Fractional Calculus in Human Arm Modeling

Grzejszczak, Tomasz; Jurgaś, Piotr; Łęgowski, Adrian; Niezabitowski, Michał; Orwat, Justyna

doi:10.1007/978-3-030-14802-7_54

Cited by 3 publications

(1 citation statement)

References 18 publications

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“…This additional modelling approach allows us to easily follow the input-to-output signal flow of the joint- and muscle-driven manipulators. Fractional models are being used extensively to characterise the dynamic effects (Grzejszczak et al, 2019; Tejado et al, 2013; Ventura et al 2016). However, such perspective has been overlooked for geometric descriptions.…”

Section: Introductionmentioning

confidence: 99%

Fractional-order kinematic analysis of biomechanical inspired manipulators

Machado

Lopes

2019

Journal of Vibration and Control

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Present-day mechanical manipulators reveal limited performances when compared with the human arm. Joint-driven manipulators are sub-optimal due to the high actuator requirements imposed by the transients of the operational space tasks. Muscle-actuated arms are superior because the anatomic structures adapt the task requirements to the driving linear actuators. However, the advantages of muscle actuation are difficult to unravel using the standard integer-order kinematics based on the integer derivatives, namely the positions, velocities and accelerations. This paper investigates the human arm and evaluates the influence of biomechanics upon the driving actuators by means of a new method of kinematic analysis and visualisation. The proposed method uses the tools of fractional calculus for computing the continuous propagation of the signals between positions and accelerations. The behaviour of the variables is compared in the joint and muscle spaces, using both the kinematics in the time domain and the describing function method. In this line of thought, the classical integer-order kinematics, with three discrete levels of visualisation, is generalised to a continuous description represented by the fractional-order kinematics.

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Section: Introductionmentioning

confidence: 99%

Fractional-order kinematic analysis of biomechanical inspired manipulators

Machado

Lopes

2019

Journal of Vibration and Control

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Parameter Training Methods for Convolutional Neural Networks With Adaptive Adjustment Method Based on Borges Difference

Jian

Gao

Kan

2022

IEEE Trans. Signal Process.

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The Influence of Sex Factor on the Modeling of the Human Hand/Arm Interacting With a Teleoperation System

KADKHODAZADE,

POURMOKHTARI,

YAZDANKHOO

et al. 2023

J. Mech. Med. Biol.

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This paper addresses the lack of research on the dynamical differences between male and female hand/arm models during interaction with haptic systems. A linear one-degree-of-freedom experiment is designed using the Novint Falcon robot for this aim. To compare the differences, the study analyzes the pole, stiffness, and damping of a first-order two-parameter spring–damper model. The Mann–Whitney U and Fligner-Killeen tests were used to explore the homogeneity in medians and variances of the groups. The results indicate that there is no significant difference in the median values of poles and stiffnesses between male and female models. However, there is a statistically significant difference in the damping coefficient with a 0.05 significance level and a p-value of 0.0361. Regarding variances, the statistical measures do not indicate any significant differences between each sex. However, the p-value of 0.0669 for the stiffness parameter suggests that the stiffness parameters of the aforementioned groups may come from different distributions.

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Fractional Calculus in Human Arm Modeling

Cited by 3 publications

References 18 publications

Fractional-order kinematic analysis of biomechanical inspired manipulators

Fractional-order kinematic analysis of biomechanical inspired manipulators

Parameter Training Methods for Convolutional Neural Networks With Adaptive Adjustment Method Based on Borges Difference

The Influence of Sex Factor on the Modeling of the Human Hand/Arm Interacting With a Teleoperation System

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