Inverse kinematics of 3-D human arm pointing movements
WANG ; VERRIEST ; REZGUI
Type de document
COMMUNICATION AVEC ACTES INTERNATIONAL (ACTI)
Langue
anglais
Auteur
WANG ; VERRIEST ; REZGUI
Résumé / Abstract
The kinematic characteristics of human arm pointing movement have been analysed. An experimental investigation was made into the determination of the IAR of the glenohumeral joint from the trajectories of external landmarks, such as L5, C7, sternum, acromion, elbow, wrist and index fingertip. Two male subjects were asked to perform natural pointing movements, from a upright sitting position with hand laying on the thigh, towards different targets within the maximum hand reach zone, without involving large torso movement. It has been shown that the shoulder instantaneous axis of rotation is very near to the axis which minimizes its angular velocity during a pointing movement (apart from the beginning and end phrases of movement). It is confirmed by computer simulation minimizing the angular velocities of the shoulder and elbow.
