Biomedical Engineering Reference
In-Depth Information
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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