인간의 전완 회전을 위한 원위 요척골 관절의 기구학적 모델링
Kinematic Modeling of Distal Radioulnar Joint for Human Forearm Rotation
1
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
This paper presents the kinematic modeling of the human forearm rotation constructed with a spatial four-bar linkage. Especially, a circumduction of the distal ulna is modeled for a minimal displacement of the position of the hand during the forearm rotation from the supination to the pronation. To establish its model, four joint types of the four-bar linkage are, firstly, assigned with the reasonable grounds, and then the spatial linkage having the URUU (Universal-Revolute-Universal-Universal) joint type is proposed. Kinematic analysis is conducted to show the behavior of the distal radio-ulna as well as to evaluate the angular displacements of all the joints. From the simulation result, it is, finally, revealed that the URUU spatial linkage can be substituted for the URUR (Universal-Revolute-Universal-Revolute) spatial linkage by a kinematic constraint.
Abstract
This paper presents the kinematic modeling of the human forearm rotation constructed with a spatial four-bar linkage. Especially, a circumduction of the distal ulna is modeled for a minimal displacement of the position of the hand during the forearm rotation from the supination to the pronation. To establish its model, four joint types of the four-bar linkage are, firstly, assigned with the reasonable grounds, and then the spatial linkage having the URUU (Universal-Revolute-Universal-Universal) joint type is proposed. Kinematic analysis is conducted to show the behavior of the distal radio-ulna as well as to evaluate the angular displacements of all the joints. From the simulation result, it is, finally, revealed that the URUU spatial linkage can be substituted for the URUR (Universal-Revolute-Universal-Revolute) spatial linkage by a kinematic constraint.
참고문헌 (15)
- Y. Youm, "Biomechanical analyses of forearm pronationsupination and elbow flexion-extension", Journal of Biomechanics, 12(4), pp.245~255 (1979)
- M. Soubeyrand, "Pronation and supination of the hand : Anatomy and biomechanics", Hand Surgery and Rehabilitation, 36(1), pp.2~11 (2017)
- A. I. Kapandji, "The Physiology of the Joints, Volume 1: The Upper Limb" (2007), Churchill Livingstone
- P. Kasten, "Computer simulation of forearm rotation in angular deformities : a new therapeutic approach", Injury-International Journal of the Care of the Injured, 33(9), pp.807~813 (2002)
- T. Yasutomi, "Mechanism of limitation of pronation", supination of the forearm in geometric models of deformities of the forearm bones, 2002, pp.17(6), 456~463
- M. Seo, "Human mimetic forearm mechanism towards bionic arm", 2017 International Conference on Rehabilitation Robotics, pp.1171~1176 (2017)
- E. Y. Chao, "Three-dimensional rotation of the elbow", Journal of Biomechanics, 11(1-2), pp.57~71 (1978)
- M. A. Lemay, "A dynamic model for simulating movements of the elbow, forearm, and wrist", Journal of Biomechanics, 29(10), pp.1319~1330 (1996)
- J. Hesselbach, "Advances in Robot Kinematics: Analysis and Control", pp.551~560 (1998)
- A. M. Weinberg, "A new kinematic model of pro-and supination of the human forearm", Journal of Biomechanics, 33(4), pp.487~491 (2000)
- A. A. Amis, "Part 2 : Forearm, wrist, hand and fingers", Orthopaedics and Trauma, 4(2), pp.107~111 (1990)
- G. P. Whiteley, "An articulated skeletal analogy of the human upper-limb", Ph.D, pp.2000
- A. A. Amis, "(iv)biomechanics of the elbow", Orthopaedics and Trauma, 16(5), pp.349~354 (2002)
- M. Laitenberger, "Refinement of the upper limb joint kinematics and dynamics using a subject-specific closed-loop forearm model", Multibody System Dynamics, 33(4), pp.413~438 (2015)
- C. Mavroidis, "Analysis of overconstrained mechanisms", Journal of Mechanical Design, 117(1), pp.69~74 (1995)