Fig. 3.

A computer rendering of the in vitro muscle loading-driven active motion simulator with a right shoulder mounted shows: a scapula and humerus implanted with the custom adjustable, instrumented RTSA prosthesis (1); rotating scapula pot (2); motor and linkage mechanism to drive scapula pot rotation (3), low-friction deltoid and rotator cuff cable guide system which routes sutures from the muscle attachment to low friction pneumatic actuators (out of frame to the right) (4), optical trackers used to provide real-time kinematic feedback to the control system (5), and weight used to replace the mass of the resected distal arm (6). Soft tissues are omitted for clarity.