Joint Coupling for Human Shoulder Complex

Jingzhou Yang, Xuemei Feng, Joo H. Kim, Yujiang Xiang, Sudhakar Rajulu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations


In this paper, we present an inverse kinamtics method to determining human shoulder joint motion coupling relationship based on experimental data in the literature. The joint coupling relationship is available in the literature, but it is an Euler-angle-based relationship. 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. Euler angles are obtained for static positions with intervals of 15 degrees, and the elevation angle of the arm varied between 0 and 120 degrees. 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 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.

Original languageEnglish
Title of host publicationDigital Human Modeling - Second International Conference, ICDHM 2009 - Held as Part of HCI International 2009, Proceedings
Number of pages10
StatePublished - 2009
Event2nd International Conference on Digital Human Modeling, ICDHM 2009. Held as Part of HCI International 2009 - San Diego, CA, United States
Duration: Jul 19 2009Jul 24 2009

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5620 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference2nd International Conference on Digital Human Modeling, ICDHM 2009. Held as Part of HCI International 2009
Country/TerritoryUnited States
CitySan Diego, CA


  • DH method
  • Euler angles
  • Human shoulder
  • Joint limit coupling
  • Joint motion coupling
  • Shoulder rhythm


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