TY - GEN
T1 - Joint Coupling for Human Shoulder Complex
AU - Yang, Jingzhou
AU - Feng, Xuemei
AU - Kim, Joo H.
AU - Xiang, Yujiang
AU - Rajulu, Sudhakar
PY - 2009
Y1 - 2009
N2 - In this paper, we present an inverse kinamtics method to determining human shoulder joint motion coupling relationship based on experimental data in the literature. The joint coupling relationship is available in the literature, but it is an Euler-angle-based relationship. This work focuses on transferring Euler-angle-based coupling equations into a relationship based on the Denavit-Hartenberg (DH) method. We use analytical inverse kinematics to achieve the transferring. Euler angles are obtained for static positions with intervals of 15 degrees, and the elevation angle of the arm varied between 0 and 120 degrees. For a specific posture, we can choose points on clavicle, scapula, and humerus and represent the end-effector positions based on Euler angles or DH method. For both systems, the end-effectors have the same Cartesian positions. Solving these equations related to end-effector positions yields DH joint angles for that posture. The new joint motion coupling relationship is obtained by polynomial and cosine fitting of the DH joint angles for all different postures.
AB - In this paper, we present an inverse kinamtics method to determining human shoulder joint motion coupling relationship based on experimental data in the literature. The joint coupling relationship is available in the literature, but it is an Euler-angle-based relationship. This work focuses on transferring Euler-angle-based coupling equations into a relationship based on the Denavit-Hartenberg (DH) method. We use analytical inverse kinematics to achieve the transferring. Euler angles are obtained for static positions with intervals of 15 degrees, and the elevation angle of the arm varied between 0 and 120 degrees. For a specific posture, we can choose points on clavicle, scapula, and humerus and represent the end-effector positions based on Euler angles or DH method. For both systems, the end-effectors have the same Cartesian positions. Solving these equations related to end-effector positions yields DH joint angles for that posture. The new joint motion coupling relationship is obtained by polynomial and cosine fitting of the DH joint angles for all different postures.
KW - DH method
KW - Euler angles
KW - Human shoulder
KW - Joint limit coupling
KW - Joint motion coupling
KW - Shoulder rhythm
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U2 - 10.1007/978-3-642-02809-0_9
DO - 10.1007/978-3-642-02809-0_9
M3 - Conference contribution
AN - SCOPUS:70350304257
SN - 364202808X
SN - 9783642028083
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 72
EP - 81
BT - Digital Human Modeling - Second International Conference, ICDHM 2009 - Held as Part of HCI International 2009, Proceedings
T2 - 2nd International Conference on Digital Human Modeling, ICDHM 2009. Held as Part of HCI International 2009
Y2 - 19 July 2009 through 24 July 2009
ER -