Modeling of Human-like Shoulder Complex Robot System

In this paper, a new mechanical design for the human-like shoulder complex is proposed by using traditional mechanical elements such as links, plates, joints and tendons. The characteristics of the musculoskeletal structure of the human shoulder complex is realized into the design so that the mechanical scapula can reproduce elevation, depression, protraction, retraction, and two rotations. A rigorous kinematic and dynamic modeling for the proposed design is provided. Then, the validity of the proposed design and its modeling is verified by comparing the movements between the human shoulder complex and its mechanical counterpart.