Joint Coupling for Human Shoulder Complex

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publicationDigital Human Modeling - Second International Conference, ICDHM 2009 - Held as Part of HCI International 2009, Proceedings
Pages72-81
Number of pages10
Volume5620 LNCS
DOIs
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)03029743
ISSN (Electronic)16113349

Other

Other2nd International Conference on Digital Human Modeling, ICDHM 2009. Held as Part of HCI International 2009
CountryUnited States
CitySan Diego, CA
Period7/19/097/24/09

Fingerprint

Euler Angles
End effectors
Inverse kinematics
Angle of elevation
Angle
Inverse Kinematics
Polynomials
Inverse Method
Motion
Cartesian
Choose
Human
Relationships
Experimental Data
Interval
Polynomial

Keywords

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

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

Cite this

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 (Vol. 5620 LNCS, 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

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

Digital Human Modeling - Second International Conference, ICDHM 2009 - Held as Part of HCI International 2009, Proceedings. Vol. 5620 LNCS 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 proceedingConference contribution

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. vol. 5620 LNCS, 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, 7/19/09. https://doi.org/10.1007/978-3-642-02809-0_9
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. Vol. 5620 LNCS. 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
Yang, Jingzhou ; Feng, Xuemei ; Kim, Joo Hyun ; 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. Vol. 5620 LNCS 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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