Human Versus Robotic Shoulder Motion
Nives Klopw and Jadran Lenarcic
"Jozzef Stefan" Institute, Department of Automatics, Biocybernetics and Robotics, Jamova 39, 1000 Ljubljana, Slovenia
In this paper, we studied the maximum inclination angles in the human shoulder girdle and compared them with the motion abilities of the humanoid robotic shoulder proposed in 1,2) We found that the extreme inclination angles of the human shoulder girdle are different when the arm is constantly stretched downward or when the arm executes an inclination co-planar to the girdle’s motion. The humanoid robotic shoulder fulfills the range of the maximum inclination angles in the second type of motion but its workspace is obviously too small for the first type of motion. We also measured the working cone of the human arm and found that central axis of the human arm working cone is about 60° inclined in the horizontal plane.
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