A 4-dof Parallel Mechanism Simulating the Movement of the Human Sternum-Clavicle-Scapula Complex

Abstract

We present in this paper the kinematic design of a humanoid robotic shoulder complex. We utilise a parallel mechanism, which is able to replicate the principal motions of the human shoulder complex. The mechanism possesses four driven legs that provide three rotations and one translation. Compared to an anatomical model, they represent the sternoclavicular abduction-adduction and flexion-extension, the clavicular rotation, as well as the shoulder's longitudinal contraction-elongation.