The rotational axis approach for resolving the kinematic redundancy of the human arm in reaching movements.

TitleThe rotational axis approach for resolving the kinematic redundancy of the human arm in reaching movements.
Publication TypeJournal Article
Year of Publication2013
AuthorsLi Z, Roldan JR, Milutinovic D, Rosen J
JournalConference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference
Volume2013
Pagination2507-10
Date Published2013
Abstract

The human arm is kinematically redundant with respect to reaching tasks in a 3 dimensional (3D) workspace. Research on reaching movements of the healthy human arm reveals the control strategy of the human motor system, which can be further applied to the upper limb exoskeletons used for stroke rehabilitation. Experiments performed on ten healthy subjects have shown that when reaching from one point to another, the human arm rotates around an axis going through the shoulder. The proposed redundancy resolution based on the direction of the axis can predict the arm posture with a higher accuracy comparing to a redundancy resolution that maximizes the motion efficiency. It is also shown that for reaching movements in the comfortable arm motion range, the directions of the axis are constrained by a linear model.

DOI10.1039/c3an01437a
Alternate JournalConf Proc IEEE Eng Med Biol Soc