Joint Coupling for Human Shoulder Complex

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

doi:10.1007/978-3-642-02809-0_9

Joint Coupling for Human Shoulder Complex

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

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

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 language	English
Title of host publication	Digital Human Modeling - Second International Conference, ICDHM 2009 - Held as Part of HCI International 2009, Proceedings
Pages	72-81
Number of pages	10
DOIs	https://doi.org/10.1007/978-3-642-02809-0_9
State	Published - 2009
Event	2nd International Conference on Digital Human Modeling, ICDHM 2009. Held as Part of HCI International 2009 - San Diego, CA, United States Duration: Jul 19 2009 → Jul 24 2009

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	5620 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	2nd International Conference on Digital Human Modeling, ICDHM 2009. Held as Part of HCI International 2009
Country	United States
City	San Diego, CA
Period	07/19/09 → 07/24/09

Keywords

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

Access to Document

10.1007/978-3-642-02809-0_9

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Yang, J., Feng, X., Kim, J. H., Xiang, Y., & Rajulu, S. (2009). Joint Coupling for Human Shoulder Complex. In Digital Human Modeling - Second International Conference, ICDHM 2009 - Held as Part of HCI International 2009, Proceedings (pp. 72-81). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5620 LNCS). https://doi.org/10.1007/978-3-642-02809-0_9

Yang, Jingzhou ; Feng, Xuemei ; Kim, Joo H. ; Xiang, Yujiang ; Rajulu, Sudhakar. / Joint Coupling for Human Shoulder Complex. Digital Human Modeling - Second International Conference, ICDHM 2009 - Held as Part of HCI International 2009, Proceedings. 2009. pp. 72-81 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Joint Coupling for Human Shoulder Complex",

abstract = "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.",

keywords = "DH method, Euler angles, Human shoulder, Joint limit coupling, Joint motion coupling, Shoulder rhythm",

author = "Jingzhou Yang and Xuemei Feng and Kim, {Joo H.} and Yujiang Xiang and Sudhakar Rajulu",

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Yang, J, Feng, X, Kim, JH, Xiang, Y & Rajulu, S 2009, Joint Coupling for Human Shoulder Complex. in Digital Human Modeling - Second International Conference, ICDHM 2009 - Held as Part of HCI International 2009, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 5620 LNCS, pp. 72-81, 2nd International Conference on Digital Human Modeling, ICDHM 2009. Held as Part of HCI International 2009, San Diego, CA, United States, 07/19/09. https://doi.org/10.1007/978-3-642-02809-0_9

Joint Coupling for Human Shoulder Complex. / Yang, Jingzhou; Feng, Xuemei; Kim, Joo H.; Xiang, Yujiang; Rajulu, Sudhakar.

Digital Human Modeling - Second International Conference, ICDHM 2009 - Held as Part of HCI International 2009, Proceedings. 2009. p. 72-81 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5620 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - 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.

AB - 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.

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Yang J, Feng X, Kim JH, Xiang Y, Rajulu S. Joint Coupling for Human Shoulder Complex. In Digital Human Modeling - Second International Conference, ICDHM 2009 - Held as Part of HCI International 2009, Proceedings. 2009. p. 72-81. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-642-02809-0_9