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--- a +++ b/Docs/body/shoulder_arm_model.md @@ -0,0 +1,200 @@ +# The Shoulder Arm Model + +The ShoulderArm model contains data from two different persons. Most of this data +comes from the Dutch Shoulder Group and their +[shoulder model available online](https://web.archive.org/web/20150707202425/http://homepage.tudelft.nl/g6u61/repository/shoulder/overview.htm) + + +:::{versionadded} 2.2 +A new wrapping implementation of the deltoid muscles was added by Marta Strzelczak from École de technologie supérieure, Montreal, CA. See {ref}`DeltoidWrapping` below. +::: + +The model is built using data from subject 2 from the VU study and subject 2 +from the MAYO study. The files, which contains the name "forearm", are +built on data from the MAYO study. + +The shoulder is a complex joint with mutually coupled motions of the scapula, +clavicle and the humerus. To balance realism with model simplicity, the model +defines motions of the scapula and clavicle as mathematical functions of the +glenohumeral joint angles, also known as a "Shoulder rhythms". + +The AnyBody shoulder model's rhythm can be switched on +and off, the full details of which can be seen in this report +[Shoulder Rhythm +Report](https://paperpile.com/shared/sQXLyvQsQRfauvB5T9lxyqg). + +```{raw} html +<video width="45%" style="display:block; margin: 0 auto;" controls autoplay loop> + <source src="../_static/ShoulderArm_rotating_model.mp4" type="video/mp4"> +Your browser does not support the video tag. +</video> +<!--<img src="../_static/ShoulderCloseupBack.jpg" alt="Smiley face" width="45%">--> +``` + + +## Example Configuration + +Short example of how to configure the Shoulder Arm model: + +```AnyScriptDoc +#define BM_ARM_RIGHT ON +#define BM_ARM_LEFT ON +#define BM_ARM_SHOULDER_RHYTHM ON + +#define BM_ARM_MUSCLE _MUSCLES_3E_HILL_ +``` + + +:::{seealso} +:class: margin +See {doc}`Arm configuration parameters <../bm_config/arm>` for a +full list of configuration parmaeters or {doc}`configuration section <../bm_config/index>` +for more information on BM parameters. +::: + + + +% .. Image:arm.png + +(deltoidwrapping)= + +## Deltoid wrapping + +An wrapping implementation of the deltoid muscles have been added after the +model was first built. The implementation uses multiple wrapping cylinders for +each element of the deltoid muscle. The new approach ensures a more realistic +path of the muscle fibers compared to the previous implementaiton which used a +dedicated rake segment to hold the detoid fibers in place. + +```{raw} html +<video width="45%" style="display:block; margin: 0 auto;" controls autoplay loop> + <source src="../_static/new_deltoid_wrapping.mp4" type="video/mp4"> +Your browser does not support the video tag. +</video> +``` + +Deltoid wrapping can be disabled/enabled with the switch +{ammr:bm_statement}`BM_ARM_DELTOID_WRAPPING`. + +The deltoid wrapping was developed by Marta Strzelczak from Département de +génie de la production automatisée, École de technologie supérieure, Montreal, +CA. Please cite the following work if you need it: + +> Strzelczak, M., Lund, M. E., Sins, L., Mickael, B. & Hagemeister, N. A new +> wrapping approach for the deltoid muscle modelling. in The Proceedings of the +> 20th Biennial Meeting of theCanadian Society for Biomechanics (2018). + +## Degrees of freedom + +The arm has the following basic dof, which can be controlled by combinations +joint drivers directly or indirectly through connections to the environment + +- SternoClavicularProtraction +- SternoClavicularElevation +- SternoClavicularAxialRotation +- GlenohumeralFlexion +- GlenohumeralAbduction +- GlenohumeralExternalRotation +- ElbowFlexion +- ElbowPronation +- WristFlexion +- WristAbduction + +## Joint terminology + + +The model consists of the following joints: + +**Joints and kinematic contraints of the arm model** + +```{eval-rst} + +================================ ====================== =============================================================== +Name Description Joint/Constraint Type +================================ ====================== =============================================================== +SternoClavicularJoint SternoClavicular Spherical joint +AcromioClavicularJoint AcromioClavicular Spherical joint +GlenoHumeralJoint Glenohumeral joint Spherical joint (The default joint reactions