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This repository describes kinematics of shoulder joint which is highly complex with multiple internal joints rather than conventional 3 DOF ball joint model. The pointing kinematics are important part of rehabilitation exercise. An analytical method is presented here to perform pointing kinematics.
The video below shows a simple trajectory followed by 5-DOF shoulder joint showing abduction/adduction motion which is viewed from a plane.
A library of graphical and computational tools has been written in order to simplify the analysis and to provide a sophisticated and effective mockup.
- I would like to acknowledge the article titled "Humanoid humeral pointing kinematics" by J.Lenarčič et al.
This repository is maintained by:
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Vishal Ramadoss |