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Human Musculoskeletal Biomechanics Part 2

Tham khảo tài liệu 'human musculoskeletal biomechanics part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | A Task-Level Biomechanical Framework for Motion Analysis and Control Synthesis 11 Fig. 6. Reparameterization of the model of Holzbaur et al. Five holonomic constraints couple the movement of the shoulder girdle with the glenohumeral rotations. complicated systems that involve holonomic constraints. We will choose the human shoulder complex as an illustrative example of this. Perhaps the most kinematically complicated subsystem in the human skeletal system is the shoulder complex. While the purpose of the shoulder complex is to produce spherical articulation of the humerus the resultant motion does not exclusively involve motion of the glenohumeral joint. The shoulder girdle which is comprised of the clavicle and scapula connects the glenohumeral joint to the torso and produces some of the motion associated with the overall movement of the humerus. While this motion is small compared to the glenohumeral motion its impact on overall arm function is significant KlopCar LenarCiC 2001 Lenarcic et al. 2000 . This impact is not only associated with the influence of the shoulder girdle on the skeletal kinematics of the shoulder complex but also its influence on the routing and performance of muscles spanning the shoulder. As a consequence shoulder kinematics is tightly coupled to the behavior of muscles spanning the shoulder. In turn the action of these muscles moments induced about the joints influences the overall musculoskeletal dynamics of the shoulder. For the aforementioned reasons when modeling the human shoulder it is important to model the kinematically coupled interactions between the shoulder girdle and the glenohumeral joint. We can apply a constrained task-level approach to the control of a holonomically constrained shoulder model. This is based on work of De Sapio et al. 2006 . The constrained task-level formulation has been updated to the one presented in the previous section. We reparameterized the model of Holzbaur et al. 2005 to include a total of n 13 .