Human Modeling: Kinematics - Human Motion Simulation: Predictive Dynamics - page 37

Right arm segment
Left arm segment
Torso segment
Global coordinates in code (DH model)
FIGURE 2.25
Santos s —a 215-DOF human model.
2.13 A 55-DOF whole body model
A kinematic human skeletal model with 55 DOFs, shown in Figure 2.26 , consists
of six physical branches and one virtual branch. The physical branches include
the right leg, the left leg, the spine, the right arm, the left arm, and the head. In
these branches, the right leg, the left leg, and the spine start from the pelvis
( z 4 , z 5 , z 6 ), while the right arm, left arm and head start from the spine end joint
( z 30 , z 31 , z 32 ). This model shall be used in predictive dynamics to account for the
physical translational and rotational joints of the human with respect to a fixed
coordinate system on the ground.
The spine model includes four joints, each joint has three rotational DOFs
([ z 21 , z 22 , z 23 ], [ z 24 , z 25 , z 26 ], [ z 27 , z 28 , z 29 ], [ z 30 , z 31 , z 32 ] ). The legs and arms are