Abstract
A circumduction of the distal ulna as a complex movement has been observed at the distal radio-ulnar joint during forearm rotation and it has been reported that a stationary ulna makes postures of the hand to be transposed or tilted in the pro-supination. In this paper, a new forearm model reflecting the ulnar circumduction is proposed by changing the joint types of a spatial linkage mechanism. For this purpose, a conventional forearm model with <i>R-R-U-S</i> joint types (established by Whiteley in 2000) which generates the horizontal movement of the distal ulna is firstly analyzed to figure out a kinematic feature for its joint motions. And then this model is reconstructed as an equivalent model with <i>R-R-U-U</i> joints. At the same time, its joint types are realigned as <i>U-R-U-R</i> joints to realize the ulnar circumduction. Finally, a structural design based on the proposed forearm model with the <i>U-R-U-R</i> joints is presented, and its overall movements are described.
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