Akademik Veri Yönetim Sistemi
Congress on Movement and Motor Control, Eskişehir, Türkiye, 21 - 25 Mayıs 2021, ss.52-53
Introduction and Aim : In the researches carried out in the field of biomechanics, it is of great importance to measure the joint movements of living things in real time with low error. It may not be possible to directly measure the movements of many joints due to the limited number of points where motion can be measured on living things. At the same time, it is almost impossible to measure the bond strengths that occur in the joints during movement without harming the living thing. In order to analyze the movements of the living thing from the limited number of measurements obtained in such cases, it is necessary to create an appropriate kinematic model of that living thing.
Method : The human kinematic model realized within the scope of the study is considered as a three-dimensional mechanical system including the kinematic dimensions of the limbs and the centers of mass. The implemented model has 34 degrees of freedom. Denavit-Hartanberg (DH) method, which is frequently used in the kinematic analysis of robotic manipulators, was used in this study to create the kinematic model of the human skeleton.
Findings : The DH method is used in understanding the kinematics, characterizing the joint pair and for kinematic analysis. The model developed within the scope of the study enabled the kinematic relations between the limbs to be expressed in a simple table by using the DH method.
Conclusion :
The developed model has been tested and shown that it can be used successfully in examining human movement