| Citation: | NIE Chao, SONG Zhibin, DAI Jianshenget al. A shoulder skeletal kinematic model based on spatial hybrid mechanism[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(1): 196-204. doi: 10.13700/j.bh.1001-5965.2016.0941(in Chinese)
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In order to represent the movement of the shoulder skeletal system, a spatial hybrid mechanism model is proposed, which describes the articulation between the scapula and thorax as a kinematic constraint similar to a cylinder-plane pair. Firstly, types of joints in shoulder are determined, and thus the degrees of freedom of the shoulder girdle and shoulder mechanism can be analyzed. After the definition of local coordinate systems attached to each skeleton, the vector theory method and homogeneous coordinate transformation are used to establish the position analysis equation of the shoulder mechanism, and the closed-form solutions of joint positions are obtained subsequently. Finally, to verify the validity of the mechanism model, the skeletal posture dataset obtained from a shoulder movement experiment is used to inversely drive the model, the calculation results of the scapular posture are compared with the experimental data. The results indicate that the mechanism model has achieved a good consistency in predicting the skeletal movement of the shoulder complex. Furthermore, this model can be adapted for different individuals' geometric skeletal characteristics by scaling.
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