Romansy 14 pp 11-20 | Cite as

Contributions to the Modelling of Human Joints

  • Comel Brisan
  • Manfred Hiller
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


Anthropomorphic mechanisms can model the human superior limb structurally and functionally. The structure of these mechanisms results from serial or parallel connection of mechanisms which model the human joints. We present in this paper a method for structural synthesis of those mechanisms. With this method both components of a joint (elastic and rigid) are considered. Also, the geometrical model for a variant with 3 d.o.f is presented.


Parallel Mechanism Kinematic Chain Biped Robot Prismatic Joint Joint Mechanism 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Comel Brisan
    • 1
  • Manfred Hiller
    • 2
  1. 1.Department of MechatronicsTechnical University of Cluj-NapocaRomania
  2. 2.Department of MechatronicGerhard Mercator University DuisburgGermany

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