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Analysis of the Influence of External Actuators on the Glenohumeral Joint Movements

Abstract:

This work presents the simulation and analysis of the influence of MX-64 and RX-64 servomotors from Robotis® in human shoulder movements related to glenohumeral joint for the case of a subject with upper brachial plexus injury. The model of each motor was introduced in a 3D musculoskeletal model of the upper limb in order to compare their response and contribution in three different movements. The length change in muscles, range of movement and muscle force was obtained and compare for a healthy subject and a patient with upper brachial plexus injury. The results demonstrate the feasibility of using these servomotors in an exoskeleton for the rehabilitation process of the injury, although the RX-64 has characteristics that make it more suitable for a rehabilitation exoskeleton.