On mathematical modelling of the human arm using switched linear system

The article presents a novel approach to modelling human arm using switched linear systems. The linear and nonlinear second-order differential equations are shown for two-link arm moving in the horizontal and vertical planes. Linear equations in the state space have been formulated for these two objects. The next step is to present a switched linear system. Switching function is modeled as dependent on the state of the system. Finally, we are shown the division of the state space and linear equations describing the switched system for the vertical and horizontal two-link human arm.

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