Upper Limb Motion Simulation Algorithm for Prosthesis Prescription and Training

Biomimetic Approaches for Human Arm Motion Generation: Literature Review and Future Directions

“…The model developed by Gams et al [48] consisted of four segments: the shoulder girdle, upper arm, forearm, and hand, each of which had ten degrees of freedom. The most common method of representing the human arm is through modeling each arm as a set of seven DOFs kinematic chains, as presented in [49], with three rotational joints for the shoulder, one rotational joint for the elbow, one rotational joint for the forearm, and two rotational joints for the wrist.…”

“…The values of the various parameters of an individual's upper body were determined by the location of their joint centers and the degrees of freedom of each joint. In contrast, Menychtas et al [49] created a robotic model of the human body using Lie algebra. The ROM data extracted the parameters, such as the segment lengths and joint centers, to create the robot model and calculate the joint angles to analyze the various ADL tasks.…”

“…While the initial results looked promising, the different anthropometrics of the prosthesis users couldn't be generalized for use in a larger population. The most reasonable approach proved to be the use of the average joint velocity during a task [49]. In fact, the motion that was created did not have any statistically significant difference from the optimized weights.…”