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Abstract
Due to the complex coupling motion of shoulder mechanism, only a small amount of quantitative information is available in the existing literature, although various kinematic models of the shoulder complex have been proposed. This study focused on the specific motion coupling relationship between glenohumeral (GH) joint center displacement variable quantity relative to the thorax coordinate system and humeral elevation angle to describe the shoulder complex. The mechanism model of shoulder complex was proposed with an algorithm designed. Subsequently, twelve healthy subjects performed right arm raising, lowering, as well as raising and lowering (RAL) movements in sixteen elevation planes, and the motion information of the markers attached to the thorax, scapula, and humerus was captured by using Vicon motion capturing system. Then, experimental data was processed and the generalized GH joint with floating center was quantized. Simultaneously, different coupling characteristics were detected during humerus raising as well as lowering movements. The motion coupling relationships in different phases were acquired, and a modified kinematic model was established, with the description of overall motion characteristics of shoulder complex validated by comparing the results with a prior kinematic model from literature, showing enough accuracy for the design of upper limb rehabilitation robots.
Highlights
Modeling shoulder motion is fundamental for understanding the dynamic behavior of upper limb, and the compatibility of the upper limb rehabilitation robot with the user is an urgent problem requiring resolution
The elevation angles in the raising phase and lowering phase of humerus elevation are from 0◦ to and from 150◦ to 0◦, respectively, while the elevation angle in the raising and lowering (RAL) phase is from 0◦ to 150◦
The motion coupling relationships between the GH joint center displacement variable quantity relative to the thorax coordinate system and the humeral elevation angle in the raising phase, lowering phase, and RAL phase were investigated using markers captured by the Vicon motion system
Summary
Modeling shoulder motion is fundamental for understanding the dynamic behavior of upper limb, and the compatibility of the upper limb rehabilitation robot with the user is an urgent problem requiring resolution. If the kinematic model of the shoulder complex is not accurate, the designed upper limb rehabilitation robot will be incompatible with the upper limb of the users, and the connective interface of the exoskeleton will generate undesired interactional loads that are exceedingly detrimental to rehabilitation therapy. Accurate kinematic model of shoulder complex is very important to design the upper limb rehabilitation robot and it has practical significance to ensure the rehabilitation training effect of the affected limbs [1,2,3,4]. The model of the shoulder girdle motion is far from simple, and its kinematic characteristics are crucial for remodeling the shoulder complex [5]
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