Abstract
The paper deals with mathematical modelling of human arm kinematics with emphasis on workspace determination. The mathematical model is obtained by measurement of an arbitrarily selected human arm. A five degrees of freedom kinematic structure for the shoulder complex and one degree of freedom for the elbow joint is proposed. Determination of the reachable workspace takes into account possible collisions between the arm and the body and is based on a repeated calculation of the end effector positions for various values of joint angles. Manipulability is computed at each point of the workspace in order to display and evaluate its kinematic contents.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
J. Lenarčič, U. Stanič, P. Oblak, “Some Kinematic Considerations for the Design of Robot Manipulators”, Robotics & CIM, Vol. 5, Bo. 2 /3, pp. 235–241, 1989
H.J. Bullinger, K. Lay, R. Menges, “GRIBS - An Approach to a Realistic Realtime Simulation of Human Arm Motion”, Fraunhofer Institute IAO, Stuttgart, 1990
U. Stank, J. Lenarčič, A. Umek, R. Ačimovi, N. Gros, “An Approach to the Quantitative Evaluation of Upper Extremity Function”,, Proc. of the 5th Mediterranean Conf. on Medical and Biological Engineering, Athens, 1989
A.E. Engin, S.T. Turner, “Three—Dimensional Kinematic Modeling of the Human Shoulder Complex — Part 1: Physical Model and Determination of Joint Sinus Cones”, Trans. of the ASME J. of Biomech. Eng., Vol. 111, pp. 107–112, 1989
M. Benati, S. Gaglio, P. Morasso, T. Tagliasco, R. Zaccaria, “Anthropomorphic Robotics”, J. Biol. Cybernetics, Vol. 38, pp. 125–140, 1980
J. Lenarčič, “Kinematics”, International Encyclopedia of Robotics (R.C. Dorf, Ed.), John Wiley & Sons, New York, 1988
Z. Dvir, N. Berme, “The Shoulder Complex in Elevation on the ARM: A Mechanism Approach”, J. Biomechanics, Vol. 11, pp. 219–225, 1978
A. Kumar, K.J. Waldron, “The Workspace of a Mechanical Manipulator”, ASME J. Mech. Des. Vol. 103, pp. 665–672, 1981
J. Lenar6i6, A. Umek, “A Pascal Program for Automatic Generation of Robot Kinematic Equations”, Proc. of the 2nd Int. Conf. on the Robotics, Dubrovnik, pp. 55–71, 1989
A. Ru1id, J. Lenar6i6, “A Method for Computer Representation and Display of Robot Workspaces”, Proc. of the 5th Yugoslav Symp. on Robotics and Flexible Automation, Bled, pp. 154–162, 1987
T. Yoshikawa, “Manipulability of Robotic Mechanisms”, J. Robotics Research, Vol. 4, No. 2, pp. 3–9, Summer 1985
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1991 Springer-Verlag Wien
About this paper
Cite this paper
Lenarčič, J., Umek, A., Savić, S. (1991). Considerations on Human Arm Workspace and Manipulability. In: Stifter, S., Lenarčič, J. (eds) Advances in Robot Kinematics. Springer, Vienna. https://doi.org/10.1007/978-3-7091-4433-6_19
Download citation
DOI: https://doi.org/10.1007/978-3-7091-4433-6_19
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82302-6
Online ISBN: 978-3-7091-4433-6
eBook Packages: Springer Book Archive