Estimating Shoulder-Complex Mobility
Modeling shoulder motions is essential in understanding upper-limb dynamic behavior. However, the mobility of the shoulder complex—in terms of degrees of freedom (DOFs)—is seldom quantified. In this paper we propose applying the theory of mechanisms and, especially, the powerful Grübler–Kutzbach for...
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| Format: | Article |
| Language: | English |
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Wiley
2007-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1080/11762320701403922 |
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| _version_ | 1832566516014383104 |
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| author | Bertrand Tondu |
| author_facet | Bertrand Tondu |
| author_sort | Bertrand Tondu |
| collection | DOAJ |
| description | Modeling shoulder motions is essential in understanding upper-limb dynamic behavior. However, the mobility of the shoulder complex—in terms of degrees of freedom (DOFs)—is seldom quantified. In this paper we propose applying the theory of mechanisms and, especially, the powerful Grübler–Kutzbach formula to estimate it. This approach requires a rigorous kinematic analysis. So we suggest basing it on a bone schematisation derived from an extension of Dempster’s historical notation associated to mechanical interpretation of the physiological joints involved. In so doing, the proposed shoulder complex mobility leads to justifying a nine-DOF serial-chain upper-limb mode, which extends the classical seven-DOF arm–foream–wrist model and completing it by adding a clavicle-like link with a two-DOF mobility. |
| format | Article |
| id | doaj-art-f29fc06bd9824c8fa0c05a8028e6e36f |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2007-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-f29fc06bd9824c8fa0c05a8028e6e36f2025-02-03T01:04:03ZengWileyApplied Bionics and Biomechanics1176-23221754-21032007-01-0141192910.1080/11762320701403922Estimating Shoulder-Complex MobilityBertrand Tondu0LESIA, Département de Génie Electrique, Institut National de Sciences Appliquées, Campus Universitaire de Rangueil, 31077 Toulouse, FranceModeling shoulder motions is essential in understanding upper-limb dynamic behavior. However, the mobility of the shoulder complex—in terms of degrees of freedom (DOFs)—is seldom quantified. In this paper we propose applying the theory of mechanisms and, especially, the powerful Grübler–Kutzbach formula to estimate it. This approach requires a rigorous kinematic analysis. So we suggest basing it on a bone schematisation derived from an extension of Dempster’s historical notation associated to mechanical interpretation of the physiological joints involved. In so doing, the proposed shoulder complex mobility leads to justifying a nine-DOF serial-chain upper-limb mode, which extends the classical seven-DOF arm–foream–wrist model and completing it by adding a clavicle-like link with a two-DOF mobility.http://dx.doi.org/10.1080/11762320701403922 |
| spellingShingle | Bertrand Tondu Estimating Shoulder-Complex Mobility Applied Bionics and Biomechanics |
| title | Estimating Shoulder-Complex Mobility |
| title_full | Estimating Shoulder-Complex Mobility |
| title_fullStr | Estimating Shoulder-Complex Mobility |
| title_full_unstemmed | Estimating Shoulder-Complex Mobility |
| title_short | Estimating Shoulder-Complex Mobility |
| title_sort | estimating shoulder complex mobility |
| url | http://dx.doi.org/10.1080/11762320701403922 |
| work_keys_str_mv | AT bertrandtondu estimatingshouldercomplexmobility |