Biomedical Engineering Reference
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z 54
z 55
z 46
L 13
z 52 z 51
z 44
z 53
z 45
z 43
L 14
L 12
z 37
z 34
z 33
z 35
z 42
L 15
z 36
z 32
z 31
z 30
z 48
L 11
z 47
L 16
z 29
L 10
z 28
z 39 z 38
z 27
z 26 z 25
z 24
L 9
z 49
z 50
L 17
z 23 z 22
z 21
L 8
z 16
z 41
z 14
z 40
z 15
z 6
L 7
z 9
L 18
z 5
z 4
z 8
z 7
L 1
L 2
Virtual
branch
z 17
z 10
y
z 3
z 19
L 3
z 18
x
z 20
z 12
z 11
z 2
z 13
o
L 4
z 1
z
L 5
L 6
FIGURE 8.1
The 55-DOF digital human model (with global DOFs z 1 , z 2 , z 3 , z 4 , z 5 , z 6 ).
A j 2 1 @ T j
@
B j 5 A j 5
B j 2 1 T j 1
q j _
q j
(8.2)
2 T j
@q j 2
2B j 2 1 @
T j
@q j _
A j 2 1 @
A j 2 1 @
T j
@q j
C j 5 B j 5 A j 5
q j 2
q j 1
_
q j
C j 2 1 T j 1
1
(8.3)
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