Determining the three-dimensional relation between the skeletal elements of the human shoulder complex

Jingzhou (James) Yang, Xuemei Feng, Yujiang Xiang, Joo Hyun Kim, Sudhakar Rajulu

Research output: Contribution to journalArticle

Abstract

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.

Original languageEnglish (US)
Pages (from-to)1762-1767
Number of pages6
JournalJournal of Biomechanics
Volume42
Issue number11
DOIs
StatePublished - Aug 7 2009

Fingerprint

End effectors
Posture
Inverse kinematics
Joints
Biomechanical Phenomena
Scapula
Clavicle
Shoulder Joint
Humerus
Polynomials

Keywords

  • DH method
  • Euler angles
  • Joint motion coupling
  • Shoulder rhythm

ASJC Scopus subject areas

  • Orthopedics and Sports Medicine
  • Rehabilitation
  • Biophysics
  • Biomedical Engineering

Cite this

Determining the three-dimensional relation between the skeletal elements of the human shoulder complex. / Yang, Jingzhou (James); Feng, Xuemei; Xiang, Yujiang; Kim, Joo Hyun; Rajulu, Sudhakar.

In: Journal of Biomechanics, Vol. 42, No. 11, 07.08.2009, p. 1762-1767.

Research output: Contribution to journalArticle

Yang, Jingzhou (James) ; Feng, Xuemei ; Xiang, Yujiang ; Kim, Joo Hyun ; Rajulu, Sudhakar. / Determining the three-dimensional relation between the skeletal elements of the human shoulder complex. In: Journal of Biomechanics. 2009 ; Vol. 42, No. 11. pp. 1762-1767.
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