Fractional Calculus in Human Arm Modeling

  • Tomasz Grzejszczak
  • Piotr Jurgaś
  • Adrian Łȩgowski
  • Michał NiezabitowskiEmail author
  • Justyna Orwat
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11432)


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.


Human limb 2-DOF model Fractional calculus 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Tomasz Grzejszczak
    • 1
  • Piotr Jurgaś
    • 1
  • Adrian Łȩgowski
    • 1
  • Michał Niezabitowski
    • 1
    • 2
    Email author
  • Justyna Orwat
    • 3
    • 4
  1. 1.Faculty of Automatic Control, Electronics and Computer ScienceSilesian University of TechnologyGliwicePoland
  2. 2.Faculty of Mathematics, Physics and Chemistry, Institute of MathematicsUniversity of SilesiaKatowicePoland
  3. 3.Faculty of Mining and GeologySilesian University of TechnologyGliwicePoland
  4. 4.Faculty of Civil EngineeringSilesian University of TechnologyGliwicePoland

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