Estimating Shoulder-Complex Mobility

Estimating Shoulder-Complex Mobility

Modeling shoulder motions is essential in understanding upper-limb dynamic behavior. However, the mobility of the shoulder complex—in terms of degrees of freedom (DOFs)—is seldom quantified. In this paper we propose applying the theory of mechanisms and, especially, the powerful Grübler–Kutzbach for...

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Main Author: Bertrand Tondu
Format: Article
Language:English
Published: Hindawi Limited 2007-01-01
Series:Applied Bionics and Biomechanics
Online Access:http://dx.doi.org/10.1080/11762320701403922
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spelling doaj-f29fc06bd9824c8fa0c05a8028e6e36f2021-07-02T03:09:10ZengHindawi LimitedApplied Bionics and Biomechanics1176-23221754-21032007-01-0141192910.1080/11762320701403922Estimating Shoulder-Complex MobilityBertrand Tondu0LESIA, Département de Génie Electrique, Institut National de Sciences Appliquées, Campus Universitaire de Rangueil, 31077 Toulouse, FranceModeling shoulder motions is essential in understanding upper-limb dynamic behavior. However, the mobility of the shoulder complex—in terms of degrees of freedom (DOFs)—is seldom quantified. In this paper we propose applying the theory of mechanisms and, especially, the powerful Grübler–Kutzbach formula to estimate it. This approach requires a rigorous kinematic analysis. So we suggest basing it on a bone schematisation derived from an extension of Dempster’s historical notation associated to mechanical interpretation of the physiological joints involved. In so doing, the proposed shoulder complex mobility leads to justifying a nine-DOF serial-chain upper-limb mode, which extends the classical seven-DOF arm–foream–wrist model and completing it by adding a clavicle-like link with a two-DOF mobility.http://dx.doi.org/10.1080/11762320701403922
collection DOAJ
language English
format Article
sources DOAJ
author Bertrand Tondu
spellingShingle Bertrand Tondu
Estimating Shoulder-Complex Mobility
Applied Bionics and Biomechanics
author_facet Bertrand Tondu
author_sort Bertrand Tondu
title Estimating Shoulder-Complex Mobility
title_short Estimating Shoulder-Complex Mobility
title_full Estimating Shoulder-Complex Mobility
title_fullStr Estimating Shoulder-Complex Mobility
title_full_unstemmed Estimating Shoulder-Complex Mobility
title_sort estimating shoulder-complex mobility
publisher Hindawi Limited
series Applied Bionics and Biomechanics
issn 1176-2322
1754-2103
publishDate 2007-01-01
description Modeling shoulder motions is essential in understanding upper-limb dynamic behavior. However, the mobility of the shoulder complex—in terms of degrees of freedom (DOFs)—is seldom quantified. In this paper we propose applying the theory of mechanisms and, especially, the powerful Grübler–Kutzbach formula to estimate it. This approach requires a rigorous kinematic analysis. So we suggest basing it on a bone schematisation derived from an extension of Dempster’s historical notation associated to mechanical interpretation of the physiological joints involved. In so doing, the proposed shoulder complex mobility leads to justifying a nine-DOF serial-chain upper-limb mode, which extends the classical seven-DOF arm–foream–wrist model and completing it by adding a clavicle-like link with a two-DOF mobility.
url http://dx.doi.org/10.1080/11762320701403922
work_keys_str_mv AT bertrandtondu estimatingshouldercomplexmobility
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