The Closed-Form Equation of Motion of a Human Body With Joint Friction

2013 ◽  
Author(s):  
Qingmin Huang ◽  
Ye-Hwa Chen ◽  
Xin Nie
Keyword(s):  
Closed Form ◽  
Human Body ◽  
Free Fall ◽  
Analytic Form ◽  
Equation Of Motion ◽  
Friction Torque ◽  
Constraint Forces ◽  
Constraint Force ◽  
Joint Friction ◽  
And Control

A general method for equation of motion of a human body is presented. The equation is in closed-form (i.e., analytic form). A hierarchical approach is introduced to get the equation of motion of the human body. The constraint force between subsystems is explicitly obtained which can be used to calculate the joint friction torque. The final equation of motion includes the dynamics of the unconstrained motion, the constraints, and the constraint forces including the joint friction torque induced by the nonideal constraints. No auxiliary variables such as Lagrange multipliers or pseudo-generalized speeds are needed. Therefore the equation of motion is most suitable for generic dynamic analysis and control design. A four-segment, planar, articulated linkage free fall human body is chosen to demonstrate this method.

Udwadia-Kalaba Approach for Parallel Manipulator Dynamics

2013 ◽  
Vol 135 (6) ◽  
Author(s):  
Jin Huang ◽  
Y. H. Chen ◽  
Zhihua Zhong
Keyword(s):  
Closed Form ◽  
Dynamic Model ◽  
Parallel Manipulator ◽  
Inverse Dynamics ◽  
Equation Of Motion ◽  
Dynamics Analysis ◽  
Constraint Forces ◽  
Kinematic Constraints ◽  
Manipulator Dynamics ◽  
Stewart Gough Platform

A novel Udwadia-Kalaba approach for parallel manipulator dynamics analysis is presented. The approach segments a parallel manipulator system into several leg-subsystems and the platform subsystem, which are connected by kinematic constraints. The Udwadia-Kalaba equation is then used to calculate the constraint forces due to the constraints. Based on this, the equation of motion, which is an explicit (i.e., closed) form, can be formulated. The method allows a systematic procedure to generate the dynamic model for both direct dynamics and inverse dynamics without invoking additional variables (such as multipliers or quasi-variables), nor does it require projection. A classical parallel Stewart-Gough platform is chosen to demonstrate the feasibility and advantages of this approach.

Galileo Unbound

2018 ◽  
Author(s):  
David D. Nolte
Keyword(s):  
Free Fall ◽  
The Sun ◽  
Quantum Field ◽  
Many Worlds ◽  
Quantum Particles ◽  
Light Rays ◽  
History Of ◽  
And Control ◽  
The Universe ◽  
Insight Into

Galileo Unbound: A Path Across Life, The Universe and Everything traces the journey that brought us from Galileo’s law of free fall to today’s geneticists measuring evolutionary drift, entangled quantum particles moving among many worlds, and our lives as trajectories traversing a health space with thousands of dimensions. Remarkably, common themes persist that predict the evolution of species as readily as the orbits of planets or the collapse of stars into black holes. This book tells the history of spaces of expanding dimension and increasing abstraction and how they continue today to give new insight into the physics of complex systems. Galileo published the first modern law of motion, the Law of Fall, that was ideal and simple, laying the foundation upon which Newton built the first theory of dynamics. Early in the twentieth century, geometry became the cause of motion rather than the result when Einstein envisioned the fabric of space-time warped by mass and energy, forcing light rays to bend past the Sun. Possibly more radical was Feynman’s dilemma of quantum particles taking all paths at once—setting the stage for the modern fields of quantum field theory and quantum computing. Yet as concepts of motion have evolved, one thing has remained constant, the need to track ever more complex changes and to capture their essence, to find patterns in the chaos as we try to predict and control our world.

scholarly journals Closed-form time derivatives of the equations of motion of rigid body systems

