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

By Ettore Pennestrì, Pier Paolo Valentini. 2010

64 citations recorded by the source corpus.

Dual quaternions and dual quaternion interpolation are pow erful mathematical tools for the spatial analysis of rigid body motions. In thispaper, after a review of some basic results and formulas, it will be presented an attempt to use t hese tools for the the kinematic modeling of human joints. In particular, the kinematic para meters extracted from experimen- tally acquired data are compared with those theoretically c from dual quaternions rigid body motion interpolation.

Subfields: Biomedical Engineering, Control and Systems Engineering, Surgery

View Paper: https://www.semanticscholar.org/paper/ff0f90781fa2236c2151eaa635376b0ac4bc7440