Due to the complex coupling motion of shoulder mechanism, only a small amount of quantitative information is available in the existing literature, although various kinematic models of the shoulder complex have been proposed. This study focused on the specific motion coupling relationship between glenohumeral (GH) joint center displacement variable quantity relative to the thorax coordinate system and humeral elevation angle to describe the shoulder complex. The mechanism model of shoulder complex was proposed with an algorithm designed. Subsequently, twelve healthy subjects performed right arm raising, lowering, as well as raising and lowering (RAL) movements in sixteen elevation planes, and the motion information of the markers attached to the thorax, scapula, and humerus was captured by using Vicon motion capturing system. Then, experimental data was processed and the generalized GH joint with floating center was quantized. Simultaneously, different coupling characteristics were detected during humerus raising as well as lowering movements. The motion coupling relationships in different phases were acquired, and a modified kinematic model was established, with the description of overall motion characteristics of shoulder complex validated by comparing the results with a prior kinematic model from literature, showing enough accuracy for the design of upper limb rehabilitation robots.

中文翻译：

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基于 Vicon 运动捕捉系统的改进肩关节运动学模型：浮动中心广义 GH 关节。

由于肩部机构复杂的耦合运动，尽管已经提出了各种肩部复合体的运动学模型，但现有文献中仅提供少量定量信息。本研究重点研究盂肱关节中心相对于胸廓坐标系的位移变量与肱骨仰角之间的具体运动耦合关系来描述肩关节复合体。提出了肩关节复合体的机理模型并设计了算法。随后，12名健康受试者在16个仰角平面内进行右臂抬高、降低以及抬高和降低（RAL）动作，并使用Vicon运动捕捉捕捉附着在胸部、肩胛骨和肱骨上的标记的运动信息系统。然后对实验数据进行处理并对浮动中心的广义GH关节进行量化。同时，在肱骨升高和降低运动期间检测到不同的耦合特征。获取不同阶段的运动耦合关系，建立修正的运动学模型，并与现有文献运动学模型进行比较，验证了对肩关节整体运动特性的描述，为上肢设计提供了足够的精度康复机器人。