Kinematics and Dynamic Modelling of the Human Shoulder

This paper deals with kinematics and dynamics of the human shoulder in order to obtain the workspace related to the reachability of the wrist and applications to determine load for the wheelchair. The model contains six revolute degrees of freedom (D.O.F), two in costoclavicular and three in the shoulder joint and one in the elbow joint, while a six D.O.F model was developed according to given information of this study. A general computational procedure for the human shoulder given arbitrary trajectory is laid out in detail. Kinematics and dynamic behavior of the model were then considered. Finally, a numerical example involving a six-degree of freedom manipulator using the method is presented and the results are discussed for a specified trajectory.