Gender dependence of the mass characteristics of the human upper limb manipulator

G. Nikolova, A. Kazakoff, D. Dantchev

Abstract: One usually believes that during the evolution the motion of healthy people has been with the time optimised, so that it is now optimal with respect to positioning accuracy, movement response, and energy expenditure. Due to a plethora of different reasons - trauma, neurological diseases, etc., there are, however, an essential set of people for which this motion control or even the ability of a given standard for a healthy person motion is complicated, or even not possible. Such people can be helped with given supporting their movement devices. In this paper, a new approach for determination of the human upper limb mass-inertial characteristics for females is presented, by using the 3D geometrical mathematical modeling analysis approach. The results obtained are compared with the corresponding parameters for males, which has been recently obtained in our previous study. Two examples of the basic spatial positions of the manipulator are given to illustrate the main features and advantages of the proposed design concepts for females. The objective of the work presented in this paper is a determination of the mass properties of a two joints human upper limb manipulator for females and a comparison with data achieved for males.


Series on Biomechanics, Vol.31, No.3 (2017), 48-53

Keywords: human upper limb manipulator; Mass moments of inertia; system mass center coordinates

Date published: 2017-12-12