The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Kinematic Modeling of Distal Radioulnar Joint for Human Forearm Rotation

인간의 전완 회전을 위한 원위 요척골 관절의 기구학적 모델링

  • Yoon, Dukchan (Department of Electronic Systems Engineering, Hanyang University) ;
  • Lee, Geon (Department of Electronic Systems Engineering, Hanyang University) ;
  • Choi, Youngjin (Department of Electrical and Electronic Engineering, Hanyang University)
  • Received : 2019.08.27
  • Accepted : 2019.10.15
  • Published : 2019.11.30
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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.

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References

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