Fractional Calculus in Human Arm Modeling

Abstract

Human limbs from kinematic point of view can be considered as simple robots’ manipulators. The first part is dedicated to kinematics of human arm modeled as three-link planar manipulation system. For dynamics we propose simple 2-DOF nonlinear model with use of fractional calculus. According to the latest research fractional systems have “natural” damping. This means that even simple model may be able to show some additional properties of the object. Moreover, in presented paper we study the impact of approximation method on solving the inverse kinematics for 3-DOF human limb as well as some parameters of compared methods. This part of research may have some value from visualization point of view. Solving the Inverse Kinematics is the first step in getting full information about the system. The second part of research may be of use in simplifying models. Creating ideologically simple model may let us understand the nature of the world.