2021 ◽  
Author(s):  
Andreas Müller ◽  
Shivesh Kumar
Keyword(s):  
Rigid Body ◽  
Closed Form ◽  
Multibody Systems ◽  
Equations Of Motion ◽  
Alternative Formulation ◽  
Dynamics Of Rigid Body ◽  
Control Forces ◽  
And Control ◽  
Derivatives Of ◽  
Insight Into

AbstractDerivatives of equations of motion (EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in design and control of robotic systems. Controlling robots, and multibody systems comprising elastic components in particular, not only requires smooth trajectories but also the time derivatives of the control forces/torques, hence of the EOM. This paper presents the time derivatives of the EOM in closed form up to second-order as an alternative formulation to the existing recursive algorithms for this purpose, which provides a direct insight into the structure of the derivatives. The Lie group formulation for rigid body systems is used giving rise to very compact and easily parameterized equations.

scholarly journals Improvement of Measurement and Control Scheme on Human Body Motion Interface

2012 ◽  
Vol 2 (4) ◽  
pp. 53-59 ◽  
Author(s):  
Sho Yokota ◽  
Hiroshi Hashimoto ◽  
Yasuhiro Ohyama ◽  
Daisuke Chugo ◽  
Jinhua She ◽  
...  
Keyword(s):  
Human Body ◽  
Body Motion ◽  
Control Scheme ◽  
And Control ◽  
Measurement And Control

The mexidol effects for activation of mitochondrial activity in athletes

2015 ◽  
Vol 9 (2) ◽  
pp. 0-0 ◽  
Author(s):  
Фудин ◽  
N. Fudin ◽  
Хадарцев ◽  
Aleksandr Khadartsev ◽  
Несмеянов ◽  
...  
Keyword(s):  
Body Weight ◽  
Comparative Study ◽  
Growth Performance ◽  
Human Body ◽  
Main Group ◽  
Mitochondrial Activity ◽  
Physiological Effects ◽  
Basic Properties ◽  
And Control

This brief report presents a description of the basic properties of mitochondria, providing a formation of energy in the human body, the ability to control a formation of energy under the influence of the Mexidol. The authors showed the main physiological effects of Mexidol in athletes and in various pathologies. A comparative study of growth performance of the pressing the barbell in the posture of lying and deadlifts in the main group of 15 people and control of 23 athletes was carried out. The athletes of the main group received the Mexidol in the dose of 200 mg/kg of body weight for 2,5 weeks. The authors found no significant increase of results in this group compared with the control and defined the importance of further studies of the properties of mitochondria and opportunities of the Mexidol in their modulation.

Control features of the functional state of human body at the health-restorative treatments

2016 ◽  
Vol 10 (1) ◽  
pp. 0-0
Author(s):  
Суворов ◽  
N. Suvorov ◽  
Мунассар ◽  
M. Munassar ◽  
Ахлаков ◽  
...  
Keyword(s):  
Functional State ◽  
Human Body ◽  
Self Regulation ◽  
Regulatory System ◽  
Drug Dosage ◽  
Physiological Parameters ◽  
Information Feedback ◽  
State Control ◽  
Efferent Connections ◽  
And Control

This article discusses the possibilities of self-regulation processes and control of physiological functions of the human body to restore the biochemical components of disturbances in various pathologies. The possibilities of research and forecasting of the functional state on the basis of the previously proposed methods and technical means of the functional state control by evaluating of physiological parameters in the operator activities were studied. Using the technology of research in operator activity and on the basis of the obtained data, the technique to control the functional state of human body at drug intake according to a diagnosis was developed. For this purpose a self-regulatory system with the afferent and efferent connections, proposed by P. K. Anokhin, was applied. The technical means are provided by an information feedback, which activates the efferent feed-back and gives possibility of control the functional state of the organism when receiving information in coded forms. In this article, the original is the drug dosage control depending on the state changes of the human body. To ensure information feedback and generating signals in coded forms, the physiological parameters depending on the diagnosis are registered. The results are compared with normalized values, which are stored in the memory unit. According to the obtained data, an image on the monitor, which is used as a source of information for the patient, is formed.

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