Abstract
The study of cable function allows the contribution of particular cables towards the generation of motion to be determined for cable-driven parallel manipulators (CDPMs). This study is fundamental in the understanding of the arrangement of cables for CDPMs and can be used within the design of optimal cable arrangements. In this paper, the analysis of cable function for the musculoskeletal static workspace of a human shoulder is performed. Considering the muscles within the shoulder as state dependent force generators, the set of muscles required in sustaining the gravity force is determined for each workspace pose. As a result, the set of poses that each muscle is responsible for (muscle function) can be computationally determined. By comparing the results to the muscle function from biomechanics studies, it is shown that the results from the proposed cable function analysis are consistent with that reported in the literature of human studies.
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Lau, D., Eden, J., Halgamuge, S.K., Oetomo, D. (2015). Cable Function Analysis for the Musculoskeletal Static Workspace of a Human Shoulder. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 32. Springer, Cham. https://doi.org/10.1007/978-3-319-09489-2_19
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DOI: https://doi.org/10.1007/978-3-319-09489-2_19
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