Application of robotic indices to evaluate human upper-limb force capacities

The aim of the present study was to apply several indices originating from the robotics field to evaluate the upper-limb force generation capacities. From a rigid body model of the upper-limb, motion capture, and joint torque data at the shoulder, elbow, and wrist, the proposed indices allow to evaluate the force that can be generated at the hand in all Cartesian directions. The interest and limits of such indices are discussed in the framework of ergonomic and rehabilitation applications.

[1]  Laurence Chèze,et al.  Rotation sequence as an important factor in shoulder kinematics. , 2006, Clinical biomechanics.

[2]  Pasquale Chiacchio,et al.  Force polytope and force ellipsoid for redundant manipulators , 1997, J. Field Robotics.

[3]  Scott L Delp,et al.  Generating dynamic simulations of movement using computed muscle control. , 2003, Journal of biomechanics.

[4]  Francisco J Valero-Cuevas,et al.  A mathematical approach to the mechanical capabilities of limbs and fingers. , 2009, Advances in experimental medicine and biology.

[5]  Feng Gao,et al.  Computational method for muscle-path representation in musculoskeletal models , 2002, Biological Cybernetics.

[6]  Philippe Gorce,et al.  Manipulability of the upper limb during wheelchair propulsion , 2011 .

[7]  Jeroen B J Smeets,et al.  Isometric torque-angle relationships of the elbow flexors and extensors in the transverse plane. , 2010, Journal of electromyography and kinesiology : official journal of the International Society of Electrophysiological Kinesiology.

[8]  Philippe Gorce,et al.  The manipulability: a new index for quantifying movement capacities of upper extremity , 2012, Ergonomics.

[9]  Makoto Sasaki,et al.  Higher Dimensional Spatial Expression of Upper Limb Manipulation Ability Based on Human Joint Torque Characteristics , 2010 .

[10]  Tsuneo Yoshikawa,et al.  Manipulability of Robotic Mechanisms , 1985 .

[11]  A Stockmarr,et al.  Isokinetic and isometric muscle strength in a healthy population with special reference to age and gender , 2009, Acta physiologica.

[12]  John Rasmussen,et al.  Validation of a musculoskeletal model of wheelchair propulsion and its application to minimizing shoulder joint forces. , 2008, Journal of biomechanics.

[13]  Bernard Bayle,et al.  Manipulability analysis for mobile manipulators , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[14]  Nicolas Louis.  Comments about the article titled: Validation of a musculoskeletal model of wheelchair propulsion and its application to minimizing shoulder joint forces, written by S.R. Dubowsky, J. Rasmussen, S.A. Sisto, N.A. Langrana (41(2008) 2981-2988). , 2009, Journal of biomechanics.

[15]  Peter I. Corke,et al.  A robotics toolbox for MATLAB , 1996, IEEE Robotics Autom. Mag..

[16]  Bryan Buchholz,et al.  ISB recommendation on definitions of joint coordinate systems of various joints for the reporting of human joint motion--Part II: shoulder, elbow, wrist and hand. , 2005, Journal of biomechanics.