Human Versus Robotic Shoulder Motion | Zendy

Nives Klopw | Zendy; Jadran Lenarčič | Zendy

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Human Versus Robotic Shoulder Motion

Author(s) -

Nives Klopw,

Jadran Lenarčič

Publication year - 2001

Publication title -

journal of advanced computational intelligence and intelligent informatics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.172

H-Index - 20

eISSN - 1343-0130

pISSN - 1883-8014

DOI - 10.20965/jaciii.2001.p0294

Subject(s) - workspace , shoulder girdle , computer science , motion (physics) , range of motion , computer vision , inclination angle , physics , position (finance) , human motion , artificial intelligence , geometry , mathematics , anatomy , robot , medicine , surgery , finance , economics

In this paper, we studied the maximum inclination angles in the human shoulder girdle and compared them with the motion abilities of the humanoid robotic shoulder proposed in 1,2) We found that the extreme inclination angles of the human shoulder girdle are different when the arm is constantly stretched downward or when the arm executes an inclination co-planar to the girdle's motion. The humanoid robotic shoulder fulfills the range of the maximum inclination angles in the second type of motion but its workspace is obviously too small for the first type of motion. We also measured the working cone of the human arm and found that central axis of the human arm working cone is about 60° inclined in the horizontal plane.

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