A Technique for Kinematic Modeling of Anatomical Joints

1980 ◽  
Vol 102 (4) ◽  
pp. 311-317 ◽  
Author(s):  
H. J. Sommer ◽  
N. R. Miller
Keyword(s):  
Kinematic Model ◽  
Nonlinear Least Squares ◽  
Joint Motion ◽  
Kinematic Modeling ◽  
Universal Joint ