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The muscles surrounding the shoulder girdle, including the clavicle and scapula, primarily stabilize the scapula. This stable base allows other muscles to move the humerus effectively. Scapular movements often mirror those of the humerus and extend its range of motion. For instance, raising the arm above the head would not be feasible without simultaneous upward rotation of the scapula.
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The subclavian artery transitions into the axillary artery as it exits the chest and enters the axillary region. This artery is critical for supplying blood to the shoulder area, including the head of the humerus, through the humeral circumflex arteries. As the vessel continues into the upper arm or brachium, it becomes the brachial artery. This artery plays a key role in vascularizing the brachial region and bifurcates at the elbow into several branches. These branches include the deep...
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The upper limb consists of the arm, forearm, wrist, and hand bones. The humerus is the single bone of the upper arm region. Proximally, it has a large, spherical, smooth head that articulates with the glenoid cavity of the scapula to form the glenohumeral or shoulder joint. The margin of the head is the anatomical neck, a residual epiphyseal plate. Laterally it extends to form bony projections called the greater tubercle and the lesser tubercle. Next to the tubercles is the surgical neck, a...
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The radius is longer of the two bones that make up the human antebrachium or forearm. At the proximal end, the radius articulates with the capitulum of the humerus and the radial notch of the ulna to form the elbow joint. At the distal end, the radius articulates with the ulna via the ulnar notch, forming the distal radioulnar joint. Distally, the radius also attaches to the carpal wrist bones (scaphoid and lunate) to form the radiocarpal joint.
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Modulation of shoulder muscle and joint function using a powered upper-limb exoskeleton.

Wen Wu1, Justin Fong2, Vincent Crocher2

  • 1Department of Biomedical Engineering, University of Melbourne, Parkville, Victoria 3010, Australia.

Journal of Biomechanics
|March 7, 2018
PubMed
Summary

Robotic exoskeletons significantly reduce shoulder joint and muscle forces during daily activities. This assistive technology shows potential for enhancing joint stability and aiding in upper limb rehabilitation by decreasing load during movement.

Keywords:
Glenohumeral jointMusculoskeletal modelRehabilitationRobot-machine interactionShoulder stability

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Area of Science:

  • Biomechanics
  • Robotics
  • Human-Machine Interaction

Background:

  • Powered exoskeletons offer potential for frequent, therapist-free rehabilitation.
  • Understanding human-machine interaction and load attenuation in upper limb exoskeletons is crucial.

Purpose of the Study:

  • To quantify shoulder muscle and joint forces during assisted activities of daily living using a powered upper limb exoskeleton.
  • To evaluate the effectiveness of gravity compensation in reducing shoulder joint loading.

Main Methods:

  • Six healthy males performed standardized upper limb tasks with and without full gravity compensation from the ArmeoPower exoskeleton.
  • Simultaneous recording of muscle EMG, joint kinematics, and torques.
  • Calculation of shoulder muscle and joint forces using personalized musculoskeletal models.

Main Results:

  • The exoskeleton reduced peak joint torques, muscle forces, and joint loading by up to 74.8%, 88.8%, and 68.4%, respectively.
  • Assisted nose-touching tasks showed significant reductions in glenohumeral joint forces (compressive, anterior, superior) compared to unassisted tasks.
  • Load attenuation was highly dependent on the specific task performed.

Conclusions:

  • Upper limb exoskeletons can significantly reduce shoulder joint loading and may enhance glenohumeral joint stability.
  • Despite gravity compensation, significant interaction moments are needed for limb positioning and control.
  • The developed modeling framework and findings can inform the design of targeted robotic rehabilitation strategies.