Abstract
In this paper the fractional model of the human arm is presented. Proposed approach is an attempt to consider the muscle damping properties in the simplest form possible. As the base for our simulations the equation of motion based on Lagrange formalism was used. In order to obtain fractional properties we propose using fractional-order derivatives instead of integer-ones. This simplification creates opportunity for an easy implementation and comparison with commonly used models. The core of the presented method is solving this nonlinear equation. The preliminary results was shown. The simplest model possible was analyzed. We considered only two DOF (degrees of freedom) planar model without joint limitations and properly distributed masses. This experiment is to show the damping properties of the fractional model.
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Acknowledgements
The research presented here was done as a part of the project funded by the National Science Centre in Poland granted according to decision DEC-2014/13/B/ST7/00755 (A.Ł.) and the Silesian University of Technology research grants BK-204/RAu1/2017 (A.B.). The calculations were performed with the use of IT infrastructure of GeCONiI Upper Silesian Centre for Computational Science and Engineering (NCBiR grant no POIG.02.03.01-24-099/13).
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Babiarz, A., Łęgowski, A. (2017). Human arm fractional dynamics. In: Mitkowski, W., Kacprzyk, J., Oprzędkiewicz, K., Skruch, P. (eds) Trends in Advanced Intelligent Control, Optimization and Automation. KKA 2017. Advances in Intelligent Systems and Computing, vol 577. Springer, Cham. https://doi.org/10.1007/978-3-319-60699-6_42
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DOI: https://doi.org/10.1007/978-3-319-60699-6_42
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