Human Limb Biomechanics

Author(s):  
William Craelius
Keyword(s):  
Author(s):  
Lihua Huang ◽  
Ryan Ryan Steger ◽  
H. Kazerooni

The first functional load-carrying and energetically autonomous exoskeleton was demonstrated at U.C. Berkeley, walking at the average speed of 0.9 m/s (2 mph) while carrying a 34 kg (75 lb) payload. The original BLEEX sensitivity amplification controller, based on positive feedback, was designed to increase the closed loop system sensitivity to its wearer’s forces and torques without any direct measurement from the wearer. The controller was successful at allowing natural and unobstructed load support for the pilot. This article presents an improved control scheme we call “mixed” control that adds robustness to changing BLEEX backpack payload. The walking gait cycle is divided into stance control and swing control phases. Position control is used for the BLEEX stance leg (including torso and backpack) and the sensitivity amplification controller is used for the swing leg. The controller is also designed to smoothly transitions between these two schemes as the pilot walks. With mixed control, the controller does not require a good model of the BLEEX torso and payload, which is difficult to obtain and subject to change as payload is added and removed. As a tradeoff, the position control used in this method requires the human to wear seven inclinometers to measure human limb and torso angles. These additional sensors require careful design to securely fasten them to the human and increase the time to don (and doff) BLEEX.


2007 ◽  
Vol 25 (11) ◽  
pp. 3476-3487 ◽  
Author(s):  
Eiichi Naito ◽  
Tokuro Nakashima ◽  
Tomonori Kito ◽  
Yu Aramaki ◽  
Tomohisa Okada ◽  
...  

2013 ◽  
Vol 121 (1) ◽  
pp. 49-62 ◽  
Author(s):  
MASATOMI KUDAKA ◽  
HITOSHI FUKASE ◽  
RYOSUKE KIMURA ◽  
TSUNEHIKO HANIHARA ◽  
HIROFUMI MATSUMURA ◽  
...  
Keyword(s):  

Author(s):  
Д.В. Горбунов ◽  
Т.В. Гавриленко

Разработана математическая и симуляционная модель для моделирования биомеханических движений конечности человека. Разработанный алгоритм модели базируется на биологическом представлении о включении и выключении в процессе удержания положения конечности отдельных мышц или их групп. Работа модели осуществляется за счет генерации случайных чисел (в математической форме симмуляционной модели отсутствуют статические величины). Сравнительный анализ экспериментальных и модельных данных показывает высокую эффективность работы симуляционной модели. Созданная симуляционная модель позволяет изучать принципы работы нервно-мышечной системы. Также модель является масштабируемой, что позволит в дальнейшем перейти к трехмерному моделированию для изучения механизмов самоорганизации биосистемы на уровне и нервно-мышечной системы, и центральной нервной системы. Mathematical and simulation model has been developed for modeling the biomechanical movements of a human limb. The developed model algorithm is based on the biological presentation and shutdown in the process of maintaining the positions of the final individual muscles or their groups. Work in models is due to statistical values. A comparative analysis of experimental and model data shows the high efficiency of the simulation model. The created simulation model allows to study the principles of the neuromuscular system. This model is scalable, which will allow us to switch to three-dimensional modeling to study the signs of self-organization of biosystems at the level of the neuromuscular system and central nervous system.


Robotics ◽  
2013 ◽  
pp. 1212-1232 ◽  
Author(s):  
Rogério Sales Gonçalves ◽  
João Carlos Mendes Carvalho

The science of rehabilitation shows that repeated movements of human limbs can help the patient regain function in the injured limb. There are three types of mechanical systems used for movement rehabilitation: robots, cable-based manipulators, and exoskeletons. Industrial robots can be used because they provide a three-dimensional workspace with a wide range of flexibility to execute different trajectories, which are useful for motion rehabilitation. The cable-based manipulators consist of a movable platform and a base, which are connected by multiple cables that can extend or retract. The exoskeleton is fixed around the patient's limb to provide the physiotherapy movements. This chapter presents a summary of the principal human limb movements, a review of several mechanical systems used for rehabilitation, as well as common mathematical models of such systems.


2021 ◽  
Vol 11 (3) ◽  
pp. 74-82
Author(s):  
N.I. Levonovich

This article discusses the development of a mathematical model for a device capable of tracking the movements of a human limb based on the readings of microelectromechanical sensors. For developing and selecting the most suitable model, experiments were conducted based on publicly available components. The result obtained is of practical importance since it can be used to create a device.


1997 ◽  
Vol 22 (4) ◽  
pp. 307-327 ◽  
Author(s):  
Robert S. Staron

This brief review attempts to summarize a number of studies on the delineation, development, and distribution of human skeletal muscle fiber types. A total of seven fiber types can be identified in human limb and trunk musculature based on the pH stability/ability of myofibrillar adenosine triphosphatase (mATPase). For most human muscles, mATPase-based fiber types correlate with the myosin heavy chain (MHC) content. Thus, each histochemically identified fiber has a specific MHC profile. Although this categorization is useful, it must be realized that muscle fibers are highly adaptable and that innumerable fiber type transients exist. Also, some muscles contain specific MHC isoforms and/or combinations that do not permit routine mATPase-based fiber typing. Although the major populations of fast and slow are, for the most part, established shortly after birth, subtle alterations take place throughout life. These changes appear to relate to alterations in activity and/or hormonal levels, and perhaps later in life, total fiber number. Because large variations in fiber type distribution can be found within a muscle and between individuals, interpretation of data gathered from human muscle is often difficult. Key words: aging, myosin heavy chains, myogenesis, myofibrillar adenosine triphosphate


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