【题名】：Reach Envelope of Human Extremities清华大学学报：自然科学英文版论文(Reach Envelope of Human ExtremitiesQingHuaDaXueXueBao：ZiRanKeXueYingWenBanLunWen)
【关键词】：自由度 生物力学 人体义肢 人工关节
【keywords】：ZiYouDu ShengWuLiXue RenTiYiZhi RenGongGuanJie
【作者】：杨景周,张云清,陈立平,ABDEL-MALEKKarim, 【来源】： 知识词典
【期刊名称】：清华大学学报：自然科学英文版(QingHuaDaXueXueBao：ZiRanKeXueYingWenBan)
【国际标准刊号】：1007-0214 【国内统一刊号】：11-3745/N
【作者单位】：[1]CenterforComputer-AidedDesign,UniversityofIowa,IowaCity,IA52242-1000,USA [2]CenterforComputerAidedDesign,HuazhongUniversityofScienceandTechnology,Wuhan430074,China([1]CenterforComputer-AidedDesign,UniversityofIowa,IowaCity,IA52242-1000,USA [2]CenterforComputerAidedDesign,HuazhongUniversityofScienceandTechnology,Wuhan430074,China)
【分类号】：R318.17 【页码】：-653-666 【出版年】：2004.6
Significant attention in recent years has been given to obtain a better understanding of human joint ranges, measurement, and functionality, especially in conjunction with commands issued by the central nervous system. While researchers have studied motor commands needed to drive a limb to follow a path trajectory, various computer algorithms have been reported that provide adequate analysis of limb modeling and motion. This paper uses a rigorous mathematical formulation to model human limbs, understand their reach envelope, delineate barriers therein where a trajectory becomes difficult to control, and help visualize these barriers. Workspaces of a typical forearm with 9 degrees of freedom, a typical finger modeled as a 4-degree-of-freedom system, and a lower extremity with 4 degrees of freedom are discussed. The results show that using the proposed formulation, joint limits play an important role in distinguishing the barriers.
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