A New Skeleton Model and the Motion Rhythm Analysis for Human Shoulder Complex Oriented to Rehabilitation Robotics

Table 4

Range of motion (ROM) tasks.

Shoulder movement	Motion description
ABD (shoulder abduction)	Motion in the frontal plane. Initially, the arm relaxes and hangs down and then moves in the frontal plane, until the humerus rises up to the extreme position, and then moves back to the initial location. Keep the palm facing the body and upper limb unbent during exercises.
FLEX (shoulder anteflexion)	Flexion movement in the sagittal plane. Initially, the arm relaxes and hangs down and then flexes in the sagittal plane, until the humerus rises up to the extreme position, and then moves back to the initial location.
SCAP (shoulder scaption)	Movement in the scapular plane. Initially, the arm relaxes and hangs down and then raises the scapular plane (at about 45° to the frontal plane) until the humerus rises up to the extreme position and then back to the initial position.