are + disabled, since they do not automatically ensure that + the net force vector passes through the glenoid cavity. + The special force elements providing these biofidelic + reaction forces are contained in the file "GHReactions.any") +AI One DOF constraint requiring the bony landmark + AI on the scapula, to stay in contact with the thorax +AA One DOF constraint requiring the bony landmark + AA on the scapula, to stay in contact with the thorax +ConoideumLigament The length of this ligament is driven + to always remain constant +HumeroUlnarJoint Flexion-extension Revolute joint + of the elbow +HumeroRadialJoint Pronation-supination Single linear constraint (5 DOF joint) between radius + and humerus +ProximalRadioUlnarJoint Pronation-supination Trans Spherical joint between radius and ulna at the + proximal part. +DistalRadioUlnarJoint Pronation-supination Trans Spherical joint between radius and ulna at the + proximal part. The HumeroRadialJoint, ProximalRadioUlnarJoint + DistalRadioUlnarJoint leaves one DOF free which is + pronation/supination of the forearm +Wrist joint Two successive revolute joints where + the axes of rotations are not coincident +================================ ====================== =============================================================== + +``` + + +## Resources + +More details on the ShoulderArm model can be found online: + +- Webcast: [Validation of the AnyBody version of the Dutch Shoulder Model by the in-vivo measurement of GH contact forces by Bergmann et al.](https://www.anybodytech.com/download/validation-of-the-anybody-version-of-the-dutch-shoulder-model-by-the-in-vivo-measurement-of-gh-contact-forces-by-bergmann-et-al/) + +## Anatomy References + +- F.C.T. van der Helm and R. Veenbaas, Modeling the mechanical efect of + muscles with large attachment sites: aplication to the shoulder + mechanism. Journal of Biomechanics, vol. 24, no. 12, pp. 1151-1163, + 1991 +- H.E.J. Veeger, F.C.T. van der Helm, L.H.V. van der Woude, G.M. Pronk + and R.H. Rozendal, Inertia and muscle contraction parameters for + musculoskeletal modelling of the shoulder mechanism. Journal of + Biomechanics, vol. 24, no. 7, pp. 615-629, 1991 +- F.C.T. van der Helm, A finite element musculoskeletal model of the + shoulder mechanism. Journal of Biomechanics, vol. 27, no. 5, pp. + 551-569, 1994 +- R. Happee and F.C.T. Van der Helm, The control of shoulder muscles + during goal directed movements, an inverse dynamic analysisJ. + Biomechanics, vol. 28, no. 10, pp. 1179-1191, 1995 +- Van der Helm FC, Veeger HE, Pronk GM, Van der Woude LH, Rozendal RH. + Geometry parameters for musculoskeletal modeling of the shoulder + system Journal of biomechanics Vol. 25 no. 2, pp. 129-144, 1992 Note: + this reference is used for the geometry used for the definition of + many of the geometries which are used for muscle wrapping +- DirkJan (H.E.J.) Veeger, Bing Yu, Kai Nan An, Orientation of axes in + the elbow and forearm for biomechanical modeling Proceedings of the + first conference of the ISG,1997 +- The segment coordinatesystem are according to the ISB proposal, + please see + <https://media.isbweb.org/images/documents/standards/frans_c.t._van_der_helm_shoulder_protocol.pdf> +- H.E.J. Veeger, Bing Yu, Kai-Nan An and R.H. Rozendal, Parameters for + modeling the upper extremity, Journal of Biomechanics, Vol. 30, No. + 6, pp. 647-652, 1997 +- H.E.J. Veeger, F.C.T. van der Helm, L.H.V. van der Woude, G.M. Pronk + and R.H. Rozendal,Inertia and muscle contraction parameters for + musculoskeletal modelling of the shoulder mechanism. Journal of + Biomechanics, vol. 24, no. 7, pp. 615-629, 1991 + +## Muscle References + +- Jacobson, M. D., R. Raab, B. M. Fazeli, R. A. Abrams, M. J. Botte, + and R. L. Lieber. Architectural design of the human intrinsic hand + muscles. J. Hand Surg. \[Am.\] 17:804809, 1992. +- Lieber, R. L., M. D. Jacobson, B. M. Fazeli, R. A. Abrams, and M. J. + Botte. Architecture of selected muscles of the arm and forearm: + Anatomy and implications for tendon transfer. J. Hand Surg. \[Am.\] + 17:787-798, 1992. +- Lieber, R. L., B. M. Fazeli, and M. J. Botte. Architecture of + selected wrist flexor and extensor muscles. J. Hand Surg. \[Am.\] + 15:244-250, 1990. +- Muray, W.M.,T.S. Buchanan, and S.L. Delp. Scaling of peak moment arms + with the elbow and forearm position J. Biomech. Vol. 28, pp. 513-525, + 1995