A Minimal Set of Coordinates for Describing Humanoid Shoulder Motion

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.


Editor(s):
Amato, N
Published in:
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5537-5544
Presented at:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year:
2013
Publisher:
New York, Ieee
ISBN:
978-1-4673-6358-7
Keywords:
Laboratories:




 Record created 2014-06-02, last modified 2018-01-28


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