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Conference paper

Dynamical biomechanical model of the shoulder: null space based optimization of the overactuated system

Aeberhard, M.; Michellod, Y.; Mullhaupt, Ph.; Terrier, Alexandre; Pioletti, Dominique P.; Gillet, D.
  • Presented at: 2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, December 14-17, 2008
  • Accepted in: Proceedings of 2008 IEEE International Conference on Robotics and Biomimetics
  • : , 2008

A new dynamical model of the shoulder has been developed. It consists of eleven muscles. The glenohumeral joint, modeled as a spherical joint, allows three rotations and blocks the translations. Muscle wrapping around a spherical humeral head is calculated analytically. The problem of indeterminated muscle forces has been solved in two steps: first an intermediate solution is calculated using the pseudo-inverse of the moment-arms matrix which provides the mapping between the muscle forces (actuators) and the generalized forces (system). In a second step the intermediate solution is modified using the column vectors of the moment-arms matrix's null space in order to verify the constraints on the muscle forces.

Note: Prj_Shoulder

Keywords: Overactuation ; Shoulder ; Dynamical model

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Record created on 2008-09-15, modified on 2012-03-21

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