Grey Box Modeling and dynamic of Human Forearm

Introduction
The study of dynamics of human arm has been developed by many researchers. Within
the available research, most of them use robot arm as a system that resembles the actual
system of human arm. This can be done by assuming that for both robot and human arm,
mechanical objectives of movement and manipulation are identical and by applying the
same law of physics. However, this system cannot be used to represent the real human
arm system as its model involves many constraints that cannot be applied to human
model.
Many of analyses are carried out for different activities of human arm. Most of the
current research uses a two link mechanical structure with parameters in the horizontal
motion. This can simplify the analysis since the gravity in their models can be neglected.
T.Kodek et.al(2005) studied shoulder, elbow and wrist dynamics and static torque in the
elbow flexion-extension movement. Uno et.al (1989) study the trajectory planning and
control in voluntary human arm movement. They proposed a mathematical model by
taking account for formation of arm trajectory on the basis of optimization theory. They
computed the optimal trajectory of human arm by what they called minimum torquechange model. However, it is still difficult to define the cost function and objectives of
the model.
In many physical systems include human movement system, there are some parameters
which could not be measured directly. These parameters have to be estimated by using
measurement data. Some measurement devices from the conventional one which using
electromyography (EMG), video-based and sensors. However, the measurement data can
be corrupted by noise either from the environment or the device itself.
Modeling
Essentially, there are two ways of obtaining mathematical model namely physical model
and system identification. Physical model is analytic approach, where basic laws from
physics are used to describe the dynamic behaviour of the system, hence this technique
requires physical data of the system. System identification, on the other hand, does not

require any physical data. System identification is a way of building mathematical

models based on operational data of the system.
Grey Box is the common method used in System Identification if the physics of the
system are known and can be represented using ordinary differential or difference
equations (ODEs) with unknown parameters, either it is linear or nonlinear model. Greybox model ODEs specify the mathematical structure of the model explicitly, including
couplings between parameters and known parameter values. Grey-box modeling is useful
when the relationships between variables, constraints on model behavior, or explicit
equations representing system dynamics are known.
The concept of Grey Box modelling has not been applied much in the study of human
arm movement. Burdet et.al employed this concept to examine the concept of stability in
human arm movement. Firstly, they derived a computational model of human arm
movements which interact with the environment by using a joint space model. They
computed the joint torque produced by muscles according to an inverse dynamic model
of the planned movements and considers motor output variability and torque dependent
impedance. They, then, compared the computational model with the available data on
human arm movement from previous research.
In our system, human forearm is modeled based on the concept of spherical pendulum
with two degree of freedom. The result geometry model is then determined as model
structure of the system with unknown parameter.

Physical Model
The part of human arm which will be considered in my research is only forearm with the
elbow link. To simplify the study, I use the concept spherical pendulum with two degree
of freedom to represent human forearm with elbow as single joint. Wrist is fixed and
considered as an integral part of forearm. For the mathematical modelling, all the links
are considered rigid and friction is neglected at joints.
For the present work Lagrangian-Euler Formulation is used in this work, which is given
by :

d L
L

i ..(1)

dt q i
q i

Where Lagrange function is defined as :

L T V

(2)

T : Total Kinetic energy

V : Total Potential energy
q i are the generalized coordinates which in my model are the position of the arm

denoted as ( , ) . The length of arm is denoted by L. Arm masses and inertia are
denoted by m and I. Centre of gravity location COM are taken from the proximal end of
joints.
The equation of motion :
mL2 sin2 J1
0

2
0
mL J 2

&
&

c
mL2&sin2

&

c
& mL &cos

&
0

& mgL sin 0

Detail :
Physical model of spherical pendulum
Length of arm = 2l
Angle in x-y plane =
Angle to z-axis =
Generalized coordinates q= (,)
l sin cos
r ( , ) l sin sin
l cos

To derive Lagrangian, we must first determine kinetic and potential energy of pendulum :
T = kinetic energy
V= potential energy
First derivative of r :
x& &cos cos &sin sin
y& &sin cos &cos sin
z& &sin

 l &cos cos l &sin sin

r& l &sin cos l &cos sin

l &sin

The total kinetic energy of the system becomes :

