A Quantified Description of the Coupling between the Reaching Direction and Elbow Axis Direction
The human body continues to be an inspiration for the work of a myriad of different fields, both scientific and mathematic. In particular, robotics draws upon the motions and relationships of different human systems in order to reproduce similar mobility while performing different tasks. The human s...
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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/10.1080/11762320701455583 |
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| author | M. M. Stanišić C. M. Goehler M. Tomšič |
| author_facet | M. M. Stanišić C. M. Goehler M. Tomšič |
| author_sort | M. M. Stanišić |
| collection | DOAJ |
| description | The human body continues to be an inspiration for the work of a myriad of different fields, both scientific and mathematic. In particular, robotics draws upon the motions and relationships of different human systems in order to reproduce similar mobility while performing different tasks. The human shoulder–arm–elbow complex has been one of the most difficult to exactly replicate. This paper examines the relationship between the motion of the shoulder while positioning the center of the wrist during voluntary arm movements and the resulting orientation of the arm, in particular the direction of the axis passing through the elbow joint. Experimental data is presented that was used to quantify this coupling between the reaching direction of the arm and the elbow axis direction. The results from this paper are two surface-fit equations that can be used to determine the elbow axis direction when given the location of the wrist center. These results are useful when considering the design and control of shoulder–arm–elbow complex models. |
| format | Article |
| id | doaj-art-dcf6ba266e2e4fa9b5087360cec3069a |
| 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-dcf6ba266e2e4fa9b5087360cec3069a2025-02-03T01:00:29ZengWileyApplied Bionics and Biomechanics1176-23221754-21032007-01-0142475510.1080/11762320701455583A Quantified Description of the Coupling between the Reaching Direction and Elbow Axis DirectionM. M. Stanišić0C. M. Goehler1M. Tomšič2Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN 46556, USADepartment of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN 46556, USADepartment for Automatics, Biocybernetics and Robotics, Jošef Stefan Institute, Jamova 39, 1000 Ljubljana, SloveniaThe human body continues to be an inspiration for the work of a myriad of different fields, both scientific and mathematic. In particular, robotics draws upon the motions and relationships of different human systems in order to reproduce similar mobility while performing different tasks. The human shoulder–arm–elbow complex has been one of the most difficult to exactly replicate. This paper examines the relationship between the motion of the shoulder while positioning the center of the wrist during voluntary arm movements and the resulting orientation of the arm, in particular the direction of the axis passing through the elbow joint. Experimental data is presented that was used to quantify this coupling between the reaching direction of the arm and the elbow axis direction. The results from this paper are two surface-fit equations that can be used to determine the elbow axis direction when given the location of the wrist center. These results are useful when considering the design and control of shoulder–arm–elbow complex models.http://dx.doi.org/10.1080/11762320701455583 |
| spellingShingle | M. M. Stanišić C. M. Goehler M. Tomšič A Quantified Description of the Coupling between the Reaching Direction and Elbow Axis Direction Applied Bionics and Biomechanics |
| title | A Quantified Description of the Coupling between the Reaching Direction and Elbow Axis Direction |
| title_full | A Quantified Description of the Coupling between the Reaching Direction and Elbow Axis Direction |
| title_fullStr | A Quantified Description of the Coupling between the Reaching Direction and Elbow Axis Direction |
| title_full_unstemmed | A Quantified Description of the Coupling between the Reaching Direction and Elbow Axis Direction |
| title_short | A Quantified Description of the Coupling between the Reaching Direction and Elbow Axis Direction |
| title_sort | quantified description of the coupling between the reaching direction and elbow axis direction |
| url | http://dx.doi.org/10.1080/11762320701455583 |
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