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The human shoulder is one of the most complex joints of the human body, and due to the high range of motion and the complex soft tissue apparatus prone to injuries. Surgical therapies and joint replacements often lead to unsatisfactory results. To improve the understanding of the complex biomechanics of the shoulder, experimental investigations have to be conducted. For this purpose a new shoulder simulator with an innovative muscle force generation was developed. On the basis of a modular concept six artificial pneumatic muscles were integrated to represent the functionally most important muscles of the shoulder joint, whereby a free and controlled movement of the humerus can be conducted. For each muscle individual setpoints for muscle length control based on a user defined shoulder movement for any artificial or cadaver specimen are created by manual motion “Teach-In”. Additional to muscle forces and lengths, optical tracking and a joint force measurement is used to enable different biomechanical studies of the shoulder joint. This paper describes the technical setup as well as the control strategy and first results of its experimental functional validation.

Technical concept and evaluation of a novel shoulder simulator with adaptive muscle force generation and free motion