Multi-Segments Kinematic Model of the Human Spine during Gait

2021 ◽  
Author(s):  
Elisa Panero ◽  
Elisa Digo ◽  
Virginia Ferrarese ◽  
Ugo Dimanico ◽  
Laura Gastaldi
Keyword(s):  
Kinematic Model ◽  
Human Spine

A Model of the Human Spine: Forward and Inverse Kinematics

1992 ◽  
Author(s):  
Sunil Kumar Agrawal ◽  
Siyan Li ◽  
Glen Desmier
Keyword(s):  
Range Of Motion ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Joint Angles ◽  
Human Spine ◽  
Forward And Inverse Kinematics ◽  
Position And Orientation ◽  
Three Degrees Of Freedom ◽  
Adjacent Vertebra

Abstract The human spine is a sophisticated mechanism consisting of 24 vertebrae which are arranged in a series-chain between the pelvis and the skull. By careful articulation of these vertebrae, a human being achieves fine motion of the skull. The spine can be modeled as a series-chain with 24 rigid links, the vertebrae, where each vertebra has three degrees-of-freedom relative to an adjacent vertebra. From the studies in the literature, the vertebral geometry and the range of motion between adjacent vertebrae are well-known. The objectives of this paper are to present a kinematic model of the spine using the available data in the literature and an algorithm to compute the inter vertebral joint angles given the position and orientation of the skull. This algorithm is based on the observation that the backbone can be described analytically by a space curve which is used to find the joint solutions..

scholarly journals A kinematic model of the human spine and torso

1991 ◽  
Vol 11 (2) ◽  
pp. 29-38 ◽  
Author(s):  
G. Monheit ◽  
N.I. Badler
Keyword(s):  
Kinematic Model ◽  
Human Spine

scholarly journals Reduced kinematic model of the human spine

PAMM ◽  
2007 ◽  
Vol 7 (1) ◽  
pp. 4020025-4020026
Author(s):  
Christian Simonidis ◽  
Manuel Scharmacher ◽  
Wolfgang Seemann
Keyword(s):  
Kinematic Model ◽  
Human Spine

SCREW KINEMATIC MODEL FOR ROBOT CALIBRATION WITH PC-ROBOT COMMUNICATION OVERVIEW

2017 ◽  
Author(s):  
Lucas Kato ◽  
Tiago Pinto ◽  
Henrique Simas ◽  
Daniel Martins
Keyword(s):  
Kinematic Model ◽  
Robot Calibration ◽  
Robot Communication

Multi-criteria optimization of the four-finger gripper mechanism

2020 ◽  
Vol 8 (4) ◽  
pp. 276-286
Author(s):  
Vu Duc Quyen ◽  
Andrey Ronzhin
Keyword(s):  
Multicriteria Optimization ◽  
Kinematic Model ◽  
Objective Functions ◽  
Nsga Ii ◽  
Suction Nozzle

Three posterior algorithms NSGA-II, MOGWO and MOPSO to solve the problem of multicriteria optimization of the robotic gripper design are considered. The description of the kinematic model of the developed prototype of the four-fingered gripper for picking tomatoes, its limitations and objective functions used in the optimization of the design are given. The main advantage of the developed prototype is the use of one actuator for the control of the fingers and the suction nozzle. The results of optimization of the kinematic model and the dimensions of the elements of robotic gripper using the considered posterior algorithms are presented.

Developing a Kinematic Estimation Model for a Climbing Mobile Robotic Welding System

2010 ◽  
Author(s):  
Aaron T. O’Toole ◽  
Stephen L. Canfield
Keyword(s):  
Kinematic Model ◽  
Robotic Welding ◽  
Estimation Model ◽  
Mobile Platforms ◽  
Low Profile ◽  
Turning Radius ◽  
Equivalence Model ◽  
Kinematic Equivalence ◽  
Welding System ◽  
Robot Platform

Skid steer tracked-based robots are popular due to their mechanical simplicity, zero-turning radius and greater traction. This architecture also has several advantages when employed by mobile platforms designed to climb and navigate ferrous surfaces, such as increased magnet density and low profile (center of gravity). However, creating a kinematic model for localization and motion control of this architecture is complicated due to the fact that tracks necessarily slip and do not roll. Such a model could be based on a heuristic representation, an experimentally-based characterization or a probabilistic form. This paper will extend an experimentally-based kinematic equivalence model to a climbing, track-based robot platform. The model will be adapted to account for the unique mobility characteristics associated with climbing. The accuracy of the model will be evaluated in several representative tasks. Application of this model to a climbing mobile robotic welding system (MRWS) is presented.

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