Modelling human shoulder and elbow

Abstract

The human upper limb can be considered a serial manipulator with three segments connected through three joints. The wrist joint connects the hand to the forearm, the elbow joint connects the forearm to the upper arm and the shoulder joint connects the upper arm to the torso. The wrist joint is modelled as three revolute joints intersecting at one point yielding a 3-DOF spherical joint. The elbow joint is modelled as a simple 1-DOF hinge joint. In this chapter, the physiological model of the elbow joint developed in the previous chapter was coupled with linear envelope processing and experimentally validated with data from multiple subjects.