Mechanical Model Of Human Upper Extremity And Motion Simulation

In this paper, on the analysis of the anatomy structure of the human shoulder, the upper extremity was simplified as a motion system of two rigid bodies, the joint of humeral and body as a ball joint, the joint of forearm and humeral as a hinge. Thus we got a two-rigid-body motion system with four DOFs. Using the dynamical theory of multi-rigid bodies and taking Cardau Angular as the general coordinates , we deduced the formula of velocity and acceleration of the mass center, the formula of angular velocity and angular acceleration of the rigid bodies and the formula of general principle forces and general constraint forces, respectively. Furthermore, the dynamical equations of human upper extremity were founded. At the same time, the geometry dimension of shoulder bones and the insertion points of muscles were measured by using Sonic Digitizer. The measured data were applied to the motion model of human upper extremity which was built by ADAMS simulation software. In the end, we got the principle forces and the principle torques in the abduction and adduction motion by solving the founded dynamical equations and applied them to ADAMS simulation model. The simulated motion curves of human shoulder model was coincided well with the given motion in theory. So we concluded that the model was accurate and could be used as the base for the study of moreadvanced and complex motion .