7/23/2019 Movement Dynamics and Kinematics of Human Arm

1/1

Movement dynamics and kinematics of human arm

Problems that commonly occur in moving arm between points are the flexibility of thearm to execute specific task using various posture and an infinite number of hand

trajectories which could be performed by arm to move from the initial to the end position.

The kinematic of the arm could belong to the same hand position.

One of the confirmed results from existing research is that human arm is consistent and

reproducible. In many research done in this area it shows that human tends to formstraight hand trajectory with bell!peaked speed profile.

The trajectory forms in the kinematic sense rather than in"".

#rm movement experiments mostly focusing on two different tasks with visually guided

which are pointing and reaching movement. These two movements represent armmovement with fully extended arm and changing between fully extended and unextended

arm. The task involves two joints which are shoulder and elbow which then can be

assumed as movement in $ dimensions.

Posture!based model

Minimum work model %principle of minimum cost&

This model is conducted based on principle of minimum work. It is also one of theexplanations why human hand trajectory is in straight profile as it is counted as the path

that re'uires minimum work to move arm from one point to another point.

Minimum tor'ue change model