Methods for kinematic modeling of biological and robotic systems

The main objective is to develop methods that automatically generate kinema tic models for the movements of biological and robotic systems. Two methods for the identification of the kinematics are presented. The first method r equires the elimination of the displacement variables that cannot be measur ed while the second method attempts to estimate the changes in these variab les. The methods were tested using a planar two-revolute-joint linkage. Res ults show that the model parameters obtained agree with the actual paramete rs to within 5%. Moreover. the methods were applied to model head and neck movements in the sagittal plane. The results indicate that these movements are well modeled by a two-revolute-joint system. A spatial three-revolute-j oint model was also discussed and tested. (C) 2001 IPEM. Published by Elsev ier Science Ltd. All rights reserved.