1A1-K02 ヒト肩関節ロボットシミュレータの肩甲骨モデルの構成

概要

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The purpose of this study is to develop the robotic shoulder joint simulator based on human shoulder morphology. Human shoulder joint consists of an articulation between Humerus and Scapula and Scapula sliding on Thorax, in which that organization is called as Shoulder girdle. The articulation of Humerus and Scapula has a ball joint mechanism, which is driven by plural muscles surrounding the ball joint. The ball joint mechanism realizes the motion of 3-DOF on upper arm for daily activities. The other feature of shoulder girdle is the existence of Scapula motion, in which it is thought that the Scapula motion enlarges the range of motion on shoulder joint. In this report, we developed the Scapula mechanism as a robotic joint mechanism. Muscles are altered flexible wires and located on the place according to anatomical literatures. The mechanism was experimentally driven by wires and proved movability for the effective range of motion.
一般社団法人日本機械学会の論文
2009-05-25