A Kinematic and Dynamic Model of the Human Upper Extremity

Mansour, G.; Mitsi, S.; Bouzakis, K. D.
March 2010
International Review of Mechanical Engineering;Mar2010, Vol. 4 Issue 3, p353
Academic Journal
In this paper a kinematic and dynamic model of the human upper extremity is developed. The human upper extremity is modelled as a spatial mechanism with seven degrees of freedom. The input motions are the flexion-extension, abduction-adduction and external-internal rotation of the arm with respect to shoulder, the flexion-extension and pronation-supination of the elbow and the wrist flexion-extension and abduction-adduction motion. The developed model allows to simulate the upper extremity movement and to determine the input torques and joint forces under different loads. These results can be used for the detection of dangerous movements of a patient having orthopaedic problems or for the design of prosthetic devices.


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