Mehanika lokomotornog sistema čoveka

Abstract

(Bio)mehanički modeli ljudskog tela su važna oruđa u razumevanju osnovnih principa čovekovog pokreta i koordinacije, pri čemu,istovremeno modeli imaju široku primenu za industrijske, naučne i medicinske svrhe. U ovom radu su predstavljeni i razmatrani (bio)mehanički modeli ljudske ruke (7 SS), gornjeg dela tela i desne ruke (15 SS) i noge (2 SS).Takođe je prikazan jedan (bio)mehanički model celog ljudskog tela.Na kraju je sprovedena simulacija ravanskog mehaničkog modela ruke (5SS) u zadatku pisanja u MATLAB okruženju.

(Bio)mechanical models of human body are important tools in understanding the functional principles of human movement and coordination as well as they have widespread applications for the industrial, scientific and medical purposes. In this paper (bio)mechanical models of the upper human limb (arm, forearm and hand, 7 degree-of- freedoms ( DOFs)), upper torso and right arm (15 DOFs) and of the leg with (2DOFs) are presented, where model of upper human limb is discussed in detail. Also, multi-chain (bio)mechanical model of a human body anthropomorphic locomotion configuration, is introduced. At last, simulations in MATLAB environment are performed and the results of kinematical and dynamical model of an anthropomorphic arm (5 DOFs) in the task of writing are presented.