Kinematic and dynamic analysis through the robotic formulation of the clavicle-shoulder joint of a human upper extremity

Abstract

This paper presents the kinematic and dynamic modeling of the shoulder-clavicle assembly constituting a four–degrees-of-freedom mechanical system. The models are obtained through robotic concepts and formulations, applied to a specific case of arm abduction with movement in the acceleration and deceleration phase, and compared with its equivalent static model. The influence of a suspended mass at the arm´s end is also analyzed. Subsequently, a biomechanical model considering the muscular action of the deltoid muscle is created based on the dynamic model obtained, allowing estimation of the force exerted by the moving muscle.