The Human Shoulder Articulation


A neuromusculoskeletal model of the human shoulder is developed together with dedicated feedback strategies based on the types of muscle and neuromuscular model at hand. Motion planning is studied through null-space techniques on the tangent manifold. Advanced geometrical and topological tools are used to analyze the articulation as an over-actuated mechanical systems. The main challenge is dimensionality reduction of the underlying number of parameters while ensuring the possibility of finding feasible motions satisfying force and length constraints. 

D. Ingram, P. Müllhaupt, A. Terrier and A. FarronDynamical Biomechanical Model of the Shoulder for Muscle-Force Estimation4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, 2012.

A. Terrier, M. Aeberhard, Y. Michellod, P. Müllhaupt and D. Gillet et al. A musculoskeletal shoulder model based on pseudo-inverse and null-space optimizationin Medical Engineering and Physics, vol. 32, num. 9, p. 1050-1056, 2010.

M. Aeberhard, Y. Michellod, P. Mullhaupt, A. Terrier and D. P. Pioletti et alDynamical biomechanical model of the shoulder: null space based optimization of the overactuated system2008 IEEE International Conference on Robotics and Biomimetics, Bangkok, 2008.