Reach envelope of a 9-degree-of-freedom model of the upper extremity

International Journal of Robotics and Automation

Volumn 20, Issue 4, 2005, Pages 240-259

  Yang, J ^a,c,d,e   Abdel Malek, K ^a,g   Nebel, K ^b,f  

^a IA United States   (United States)

^b US Army Tank Automotive Command   (United States)

^c UNIVERSITY OF IOWA   (United States)

^d Tsinghua University ^*  (United States)

^e TSINGHUA UNIVERSITY   (China)

^f U S ARMY   (United States)

^g VizTek Inc   (United States)

Author keywords

Elbow; Ergonomics; Reach envelope; Shoulder complex; Wrist

Indexed keywords

ERGONOMICS; KINEMATICS; MOTION PLANNING; TRAJECTORIES;

ELBOW; REACH ENVELOPE; SHOULDER COMPLEX; WRIST;

DEGREES OF FREEDOM (MECHANICS);

EID: 27144513320     PISSN: 08268185     EISSN: None     Source Type: Journal    
DOI: 10.2316/journal.206.2005.4.206-2738     Document Type: Article

References (33)

1. F.L. Litvin et al., Singularities, configurations, and displacement functions for manipulators, International Journal of Robotics Research, 5(2), 1986, 52-65.
2. T. Shamir, The singularities of redundant robot arms, International Journal of Robotics Research, 9(1), 1990, 113-121.
3. N.S. Bedrossian & K. Flueckiger, Characterizing spatial redundant manipulator singularities, Proc. IEEE Int. Conf. on Robotics and Automation, Sacramento, CA, 1991, 714-719.
4. S.K. Singh, Motion planning and control of non-redundant manipulators at singularities, Proc. IEEE Int. Conf. Robotics and Automation, Atlanta, GA, 1993, 487-492.
5. K. Kreutz, M. Long, & H. Seraji, Kinematic functions for the 7 DOF Robotics Research arm, NASA Conf. on Space Telerobotics, JPL, Vol. 1, 1989, 39-48.
6. K. Kreutz, M. Long, & H. Seraji, Kinematic analysis of 7-DOF manipulators, International Journal of Robotics Research, 11(5), 1992, 469-481.
7. S.B. Nokleby & R.P. Podhorodeski, Reciprocity-based resolution of velocity degeneracies (singularities) for redundant manipulators, Mechanism and Machine Theory, 36, 2001, 397-409.
8. Z. Dvir & N. Berme, The shoulder complex in elevation of the arm: A mechanism approach, Journal of Biomechanics, 11, 1978, 219-225.
9. K.M. Jackson, J. Joseph, & S.J. Wyard, Sequential muscular contraction, Journal of Biomechanics, 10, 1977, 97-100.
10. C. Högfors, B. Peterson, G. Sigholm, & P. Herberts, Biomechanical model of the human shoulder joint, Journal of Biomechanics, 24, 1991, 699-709.
11. J.E. Wood, S.G. Meek, & S.C. Jacobsen, Quantitation of human shoulder anatomy for prosthetic arm control, II: Anatomy matrices, Journal of Biomechanics, 22(4), 1989, 309-325.
12. A.E. Benati, S. Gaglio, V. Tagliasco, & R. Zaccaria, Anthropomorphic robotics, Biological Cybernetics, 38, 1980, 25-140.
13. A.E. Engin, Kinematics of human shoulder motion, in V.C. Mow, A. Rotcliffe, S.L.-Y. Woo (Eds.), Biomechanics of Diarthrotrial Joints (New York: Springer-Verlag, 1990).
14. J. Lenarcic & A. Umek, Simple model of human arm reachable workspace, IEEE Trans. on Systems, Man, and Cybernetics, 24(8), 1994, 1239-1246.
15. W. Maurel, 3D modeling of the human upper limb including the biomechanics of joints, muscles and soft tissues, doctoral diss., Laboratoire d'Infographie-École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland, 1998.
16. K. Abdel-Malek, J. Yang, R. Brand, &: E. Tanbour, Towards understanding the workspace of the upper extremities, Proc. 2001 SAE Digital Human Modeling for Design and Engineering, 2001-01-2095, June 26-28, Arlington, VA, USA, 2001.
17. E. Kreighbaum & K. Barthels, Biomechanics: A qualitative approach for studying human movement, 4th ed. (San Francisco: Benjamin/Cummings, 1995).
18. D.L. Pieper, The kinematics of manipulators under computer control, Stanford Artificial Intelligence Laboratory, Stanford University, 1968.
19. A.E. Engin, On the theoretical modeling of human joints, in J.R. Avula (Ed.), Mathematical modelling in science and technology (New York: Pergamon, 1984), 560-565.
20. A.E. Engin & S.T. Turner, Three-dimensional kinematic modeling of the human shoulder complex, I: Physical model and determination of joint sinus cones, Journal of Biomechanical Engineering, 111, 1989, 107-112.
21. A.E. Engin & S.T. Turner, Three-dimensional kinematic modeling of the human shoulder complex, II: Mathematical modelling and solution via optimization, Journal of Biomechanical Engineering, 111, 1989, 113-121.
22. E.Y.S. Chao, J.D. Lynch, & M.J. Vanderploeg, Simulation and animation of musculoskeletal joint systems, Journal of Biomechanical Engineering, 115, 1993, 562-568.
23. R. Raikova, A general approach for modelling and mathematical investigation of the human upper limb, Journal of Biomechanics, 25, 1992, 857-867.
24. F.C.T. van der Helm, A finite element musculoskeletal model of the shoulder mechanism, Journal of Biomechanics, 27, 1994, 551-569.
25. J. Denavit & R.S. Hartenberg, A kinematic notation for lower-pair mechanisms based on matrices, Journal of Applied Mechanics, ASME, Vol. 22, 1955, 215-221.
26. C.C. Norkin D.J. White, Measurement of joint motion: A guide to goniometry, 2nd ed. (Philadelphia: F.A. Davis, 1995).
27. K. Abdel-Malek & H.J. Yeh, Analytical boundary of the workspace for general three degree-of-freedom mechanisms, International Journal of Robotics Research, 16(2), 1997, 198-213.
28. K. Abdel-Malek & H.J. Yeh, Path trajectory verification for robot manipulators in a manufacturing environment, IMechE Journal of Engineering Manufacture, 211, 1997, 547-556.
29. K. Abdel-Malek, F. Adkins, H.J. Yeh, & E.J. Haug, On the determination of boundaries to manipulator workspaces, Robotics and Computer-Integrated Manufacturing, 13(1), 1997, 63-72.
30. K. Abdel-Malek, H.J. Yeh, & N. Khairallah, Workspace, void, and volume determination of the general 5DOF manipulator, Mechanics of Structures and Machines, 27(1), 1999, 91-117.
31. K. Abdel-Malek & H.J. Yeh, Crossable surfaces of robotic manipulators with joint limits, ASME Journal of Mechanical Design, 122(1), 2000, 52-61.
32. G. Farin, Curves and surfaces for CAGD: A practical guide (San Francisco: Academic Press, 1988).
33. D. Blackmore, M.C. Leu, L.P. Wang, & H. Jiang, Swept volumes: a retrospective and prospective view, Neural, Parallel & Scientific Computations, 5, 1997, 81-102.