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

[+] Author Affiliations
Qingmin Huang, Xin Nie

Hunan University, Changsha, Hunan, China

Ye-Hwa Chen

Georgia Institute of Technology, Atlanta, GA

Paper No. DETC2013-12648, pp. V07AT10A004; 8 pages
  • ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Portland, Oregon, USA, August 4–7, 2013
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5596-6
  • Copyright © 2013 by ASME


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.

Copyright © 2013 by ASME



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