Development Of Humanoid Robots, The New Challenge Occurring Is That The Assumption Of An Anthropomorphic Form

during these movements, the angles of those joints, as well as the muscles involved during the

There are many more terms and concepts in throwing a baseball then the wind-up, cocking, acceleration, and the follow through. There is also the stride, your pelvis, rotation, deceleration, force, gravity, resistance and speed. (Maranowski). Within the shoulder, there are three major bones used. They are the clavicle, humerus, and the scapula. Another major component of the shoulder while throwing is the rotator cuff. The rotator cuff is made up of four small muscles which are the subscapularis, supraspinatus, infraspinatus, and the teres minor. The main responsibility of the rotator cuff is for the stability of the shoulder joint. It holds the humeral head in the glenoid socket during early abduction while throwing. (" biomechanics of," ).

For the human joint anatomy project, our group decided to research and construct the elbow joint. The following is a report and summary of the project including roles taken, challenges faced, solutions derived, and ultimately, contribution and experiences of both partners.

The shoulder is a ball and socket joint which allows it a flexion and extension motion.

Glenohumeral joint kinematics change in an adaptive manner to chronic overhead activity, seen in multiple sports especially in baseball, volleyball, handball, and basketball(16-18). This involves all tissues of the shoulder – bone, capsule, and muscle(19). During normal human development the humeral head rotates from a retroverted position at birth to an anteverted position as an adult. However, when individuals begin overhead throwing at an early age, extrinsic forces on the humerus cause the humeral head to remain in relative retroversion compared to that of the non-dominant arm. This, combined with tightness of the posteroinferior capsule from chronic reactive scarring, and with scapular

A largest and the most complex joint in our body is a shoulder joint. Shoulder joints form when the humerus bone fits into the scapula thus creates a ball and socket structure. Ligament, muscles, padding, tendons, cartilage are totally comprised by the shoulder joint. When anything goes wrong the total mobility of shoulder becomes painful and discomfort. Some common problems affect shoulders such as Nerve compression, Arthritis, Rotating cuff problem, arthroscopy, and shoulder joint dislocation.

Anterior deltoid Lateral 3rd of clavicle Deltoid tuberosity Shoulder abduction, flexion, medial rotation, and horizontal adduction Middle deltoid Acromion process Deltpid tuberosity Shoulder abduction Posterior deltoid Spie of scapula Deltoid tuberosity Shoulder abduction, extension, hyperextension, lateral rotation, horizontal Pectoralis minor Anterior surface, 3rd through 5th ribs Coracoid process of scapula Scapular depression, protraction, downward rotation, and tilt Pectoralis major-clavicular region Medial 3rd of clavicle Lateral lip of bicipital groove of humerus Shoulder flexion - first 60 degrees Pectoralis major- sternal region Sternum, costal cartilages of first 6 ribs Lateral lip of bicipital groove of humerus Shoulder extension - first 60 degrees (from 180-120 degrees Pectoralis main action: Shoulder adduction, medial rotation, horizontal adduction Rhomboids Spinous processes of C7 through T5 Vertebral border of scapula between the spine and inferior angle Scapular retraction, elevation and downward rotation Serratus anterior Lateral surface of upper 8 ribs Vertebral border of the scapula, anterior surface Scapular protraction, upward

Shoulder joint is a ball and socket joint between the shoulder blade and upper arm. It is the most mobile joint of the body. There is capsule which is two layers of members surrounding the joint. Around the capsule, there are some bursae--small fluid-filled sacs to assist the mobility. The shoulder joint is a muscle-dependent joint because it lacks strong ligaments.

The elbow (ulnohumeral) joint is a hinge joint, and, permits motion in only one plane.,the sagittal plane, and the only motions that occur in the sagittal plane are flexion and extension.

Our experiments are performed on a humanoid robot Baxter from RethinkRobot [cite?]. The arm has 7 DoF and 2 grippers in the end, and can be controlled by position, velocity or effort at the endpoint at 100 Hz. In the simulator Gazebo, the world is initialized with table, plates and wood board for the tasks, and the tools (eg. fork, knife, brush) are initialized in left hand gripper to perform the action sequence.

In physical human–robot interactions, typically robots fulfill a slave-like role. i.e., reacting towards human driven actions.

The shoulder joint is extremely flexible compared to the rest of the joints in the body. This flexibility is partly due to the fact that it is a ball and socket joint. By being a ball and socket joint it means that it is capable of circumduction, angular, and rotational movement. It allows one’s arm to move up, down, to the right, to the left, and in a circle. Because it has a large range of movement, it is unstable and easily damaged. To make up for this, it has many ligaments and tendons to keep it in place. In addition, it also has the glenoid labrum which deepens the shallow glenoid cavity and makes it more stable.

Research has proved how robotic therapy is more efficient and effective as compared to conventional therapy, since during the latter therapy the patient is expected to perform task-orientated repetitive movements that sometimes requires manual assistance from the therapist. The manual assistance by the therapist can lead to poor limb coordination and it's hard to regulate the level of assistance required by the patient, as well as keeping track of the patient's progress \cite{bortole2015h2}.

The first function of the scapula involves the scapulothoracic articulation, which offers another joint, in order for the humerus to totally rotate, with respect to the thorax increases. This function is useful, because it increases the range of motion higher than the 120o that can be produced by the glenohumeral joint. The second function of the scapula involves facilitating, where a large lever is facilitated for the muscles that are attached to the scapula. Due to the size and shape of the scapula, it provides large movements around two joints, namely the ac joint and the sternoclavicular joint. (Hamill,

Nakai implemented a human interface technique using force feedback mechanism attached to the operator’s hand and named it Sensor Arm System [5]. The arm served the basis of the Master-Slave manipulator system in Teleoperation. The arm with which he experimented had 7-DOF same as that