T 12 r&T m r& 12 J1 &2 12 J 2 &2
The first term :
T
1 r&
m r 12 m l 2 ( x&2 y&2 z&2 )
2
12 m l 2 ((&cos cos &sin sin )2 (&sin cos &cos sin )2 ( &sin )2 )
&&sin cos sin cos
12 m l 2 ( &2 cos2 cos2 &2 sin2 sin2 2
&&sin cos sin cos
&2 sin2 cos2 &2 cos2 sin2 2
&2 sin2 )
12 m l 2 (&2 cos2 (sin2 cos2 ) &2 sin2 (sin2 cos2 ) &2 sin2 )
12 m l 2 (&2 cos2 &2 sin2 &2 sin2 )
12 m l 2 (&2 &2 sin2 )
Then the total kinetic energy :
T 12 ml 2 (&2 &2 sin2 ) 12 J1 &2 12 J 2 &2
The potential energy :
V m g l cos
To bring the viscous damping into account, now the virtual work will be implemented.
Take the work from the virtual displacement :
T
a). Assume q ,0
W (c &) Q
b) Assume q 0,
W (c &) Q

This leads to the non-conservative generalized force :

c &
Q

c
Where : = torque of the system
c = damping coefficient.
Then Lagrangian equation :

L T V
L 12 mL2 (&2 &2 sin2 ) 12 J1 &2 12 J 2 &2 mgL cos
Deriving Lagranges equation of motion :
d L
L
Q
&
dt qi
qi
d L
d
1

( 2 mL2 &2 sin2 12 J1 &2)

&
&
dt
dt

mL2&sin2 J1 &
dt
&sin2 &&
&
mL2 ( &
sin 2 ) J1 &
& mL2 &&
( mL2 sin2 J )&
sin 2

L
0

2
d L
d
1
2 &
2
&
1
2 mL 2 J 2
&

dt
dt
&

mL2 & J 2&

dt
& J &
&
mL2 &
2
&
( mL2 J ) &

mL2 &2 sin2 mgL cos

mL2 &2 cos mgL sin

Then the equation of motion becomes :
& mL2 &&
( mL2 sin2 J1 )&
0
sin 2

0
&

2 &

&
(mL2 J 2 )&
mgL sin
mL cos
c&

mL2 sin2 J1
0

0
mL2 J 2

&
&

c
mL2&sin2

&

c
& mL &cos

&
0

& mgL sin

0

Simulation result :
For = sin 2 f t (f = 2 Hz)
m= 0.1 kg
g = 0.98 m/s2
l=2
J1=J2= 1
10.09
10.08

pendulum position(theta)

10.07
10.06
10.05
10.04
10.03
10.02
10.01
10
0

10
time

12

14

16

18

20

-3

x 10

pendulum position (phi)

-1
-2
-3
-4
-5
-6
-7

10
time

12

14

16

18

20

10
time

12

14

16

18

20

0.15

0.1

thetadot

0.05

-0.05

-0.1

-4

x 10

0
-2

phidot

-4
-6
-8
-10
-12
-14
0

10
time

12

14

16

18

20

(Parameter derived from Nagarsheth et.al .2008. Modeling and Dynamics of Human
Arm, Conference on Automation Science and Engineering)
For = sin 2 f t (f = 2 Hz)
m= 1.131 kg
g = 0.98 m/s2
l = 10.41 cm
J1=J2= 1
1.4

pendulum position(theta)

1.2
1
0.8
0.6
0.4
0.2
0

10
time

12

14

16

18

20

2
1.5

pendulum position (phi)

1
0.5
0
-0.5
-1
-1.5
-2

10
time

12

14

16

18

20

10
time

12

14

16

18

20

0.14
0.12
0.1

velocity I (thetadot)

0.08
0.06
0.04
0.02
0
-0.02
-0.04
-0.06

0.5
0.4
0.3

velocity II (phidot)

0.2
0.1
0
-0.1
-0.2
-0.3
-0.4
-0.5

10
time

12

14

16

18

20

For = sin 2 f t (f = 2 Hz)

m= 1.131 kg
g = 0.98 m/s2
l = 10.41 cm
J1=J2= 1
Initial state :

0 rad
0.785 rad
& & 0
-4

x 10

pendulum position(theta)

-1

-2

-3

-4

10
time

12

14

16

18

20

0.8
0.6

pendulum position (phi)

0.4
0.2
0
-0.2
-0.4
-0.6
-0.8

10
time

12

14

16

18

20

10
time

12

14

16

18

20

-4

x 10

0
-2

velocity I (thetadot)

-4
-6
-8
-10
-12
-14
-16
-18

0.25
0.2
0.15

velocity II (phidot)

0.1
0.05
0
-0.05
-0.1
-0.15
-0.2
-0.25

10
time

12

14

16

18

20