Kinematic Modeling of Human Forearm Rotation With Distal Radio-Ulnar Circumduction
- Authors
- Yoon, Dukchan; Seo, Minsang; Choi, Youngjin
- Issue Date
- May-2022
- Publisher
- IEEE Institute of Electrical and Electronics Engineers
- Keywords
- Skeletal forearm model; forearm rotation; spatial four-bar linkage
- Citation
- IEEE Transactions on Medical Robotics and Bionics, v.4, no.2, pp 480 - 489
- Pages
- 10
- Indexed
- SCOPUS
ESCI
- Journal Title
- IEEE Transactions on Medical Robotics and Bionics
- Volume
- 4
- Number
- 2
- Start Page
- 480
- End Page
- 489
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/111555
- DOI
- 10.1109/TMRB.2022.3155292
- ISSN
- 2576-3202
- Abstract
- 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.
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