A full body mathematical model of an oil palm harvester

The main purpose of this article is to develop a mathematical model of human body during harvesting via Kane’s method. This paper is an extension model of previous biomechanical model representing a harvester movement during harvesting a Fresh Fruit Bunch (FFB) from a palm oil tree. The ten segment model consists of foot, leg, trunk, the head and the arms segment. Finally, the inverse dynamic equations are represented in a matrix form.