scholarly journals Towards a Modular Elbow Exoskeleton: Concepts for Design and System Control

2022 ◽  
pp. 141-152
Author(s):  
Samet Ersoysal ◽  
Niclas Hoffmann ◽  
Lennart Ralfs ◽  
Robert Weidner
Keyword(s):  
Elbow Joint ◽  
Practical Investigations ◽  
The Body ◽  
System Control ◽  
Control Mechanisms ◽  
Body Parts ◽  
Modular Architecture ◽  
Heavy Loads ◽  
And Control ◽  
Future Work

AbstractIn industrial workplaces, strenuous, repetitive, and long-term tasks at head level or above as well as carrying heavy loads may lead to musculoskeletal disorders of different task dependent body parts. With an increasing trend towards wearable support systems, there is already a large quantity of exoskeletons that may support the user during movements, or stabilize postures, in order to reduce strain on various parts of the body. However, most commercially available exoskeletons mainly focus on the back and shoulder support. Only a few of them address the elbow joint, despite it being prone to injury. Therefore, this paper discusses different possible design and control concepts of modular elbow exoskeletons. The modular architecture potentially enables coupling to existing commercial- and research-associated systems, through appropriate interfaces. Different morphological structures and control mechanisms are assessed in respect to their ability to extend common exoskeletons for back and shoulder support. Based on these considerations, a first functional passive prototype is presented, which supports the flexion of the elbow joint and can be coupled to an existing exoskeleton. In future work, the prototype may be used for further elaboration and practical investigations in laboratory settings to evaluate its technical functionality and biomechanical effects on the user.

scholarly journals The gravitational imprint on sensorimotor planning and control

2020 ◽  
Vol 124 (1) ◽  
pp. 4-19 ◽  
Author(s):  
O. White ◽  
J. Gaveau ◽  
L. Bringoux ◽  
F. Crevecoeur
Keyword(s):  
Internal Representation ◽  
The Body ◽  
Altered Gravity ◽  
Partial Adjustment ◽  
Gravitational Forces ◽  
Planning And Control ◽  
Biomechanical Constraints ◽  
And Control ◽  
Future Work ◽  
The Impact

Humans excel at learning complex tasks, and elite performers such as musicians or athletes develop motor skills that defy biomechanical constraints. All actions require the movement of massive bodies. Of particular interest in the process of sensorimotor learning and control is the impact of gravitational forces on the body. Indeed, efficient control and accurate internal representations of the body configuration in space depend on our ability to feel and anticipate the action of gravity. Here we review studies on perception and sensorimotor control in both normal and altered gravity. Behavioral and modeling studies together suggested that the nervous system develops efficient strategies to take advantage of gravitational forces across a wide variety of tasks. However, when the body was exposed to altered gravity, the rate and amount of adaptation exhibited substantial variation from one experiment to another and sometimes led to partial adjustment only. Overall, these results support the hypothesis that the brain uses a multimodal and flexible representation of the effect of gravity on our body and movements. Future work is necessary to better characterize the nature of this internal representation and the extent to which it can adapt to novel contexts.

How to Carry Loads Economically: Analysis Based on a Predictive Biped Model

2019 ◽  
Vol 142 (4) ◽  
Author(s):  
Tong Li ◽  
Qingguo Li ◽  
Tao Liu ◽  
Jingang Yi
Keyword(s):  
Relative Motion ◽  
Energy Cost ◽  
Interaction Force ◽  
The Body ◽  
Additional Energy ◽  
Load Carrying ◽  
Walking Motion ◽  
Carrier Interaction ◽  
Heavy Loads ◽  
And Control

Abstract Carrying heavy loads costs additional energy during walking and leads to fatigue of the user. Conventionally, the load is fixed on the body. Some recent studies showed energy cost reduction when the relative motion of the load with respect to the body was allowed. However, the influences of the load's relative motion on the user are still not fully understood. We employed an optimization-based biped model, which can generate human-like walking motion to study the load–carrier interaction. The relative motion can be achieved by a passive mechanism (such as springs) or a powered mechanism (such as actuators), and the relative motion can occur in the vertical or fore-aft directions. The connection between the load and body is added to the biped model in four scenarios (two types × two directions). The optimization results indicate that the stiffness values affect energy cost differently and the same stiffness value in different directions may have opposite effects. Powered relative motion in either direction can potentially reduce energy cost but the vertical relative motion can achieve a higher reduction than fore-aft relative motion. Surprisingly, powered relative motion only performs marginally better than the passive conditions at similar peak interaction force levels. This work provides insights into developing more economical load-carrying methods and the model presented may be applied to the design and control of wearable load-carrying devices.

