Kinematic Modeling of Human Forearm Rotation With Distal Radio-Ulnar Circumduction

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 reflectin...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on medical robotics and bionics 2022-05, Vol.4 (2), p.480-489
Main Authors: Yoon, Dukchan, Seo, Minsang, Choi, Youngjin
Format: Article
Language:English
Subjects:
Analytical models
Biological system modeling
Biomimetics
Couplings
Forearm
forearm rotation
Joints
Kinematics
Linkage mechanisms
Robots
Rotation
Skeletal forearm model
spatial four-bar linkage
Structural design
Ulna
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
ISSN:2576-3202
2576-3202
DOI:10.1109/TMRB.2022.3155292