TY - JOUR
T1 - Determining the three-dimensional relation between the skeletal elements of the human shoulder complex
AU - Yang, Jingzhou (James)
AU - Feng, Xuemei
AU - Xiang, Yujiang
AU - Kim, Joo H.
AU - Rajulu, Sudhakar
N1 - Funding Information:
This research work was partly supported by the startup fund from Texas Tech University, a grant from Caterpillar Inc., and USCAR (GM, Ford, and Chrysler) project.
PY - 2009/8/7
Y1 - 2009/8/7
N2 - In this paper, we present an inverse kinematics method to determining human shoulder joint motion coupling relationship based on experimental data in the literature. This work focuses on transferring Euler-angle-based coupling equations into a relationship based on the Denavit-Hartenberg (DH) method. We use analytical inverse kinematics to achieve the transferring. For a specific posture, we can choose points on clavicle, scapula, and humerus and represent the end-effector positions based on Euler angles or DH method. For both Euler and DH systems, the end-effectors have the same Cartesian positions. Solving these equations related to end-effector positions yields DH joint angles for that posture. The new joint motion coupling relationship is obtained by polynomial and cosine fitting of the DH joint angles for all different postures.
AB - In this paper, we present an inverse kinematics method to determining human shoulder joint motion coupling relationship based on experimental data in the literature. This work focuses on transferring Euler-angle-based coupling equations into a relationship based on the Denavit-Hartenberg (DH) method. We use analytical inverse kinematics to achieve the transferring. For a specific posture, we can choose points on clavicle, scapula, and humerus and represent the end-effector positions based on Euler angles or DH method. For both Euler and DH systems, the end-effectors have the same Cartesian positions. Solving these equations related to end-effector positions yields DH joint angles for that posture. The new joint motion coupling relationship is obtained by polynomial and cosine fitting of the DH joint angles for all different postures.
KW - DH method
KW - Euler angles
KW - Joint motion coupling
KW - Shoulder rhythm
UR - http://www.scopus.com/inward/record.url?scp=67651175854&partnerID=8YFLogxK
U2 - 10.1016/j.jbiomech.2009.04.048
DO - 10.1016/j.jbiomech.2009.04.048
M3 - Article
C2 - 19505689
AN - SCOPUS:67651175854
SN - 0021-9290
VL - 42
SP - 1762
EP - 1767
JO - Journal of Biomechanics
JF - Journal of Biomechanics
IS - 11
ER -