scholarly journals An ergonomic study of postural stress of nurses working in orthopedic wards

2013 ◽  
Vol 3 (1) ◽  
pp. 26-31 ◽  
Author(s):  
Smaranika Goswami ◽  
Prasun Haldar ◽  
Subhashis Sahu
Keyword(s):  
Occupational Safety ◽  
The Body ◽  
Body Parts ◽  
Posture Analysis ◽  
Work Related ◽  
Postural Stress ◽  
Health Care Unit ◽  
Musculoskeletal Problems ◽  
Heavy Loads ◽  
Complex Health Problems

It was reported high prevalence of musculoskeletal disorders among nurses. Among the wards, personnel working in Orthopedic wards routinely perform activities that require lifting heavy loads in awkward posture. Challenges faced by them assess patients skillfully and uniquely because orthopedic patients typically present with multiple, complex health problems. During orthopedic patient handling work-related postural strain are most common in health care unit personnel. This study aims at evaluating the different work-related musculoskeletal strain due to awkward postures, body parts discomforts, and find out some ergonomic solutions to these problems. Forty nurses working in orthopedic settings of two hospitals were interviewed by modified Nordic Questionnaire to reveal the prevalence of musculoskeletal problems and pain in various regions of the body. BPD Scale was used to identify the intensity of different body parts discomforts. Video recordings and still photographs were taken to evaluate postural stress during different activities were analyzed by OWAS (Ovako working posture analysis) method. Activity analysis chart was also used to represent the duration of different activities of nurses in their respective duty hours. It was observed that the most physically demanding and postural strenuous task is transferring patient alone. In orthopedics wards different activities like assist patient to walk, changing, other care works are strenuous because as about 90% of adult patient are over 50 kg of body weight and due to facture or other problem are unstable. Some ergonomic interventions like assisted lifting, lifting aids, training, etc. are recommended to improve the working conditions and reduce postural strain. DOI: http://dx.doi.org/10.3126/ijosh.v3i1.9097   International Journal of Occupational Safety and Health, Vol 3 No 1 (2013) 26-31

scholarly journals A Framework for the Collection, Retention and Use of Human Body Parts

2021 ◽  
Author(s):  
◽  
Cordelia Mary Thomas
Keyword(s):  
Decision Making ◽  
Cultural Values ◽  
Human Body ◽  
Rapid Development ◽  
Legal Framework ◽  
The Body ◽  
Body Parts ◽  
Property Interest ◽  
Bioethical Issues ◽  
And Control

<p>Organ transplantation and biotechnological research depend on the availability of body parts, which necessitates the willing involvement of the public. The rapid development of biotechnology has led to a search for an adequate decision-making framework for the acquisition, retention and utilisation of body parts. It has also lead to disquiet about the commercialisation of research with the source being the only participant who is unable to benefit financially. In developing such a framework it is necessary to conceptualise the nature of the interest that individuals have in their bodies. The principle of autonomy may form a basis for structuring decision-making and weighing conflicting principles. As a society we value autonomy in the sense that a competent adult may make decisions about his or her own health care. The concept is that of an individual separated from others by a wall of rights. This may be of assistance as a basis for formulating competing rights, but this must then be mediated with reference to other principles. In this context this thesis applies the concepts of property interests to the human body. The purpose of this research is to consider selected bioethical issues in an attempt to formulate a principled approach to issues of consent and control over the body and its component parts. It argues that a living person should have a property interest in excised body parts during life. There should also be a property interest in the cadaver that arises at the point of death, which can be passed to the deceased's personal representative, who would be required to deal with the cadaver in accord with the previous instructions of the deceased. However, it does not argue that there are property interests in entire living persons. It does not suggest that property alone is adequate to resolve the issues, but that it should operate alongside existing concepts such as autonomy, informed consent and privacy. It proposes draft legislation to illustrate the operation of the suggested medico-legal framework. It recognises that any framework should be respectful of Maori cultural values, in light of the special position of Maori as tangata whenua, as expressed in the Treaty of Waitangi. It argues that the framework allows Maori the freedom to choose collective or individualistic decision-making, in recognition of the diversity of values within the Maori population. In addition, it considers areas where public policy might determine that the free disposition of this property interest should be restricted to protect vulnerable persons, such as incompetent persons and living organ donors.</p>

scholarly journals Modeling and Control of Underactuated Three-Dimensional Overhead Crane Systems

