Kinematic Modeling of Human Forearm Rotation With Distal Radio-Ulnar Circumduction
- Title
- Kinematic Modeling of Human Forearm Rotation With Distal Radio-Ulnar Circumduction
- Author
- 최영진
- Keywords
- Skeletal forearm model; forearm rotation; spatial four-bar linkage
- Issue Date
- 2022-05
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Citation
- IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS, v. 4, NO. 2, Page. 480-489
- Abstract
- A circumduction of the distal ulna as a complex movement has been observed at the distal radio-ulnar joint during forearm rotation and it has been reported that a stationary ulna makes postures of the hand to be transposed or tilted in the pro-supination. In this paper, a new forearm model reflecting the ulnar circumduction is proposed by changing the joint types of a spatial linkage mechanism. For this purpose, a conventional forearm model with R-R-U-S joint types (established by Whiteley in 2000) which generates the horizontal movement of the distal ulna is firstly analyzed to figure out a kinematic feature for its joint motions. And then this model is reconstructed as an equivalent model with R-R-U-U joints. At the same time, its joint types are realigned as U-R-U-R joints to realize the ulnar circumduction. Finally, a structural design based on the proposed forearm model with the U-R-U-R joints is presented, and its overall movements are described.
- URI
- https://ieeexplore.ieee.org/document/9722898https://repository.hanyang.ac.kr/handle/20.500.11754/180871
- ISSN
- 2576-3202;2576-3202
- DOI
- 10.1109/TMRB.2022.3155292
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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