Virtual Reality For Real Planer Motion of Human Arm

Abstract

The use of Virtual Reality (VR) for medical or medical related field's education can improve the traditional learning methods by the addition of realistic visualization and/or manipulation of body structures. This paper presents a design VR human arm model with real planer motion based on analytical solution of inverse kinematics problem (IKP) and forward kinematics. The planer motion implemented by chooses the random end-effector within the envelope of human arm under consideration the real constrains for movements. The solving of IKP used to calculate the angles of the human arm joints ( the shoulder, the elbow and the wrist) to arrive this end-effector by using the analytical solution. The values of joints angle are using with the forward kinematics model with real constrains of human arm motion to reach the end-effector to target point. The VR human arm model construct by using the skeleton form and muscles with skin of human arm to implement the real planer movements. This process is achieved by connection the Virtual Reality Modeling Language (VRML) with Matlab/Simulink Ver.2010b. Satisfied results are obtained, that explains the ability of the model to implement the real planer human arm motion by this procedure of simulation with high accuracy.