2021 ◽  
Vol 6 ◽  
pp. 80-85
Author(s):  
Magdi S. Mahmoud ◽  
Nezar M. Alyazidi ◽  
Abdalrahman M. Hassanine
Keyword(s):  
Three Dimensional ◽  
Vital Role ◽  
Overhead Crane ◽  
Modeling And Control ◽  
Recent Developments ◽  
Heavy Loads ◽  
And Control ◽  
Future Work

Overhead crane systems play a vital role in different factories to transport heavy loads. This paper provides an overview of recent developments in the modeling and control of three-dimensional overhead crane systems. It provides a categorized survey of the published work. Different control methodologies when applied to overhead crane are examined, outlined and assessed to aid for future work.

scholarly journals A Framework for the Collection, Retention and Use of Human Body Parts

2021 ◽  
Author(s):  
◽  
Cordelia Mary Thomas
Keyword(s):  
Decision Making ◽  
Cultural Values ◽  
Human Body ◽  
Rapid Development ◽  
Legal Framework ◽  
The Body ◽  
Body Parts ◽  
Property Interest ◽  
Bioethical Issues ◽  
And Control

<p>Organ transplantation and biotechnological research depend on the availability of body parts, which necessitates the willing involvement of the public. The rapid development of biotechnology has led to a search for an adequate decision-making framework for the acquisition, retention and utilisation of body parts. It has also lead to disquiet about the commercialisation of research with the source being the only participant who is unable to benefit financially. In developing such a framework it is necessary to conceptualise the nature of the interest that individuals have in their bodies. The principle of autonomy may form a basis for structuring decision-making and weighing conflicting principles. As a society we value autonomy in the sense that a competent adult may make decisions about his or her own health care. The concept is that of an individual separated from others by a wall of rights. This may be of assistance as a basis for formulating competing rights, but this must then be mediated with reference to other principles. In this context this thesis applies the concepts of property interests to the human body. The purpose of this research is to consider selected bioethical issues in an attempt to formulate a principled approach to issues of consent and control over the body and its component parts. It argues that a living person should have a property interest in excised body parts during life. There should also be a property interest in the cadaver that arises at the point of death, which can be passed to the deceased's personal representative, who would be required to deal with the cadaver in accord with the previous instructions of the deceased. However, it does not argue that there are property interests in entire living persons. It does not suggest that property alone is adequate to resolve the issues, but that it should operate alongside existing concepts such as autonomy, informed consent and privacy. It proposes draft legislation to illustrate the operation of the suggested medico-legal framework. It recognises that any framework should be respectful of Maori cultural values, in light of the special position of Maori as tangata whenua, as expressed in the Treaty of Waitangi. It argues that the framework allows Maori the freedom to choose collective or individualistic decision-making, in recognition of the diversity of values within the Maori population. In addition, it considers areas where public policy might determine that the free disposition of this property interest should be restricted to protect vulnerable persons, such as incompetent persons and living organ donors.</p>

scholarly journals Is Leishmaniasis donovani elimination feasible in Bhutan? A review of current prevention and control mechanisms in Bhutan

2020 ◽  
Vol 6 (2) ◽  
pp. 27-30
Author(s):  
Tashi Tobgay ◽  
Sithar Dorjee ◽  
Ambika Pradhan ◽  
Tenzin Wangdi ◽  
Tobgye Drukpa ◽  
...  
Keyword(s):  
Health Care Providers ◽  
Sand Fly ◽  
System Control ◽  
Insect Vector ◽  
Control Mechanisms ◽  
Care Providers ◽  
Control And Prevention ◽  
No Elimination ◽  
Elimination Goal ◽  
And Control

Leishmaniasis is a neglected tropical disease with an annual estimated 700,000 to 1 million new cases globally. The diseases affect the rural community and people living in poverty. It is transmitted by female phlebotomine sand-fly; a tiny 2–3 mm long insect vector. Along with the regional countries, Bhutan has embarked on the elimination goal. However, several challenges lies ahead on its path to elimination. There is no elimination strategy and actions. The reporting, surveillance system, control and prevention mechanisms are inadequate. Further, there is lack of knowledge among the health care providers that impedes elimination goals. Therefore, if Bhutan is serious about its elimination goal, all the gaps and current challenges needs to be addressed appropriately. Keywords: Bhutan; Elimination; Leishmaniasis.

scholarly journals MAC Anesthesia during Endoscopic Percutaneous Gastrostomy (PEG) in a Patient with Amyotrophic Lateral Sclerosis (ALS). A Case Report.

