Considerations on Human Arm Workspace and Manipulability

  • J. Lenarčič
  • A. Umek
  • S. Savić
Conference paper


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.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    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, 1989Google Scholar
  2. [2]
    H.J. Bullinger, K. Lay, R. Menges, “GRIBS - An Approach to a Realistic Realtime Simulation of Human Arm Motion”, Fraunhofer Institute IAO, Stuttgart, 1990Google Scholar
  3. [3]
    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, 1989Google Scholar
  4. [4]
    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, 1989CrossRefGoogle Scholar
  5. [5]
    M. Benati, S. Gaglio, P. Morasso, T. Tagliasco, R. Zaccaria, “Anthropomorphic Robotics”, J. Biol. Cybernetics, Vol. 38, pp. 125–140, 1980CrossRefzbMATHMathSciNetGoogle Scholar
  6. [6]
    J. Lenarčič, “Kinematics”, International Encyclopedia of Robotics (R.C. Dorf, Ed.), John Wiley & Sons, New York, 1988Google Scholar
  7. [7]
    Z. Dvir, N. Berme, “The Shoulder Complex in Elevation on the ARM: A Mechanism Approach”, J. Biomechanics, Vol. 11, pp. 219–225, 1978CrossRefGoogle Scholar
  8. [8]
    A. Kumar, K.J. Waldron, “The Workspace of a Mechanical Manipulator”, ASME J. Mech. Des. Vol. 103, pp. 665–672, 1981CrossRefGoogle Scholar
  9. [9]
    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, 1989Google Scholar
  10. [10]
    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, 1987Google Scholar
  11. [11]
    T. Yoshikawa, “Manipulability of Robotic Mechanisms”, J. Robotics Research, Vol. 4, No. 2, pp. 3–9, Summer 1985Google Scholar

Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • J. Lenarčič
    • 1
  • A. Umek
    • 1
  • S. Savić
    • 1
  1. 1.Jožef Stefan InstituteUniversity of LjubljanaLjubljanaYugoslavia

Personalised recommendations