A minimal set of coordinates for describing humanoid shoulder motion | IEEE Conference Publication | IEEE Xplore

A minimal set of coordinates for describing humanoid shoulder motion


Abstract:

The kinematics of the anatomical shoulder are analysed and modelled as a parallel mechanism similar to a Stewart platform. A new method is proposed to describe the should...Show More

Abstract:

The kinematics of the anatomical shoulder are analysed and modelled as a parallel mechanism similar to a Stewart platform. A new method is proposed to describe the shoulder kinematics with minimal coordinates and solve the indeterminacy. The minimal coordinates are defined from bony landmarks and the scapulothoracic kinematic constraints. Independent from one another, they uniquely characterise the shoulder motion. A humanoid mechanism is then proposed with identical kinematic properties. It is then shown how minimal coordinates can be obtained for this mechanism and how the coordinates simplify both the motion-planning task and trajectory-tracking control. Lastly, the coordinates are also shown to have an application in the field of biomechanics where they can be used to model the scapulohumeral rhythm.
Date of Conference: 03-07 November 2013
Date Added to IEEE Xplore: 02 January 2014
ISBN Information:

ISSN Information:

Conference Location: Tokyo, Japan

References

References is not available for this document.