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
34
z
37
z
33
z
42
z
35
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
L
8
z
16
z
41
z
14
z
40
z
15
z
21
z
6
L
7
z
9
L
18
z
5
z
4
z
8
z
7
L
1
L
2
z
17
z
10
y
z
3
L
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 2.26
The 55-DOF digital human model (with global DOFs z
1
, z
2
, z
3
, z
4
, z
5
, z
6
) used in
predictive dynamics.
assumed to be symmetric along the sagittal plane. Each leg consists of a thigh, a
shank, a rear foot, and a forefoot. There are seven DOFs for each leg: three at the
hip joint (
z
7
,
z
8
,
z
9
), one at the knee joint (
z
10
), two at the ankle joint (
z
11
,
z
12
),
and finally, one to characterize the forefoot (
z
13
). At the clavicle, there are two
orthogonal revolute joints (
z
33
,
z
34
). Each arm consists of an upper arm, a lower
arm, and a hand. There are seven DOFs for each arm: three at the shoulder, two
at the elbow, and two at the wrist. In addition, there are five DOFs for the head
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