Lagrangian analysis of total mechanical energy of human arm as an inverted triple pendulum robot in motion

In this study, the Kinematics and dynamics of human arm locomotion are modelled and analyzed analytically, as an inverted pendulum robot in motion, using Lagrangian. The movement of the arms, aids its locomotion to a large extent. The three angles the three segments make with the vertical are considered. The Euler-Lagrange model was used in obtaining the equation of Motion of the movement of the arm segments. The resulted second order differential equation was solved analytically. Simulation results are presented. The angular displacement values of the three segments are directly proportional to their respective angular acceleration. However, the novelty of this work is in the full analytical approach adopted in solving the multiple-inverted pendulum system and its modelling as a robot.