Modelling and measurement of human walking
Başlık çevirisi mevcut değil.
- Tez No: 799063
- Danışmanlar: DR. PETER TAMAS SZEMES
- Tez Türü: Yüksek Lisans
- Konular: Mekatronik Mühendisliği, Mechatronics Engineering
- Anahtar Kelimeler: Belirtilmemiş.
- Yıl: 2019
- Dil: İngilizce
- Üniversite: Debreceni Egyetem
- Enstitü: Yurtdışı Enstitü
- Ana Bilim Dalı: Belirtilmemiş.
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: 72
Özet
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Özet (Çeviri)
Modelling, Simulation and control are some of the most crucial aspects in engineering for the 21st century as systems become extremely complex. The need for improved modelling tools and methods are therefore important to meet these demands. Human motions (walking, running, cycling, etc.) are important part of daily life movements. The modelling and simulation of human leg is important for the expression of human motions, analysis of all kind of athlete's progress and the predevelopment of complex mechatronic systems such as rehabilitation and exoskeleton robots. System control theory is a constantly evolving discipline due to extended literatures on functionalities of available modelling methods and tools. In robotics systems, where the dynamics are highly coupled, and degree of nonlinearity increase as degree of freedom increases. Finding a method to solve lower limb dynamics without constraints is paramount. The objective of this thesis using mix of modelling tools and methods. In this thesis, the modelling, simulation and video analysis of human lower limb's motion was carried out. Denavit-Hartenberg parameters, kinematic equations have been derived, the simulation was done using Euler-Lagrange's principle for the robot's dynamic simulation and a combination of Denavit-Hartenberg forward kinematics approach. The simulation was implemented in LabVIEW. Video analysis program has been developed in order to capture human leg's motion such as during walking and cycling. As the reference point, the knee and ankle joints were specified. For the video analysis, LabVIEW interface Vision Development Module Toolbox has been used due to its availability
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