2019 ◽  
Vol 3 (2) ◽  
Author(s):  
Majlinda Naço ◽  
Haxhire Gani ◽  
Arvin Dibra ◽  
Eden Naço ◽  
Suzana Mukaj
Keyword(s):  
Amyotrophic Lateral Sclerosis ◽  
Motor Neurons ◽  
The Body ◽  
Activity Level ◽  
Dose Titration ◽  
Body Parts ◽  
Noninvasive Blood Pressure ◽  
Percutaneous Gastrostomy ◽  
And Control ◽  
Lateral Sclerosis

Background: Amyotrophic lateral sclerosis (ALS) is a serious disease in which some brain and spinal cells die slowly. These nerve cells are called motor neurons and control the muscles that allow the body parts to move. Initially, the disease causes bodily fatigue and muscular weakness through degeneration of the upper and lower motor neurons, leading to loss of ability to initiate and control the voluntary bodily functions. In late stages this disease causes difficulty in the normal swelling and eating that causes the need for PEG in patients with ALS. This clinical picture increases the difficulty and the anesthetic risk used during the PEG application. Case presentation: We are describing our experience in a 56-year-old male patient, ASA III suffering from ALS and being admitted to our clinic to insert PEG. The patient presented BMI =15.6. After the patient provide informed consent, we were monitoring him for detect changes in pulse oximetry, noninvasive blood pressure, heart rate and visual assessment of ventilator activity, level of consciousness and discomfort. We used balanced propofol for moderate sedation (BPS), loading dose 1mg midazolam, 0.1 mg of fentanyl, and 5-15 mg propofol in smaller bolus dose were applied for more precise dose titration. The operation was performed after the patient lost the consciousness and had no pupil reflex. The EGD entered to the stomach. Fistula was localized after the visualization of light from the tube. Local lidocaine was applied and 1cm incision on the abdominal wall gave the possibility for application of fistula and gastro stoma placement. The patient wakes up 10 minutes after the end of the procedure without using antidotes. The patient after treatment went home in two days using gastro stoma for enteral feeding.

Finite Element Analysis for a Certain Type of Vehicle Engine Shock Absorber Assembly Performance Based on ANSYS Workbench

2013 ◽  
Vol 365-366 ◽  
pp. 486-489
Author(s):  
Yuan Chen ◽  
Jian Jun Sun ◽  
Ya Qiao Zhu
Keyword(s):  
Shock Absorber ◽  
Ride Comfort ◽  
The Body ◽  
Body Parts ◽  
Element Analysis ◽  
Shock Absorbers ◽  
Vehicle Engine ◽  
Assembly Performance ◽  
And Control

The engine is the power source of the vehicle, it is the main and the most directly reason which causey the vehicle vibration. If you cannot control and attenuation of the vibration generated by it will make other parts of the body associated with strong vibration and noise, and also seriously affect vehicle handling stability and ride comfort, the occupant generated feel discomfort , even when serious damage to the body parts, shorten the car's life. Therefore, the role of the engine mounting system for attenuation and control of vehicle vibration is very important, the shock absorber is an important part of the engine mounting system; engine shock absorbers assembly performance will directly determine them can or cannot work to achieve the desired damping effect. In this paper, the authors propose a new, reliable assembly process; the assembly of the damper can achieve the production process requirements.

scholarly journals Artificial evolution of robot bodies and control: on the interaction between evolution, learning and culture

2021 ◽  
Vol 377 (1843) ◽  
Author(s):  
Emma Hart ◽  
Léni K. Le Goff
Keyword(s):  
General Scheme ◽  
The Body ◽  
Robotic Systems ◽  
Cultural Learning ◽  
Artificial Evolution ◽  
Collective Knowledge ◽  
Learning Mechanisms ◽  
Cumulative Culture ◽  
And Control ◽  
Future Work

We survey and reflect on how learning (in the form of individual learning and/or culture) can augment evolutionary approaches to the joint optimization of the body and control of a robot. We focus on a class of applications where the goal is to evolve the body and brain of a single robot to optimize performance on a specified task. The review is grounded in a general framework for evolution which permits the interaction of artificial evolution acting on a population with individual and cultural learning mechanisms. We discuss examples of variations of the general scheme of ‘evolution plus learning’ from a broad range of robotic systems, and reflect on how the interaction of the two paradigms influences diversity, performance and rate of improvement. Finally, we suggest a number of avenues for future work as a result of the insights that arise from the review. This article is part of a discussion meeting issue ‘The emergence of collective knowledge and cumulative culture in animals, humans and machines’.

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