Experimental Evaluation of Human Arm Kinematics

The paper deals with the mathematical modelling of the human arm kinematics. A six-degrees-of-freedom model is obtained based on the measurement of some selective movements of the arm related to the spatial position of the wrist. Three joints are considered, the sternoclavicular joint, the glenohumeral joint and the elbow joint, while the wrist itself is not taken into account. The developed model does not correspond to the anatomical properties of the arm but approximates only its outer motion characteristics. The main advantage is its simplicity which is useful for further numerical processing, workspace calculation and evaluation.