The aim of this work is to improve musculoskeletal-based models of the upper-limb Wrench Feasible Set i.e. the set of achievable maximal wrenches at the hand for applications in collaborative robotics and computer aided ergonomics. In particular, a recent method performing wrench capacity evaluation called the Iterative Convex Hull Method is upgraded in order to integrate non dislocation and compression limitation constraints at the glenohumeral joint not taken into account in the available models. Their effects on the amplitude of the force capacities at the hand, glenohumeral joint reaction forces and upper-limb muscles coordination in comparison to the original iterative convex hull method are investigated in silico. The results highlight the glenohumeral potential dislocation for the majority of elements of the wrench feasible set with the original Iterative Convex Hull method and the fact that the modifications satisfy correctly stability constraints at the glenohumeral joint. Also, the induced muscles coordination pattern favors the action of stabilizing muscles, in particular the rotator-cuff muscles, and lowers that of known potential destabilizing ones according to the literature.

翻译：本研究旨在改进基于肌肉骨骼模型的上肢力旋量可行域（即手部可达到的最大力旋量集合），以应用于协作机器人和计算机辅助人机工程学。特别地，本文对一种名为迭代凸包法的力旋量能力评估最新方法进行了升级，以整合现有模型中未考虑的盂肱关节非脱位和压缩限制约束。通过计算机仿真，研究了这些约束与原始迭代凸包法相比，对手部力能力幅度、盂肱关节反作用力以及上肢肌肉协调性的影响。结果表明，原始迭代凸包法中力旋量可行域的大部分元素存在盂肱关节潜在脱位风险，而改进方法能够正确满足盂肱关节的稳定性约束。此外，根据文献记载，诱导的肌肉协调模式有利于稳定肌（特别是肩袖肌群）的作用，同时降低了已知潜在失稳肌群的活动。