Aeberhard, M.Michellod, Y.Mullhaupt, Ph.Terrier, AlexandrePioletti, Dominique P.Gillet, D.2008-09-152008-09-15200910.1109/ROBIO.2009.4912981https://infoscience.epfl.ch/handle/20.500.14299/27905WOS:000271966900012A 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.OveractuationShoulderDynamical modeltext::conference output::conference proceedings::conference paper