
23
z
22
z
14
z
21
L
10
z
39
z
38
z
26
z
49
L
9
z
50
L
17
z
8
z
40
L
8
z
41
z
16
z
15
z
6
L
7
z
9
L
18
z
5
z
8
z
4
z
7
L
1
L
2
z
17
z
10
y
L
3
z
3
z
19
z
18
x
z
20
z
12
z
11
z
2
o
z
13
L
4
z
1
z
L
5
L
6
FIGURE 7.2
The 55-DOF digital human model (with global DOFs z
1
, z
2
, z
3
, z
4
, z
5
, z
6
).
7.4.2
Global DOFs and virtual joints
Consider six global DOFs that generate rigid body motion for the entire spatial
skeleton model. The three translations are represented by three prismatic joints
and the three rotations by three revolution joints in the DH method. We denote
these joints as virtual joints to distinguish them from the physical human joints.
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