A static shoulder model based on a time-dependent criterion for load sharing between synergistic muscles

A static shoulder model including a novel muscular synergy principle for computing load sharing between the shoulder muscles is presented. This principle is feasible especially when analysing endurance-type activities. According to the principle, time elapsed from the start of the activity decreases the allowable muscle stress levels on the basis of the stress-endurance time curves of individual muscles. At low load levels the sum of the squared forces is minimized. At higher load levels the increase in the stress levels of individual muscles is counteracted in order to prevent fatigue. In the model the direction of the contact force in the glenohumeral joint is constrained. The stiffness of the shoulder can also be constrained to produce more muscular co-contraction in tasks with high precision demands.