Modelling of the human shoulder girdle as a 6-4 parallel mechanism with a moving scapulothoracic joint

Aibek S. Niyetkaliyev, Shahid Hussain, Prashant K. Jamwal, Gursel Alici

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

Human shoulder movements involve motions at four different articulations, one of which is the contact between the scapula bone and the ribcage. The shoulder biomechanical models become less reliable when the scapulothoracic (ST) contact, which is not a joint in the anatomical sense, is not considered. On the other hand, constraints posed by the ST contact reduce the number of degrees of freedom (DOF) and introduce the interdependencies between the joint coordinates which in turn complicates the motion planning. However, a minimal parameterization that incorporates the constraints, notably simplifies costly computational procedure related to the model predictions. In this paper, the complex kinematics of the human shoulder is analyzed considering the point-contact model between scapula bone and thorax. Later, replacing the contact constraint with an equivalent kinematic chain and adding parallel kinematic links, the human shoulder girdle is modelled as a 6-4 parallel mechanism. A novel minimal set of independent parameters equal to the number of degrees of freedom is then devised in terms of the parallel mechanism's link lengths and the shoulder joint angles. The proposed parallel mechanism can also emulate the moving ST contact point during the shoulder motions. Finally, the shoulder motion planning method in terms of the time-dependent minimal coordinates is presented.

Original languageEnglish
Pages (from-to)219-230
Number of pages12
JournalMechanism and Machine Theory
Volume118
DOIs
Publication statusPublished - 1 Dec 2017

Fingerprint

Kinematics
Point contacts
Motion planning
Bone
Parameterization

Cite this

Niyetkaliyev, Aibek S. ; Hussain, Shahid ; Jamwal, Prashant K. ; Alici, Gursel. / Modelling of the human shoulder girdle as a 6-4 parallel mechanism with a moving scapulothoracic joint. In: Mechanism and Machine Theory. 2017 ; Vol. 118. pp. 219-230.
@article{833f66a311ab4c61837ef71435097ea2,
title = "Modelling of the human shoulder girdle as a 6-4 parallel mechanism with a moving scapulothoracic joint",
abstract = "Human shoulder movements involve motions at four different articulations, one of which is the contact between the scapula bone and the ribcage. The shoulder biomechanical models become less reliable when the scapulothoracic (ST) contact, which is not a joint in the anatomical sense, is not considered. On the other hand, constraints posed by the ST contact reduce the number of degrees of freedom (DOF) and introduce the interdependencies between the joint coordinates which in turn complicates the motion planning. However, a minimal parameterization that incorporates the constraints, notably simplifies costly computational procedure related to the model predictions. In this paper, the complex kinematics of the human shoulder is analyzed considering the point-contact model between scapula bone and thorax. Later, replacing the contact constraint with an equivalent kinematic chain and adding parallel kinematic links, the human shoulder girdle is modelled as a 6-4 parallel mechanism. A novel minimal set of independent parameters equal to the number of degrees of freedom is then devised in terms of the parallel mechanism's link lengths and the shoulder joint angles. The proposed parallel mechanism can also emulate the moving ST contact point during the shoulder motions. Finally, the shoulder motion planning method in terms of the time-dependent minimal coordinates is presented.",
keywords = "Biomechanics, Joints, Kinematics, Parallel mechanism, Scapula, Shoulder",
author = "Niyetkaliyev, {Aibek S.} and Shahid Hussain and Jamwal, {Prashant K.} and Gursel Alici",
year = "2017",
month = "12",
day = "1",
doi = "10.1016/j.mechmachtheory.2017.08.010",
language = "English",
volume = "118",
pages = "219--230",
journal = "Journal of Mechanisms",
issn = "0094-114X",
publisher = "Elsevier Limited",

}

Modelling of the human shoulder girdle as a 6-4 parallel mechanism with a moving scapulothoracic joint. / Niyetkaliyev, Aibek S.; Hussain, Shahid; Jamwal, Prashant K.; Alici, Gursel.

In: Mechanism and Machine Theory, Vol. 118, 01.12.2017, p. 219-230.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Modelling of the human shoulder girdle as a 6-4 parallel mechanism with a moving scapulothoracic joint

AU - Niyetkaliyev, Aibek S.

AU - Hussain, Shahid

AU - Jamwal, Prashant K.

AU - Alici, Gursel

PY - 2017/12/1

Y1 - 2017/12/1

N2 - Human shoulder movements involve motions at four different articulations, one of which is the contact between the scapula bone and the ribcage. The shoulder biomechanical models become less reliable when the scapulothoracic (ST) contact, which is not a joint in the anatomical sense, is not considered. On the other hand, constraints posed by the ST contact reduce the number of degrees of freedom (DOF) and introduce the interdependencies between the joint coordinates which in turn complicates the motion planning. However, a minimal parameterization that incorporates the constraints, notably simplifies costly computational procedure related to the model predictions. In this paper, the complex kinematics of the human shoulder is analyzed considering the point-contact model between scapula bone and thorax. Later, replacing the contact constraint with an equivalent kinematic chain and adding parallel kinematic links, the human shoulder girdle is modelled as a 6-4 parallel mechanism. A novel minimal set of independent parameters equal to the number of degrees of freedom is then devised in terms of the parallel mechanism's link lengths and the shoulder joint angles. The proposed parallel mechanism can also emulate the moving ST contact point during the shoulder motions. Finally, the shoulder motion planning method in terms of the time-dependent minimal coordinates is presented.

AB - Human shoulder movements involve motions at four different articulations, one of which is the contact between the scapula bone and the ribcage. The shoulder biomechanical models become less reliable when the scapulothoracic (ST) contact, which is not a joint in the anatomical sense, is not considered. On the other hand, constraints posed by the ST contact reduce the number of degrees of freedom (DOF) and introduce the interdependencies between the joint coordinates which in turn complicates the motion planning. However, a minimal parameterization that incorporates the constraints, notably simplifies costly computational procedure related to the model predictions. In this paper, the complex kinematics of the human shoulder is analyzed considering the point-contact model between scapula bone and thorax. Later, replacing the contact constraint with an equivalent kinematic chain and adding parallel kinematic links, the human shoulder girdle is modelled as a 6-4 parallel mechanism. A novel minimal set of independent parameters equal to the number of degrees of freedom is then devised in terms of the parallel mechanism's link lengths and the shoulder joint angles. The proposed parallel mechanism can also emulate the moving ST contact point during the shoulder motions. Finally, the shoulder motion planning method in terms of the time-dependent minimal coordinates is presented.

KW - Biomechanics

KW - Joints

KW - Kinematics

KW - Parallel mechanism

KW - Scapula

KW - Shoulder

UR - http://www.scopus.com/inward/record.url?scp=85027863102&partnerID=8YFLogxK

U2 - 10.1016/j.mechmachtheory.2017.08.010

DO - 10.1016/j.mechmachtheory.2017.08.010

M3 - Article

VL - 118

SP - 219

EP - 230

JO - Journal of Mechanisms

JF - Journal of Mechanisms

SN - 0094-114X

ER -