Abstract—In this paper, we investigated characteristics of human's upper limb extension with shoulder movements when the grasped object was moved from one point to other point. In cases where the goal position is put in a farther place than the length of the extended arm, not only the velocity profile of the hand by extension exercise but also that of the shoulder by anteflexion exercise are bell-shaped. These two exercises are simultaneously performed, but the hand velocity becomes a peak earlier in comparison with the shoulder one. Reproducing the measured human data, the exercises of a three-link arm with shoulder or body movements are simulated and the characteristics of a human-likeness fusion are examined by shifting the start time of the shoulder movement. As an evaluation result, it was found that the relation between the velocity peak positions of the hand and shoulder remarkably influences on the human-likeness.

Index Terms—human arm, psychological evaluation, extension, simulation

Cite: Nobuaki Nakazawa and Toshikazu Matsui, "Extension of the Upper Extremity with Shoulder Movements," International Journal of Mechanical Engineering and Robotics Research, Vol.4, No. 3, pp. 233-237, July 2015. DOI: 10.18178/ijmerr.4.3.233-237