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

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.


Published in:
Proceedings of 2008 IEEE International Conference on Robotics and Biomimetics
Presented at:
2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, December 14-17, 2008
Year:
2008
Keywords:
Note:
Prj_Shoulder
Laboratories:


Note: The status of this file is: EPFL only


 Record created 2008-09-15, last modified 2018-11-26

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