Direct kinematic modeling of the upper limb during trunk-assisted reaching. - Archive ouverte HAL
Article Dans Une Revue Journal of Applied Biomechanics Année : 2011

Direct kinematic modeling of the upper limb during trunk-assisted reaching.

Résumé

The study proposes a rigid-body biomechanical model of the trunk and whole upper limb including scapula and the test of this model with a kinematic method using a six-dimensional (6-D) electromagnetic motion capture (mocap) device. Large unconstrained natural trunk-assisted reaching movements were recorded in 7 healthy subjects. The 3-D positions of anatomical landmarks were measured and then compared to their estimation given by the biomechanical chain fed with joint angles (the direct kinematics). Thus, the prediction errors was attributed to the different joints and to the different simplifications introduced in the model. Large (approx. 4 cm) end-point prediction errors at the level of the hand were reduced (to approx. 2 cm) if translations of the scapula were taken into account. As a whole, the 6-D mocap seems to give accurate results, except for prono-supination. The direct kinematic model could be used as a virtual mannequin for other applications, such as computer animation or clinical and ergonomical evaluations.
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Dates et versions

hal-00616605 , version 1 (23-08-2011)

Identifiants

  • HAL Id : hal-00616605 , version 1
  • PUBMED : 21844617

Citer

Sylvain Hanneton, Svetlana Dedobbeler, Thomas Hoellinger, Agnes Roby-Brami. Direct kinematic modeling of the upper limb during trunk-assisted reaching.. Journal of Applied Biomechanics, 2011, 27 (3), pp.272-7. ⟨hal-00616605⟩

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