| in general, there are shoulder joint, elbow joint and wrist joint in the human arm, which provide seven different rotations, shoulder abduction, shoulder flexion. shoulder rotation, elbow flexion, forearm rotation, wrist abduction and wrist flexion. An R2-R2-R (shoulder abduction, shoulder flexion, elbow flexion, forearm rotation, wrist flexion) five-degree-of-freedom instead of the seven-degree-of-freedom kinematic model of the biomechanics of the human upper limb is established , based on the experimental data, which is capable of accomplishing some daily living tasks. It is believed that minimizing the number of degrees of freedom required to be controlled will reduce both the mechanical and control complexities of the device. It is also believed that a simpler device, having sufficient functionality would be less expensive, less bulky and more acceptable to users and factories while maitaining some fttnction. The history and current status of the measurement of human upper limb movement are introduced in Chapter 1; the significance of the research into its movement is also stated in this part. The master design of the subject is put forward. The physiological structure and the arms joint terms are described in Chapter 2. In Chapters 3 and 4, an experiment is made on daily living activities by human upper limb. A five-degree-of-freedom kinematic model of the biomechanics of the upper limb has been set up according to the experimental results as well as some foreign technical data. It is also funded by the original movement model of the human upper limb. A preliminary study on the displacement, velocity, acceleration, statics and work-space of model has been done in Chapter 5. A C language programme. the flow chart which is given in this paper, is written for kinematic analysis and displacement synthesis.The programme correctly runs the experimental data in Chapter 3. Thus, the rationality of the model is verified.
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