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Archive of Mechanical Engineering

The Journal of Committee on Machine Building of Polish Academy of Sciences

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Dual Quaternions as a Tool for Rigid Body Motion Analysis: A Tutorial with an Application to Biomechanics

Ettore Pennestrì
  • Dipartimento di Ingegneria Meccanica, Università Roma Tor Vergata via del Politecnico, 1, 00133 Roma, Italy
/ Pier Valentini
  • Dipartimento di Ingegneria Meccanica, Università Roma Tor Vergata via del Politecnico, 1, 00133 Roma, Italy
Published Online: 2010-10-18 | DOI: https://doi.org/10.2478/v10180-010-0010-2

Dual Quaternions as a Tool for Rigid Body Motion Analysis: A Tutorial with an Application to Biomechanics

Dual quaternions and dual quaternion interpolation are powerful mathematical tools for the spatial analysis of rigid body motions. In this paper, after a review of some basic results and formulas, it will be presented an attempt to use these tools for the the kinematic modeling of human joints. In particular, the kinematic parameters extracted from experimentally acquired data are compared with those theoretically computed from dual quaternions rigid body motion interpolation.

Kwaterniony dualne jako narzędzie analizy ruchu ciał sztywnych. Przykład zastosowań w biomechanice

Kwaterniony dualne i interpolacja z użyciem kwaternionów dualnych stanowią silne narzędzia matematycznye wykorzystywane analizy ruchu przestrzennego ciał sztywnych. W artykule przedstawiono przegląd podstawowych wzorów i wyników, a następnie zaprezentowano próbę użycia tych narzędzi do modelowania kinematyki stawów w ciele człowieka. W szczególności, parametry kinematyczne wyznaczone na podstawie danych eksperymentalnych porównano z wyliczonymi teoretycznie na podstawie interpolacji ruchu ciał sztywnych z użyciem kwaternionów dualnych.

Keywords: biomechanics; dual quaternion interpolation; human motion

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Published Online: 2010-10-18

Published in Print: 2010-01-01

Citation Information: Archive of Mechanical Engineering. Volume 57, Issue 2, Pages 187–205, ISSN (Print) 0004-0738, DOI: https://doi.org/10.2478/v10180-010-0010-2, October 2010

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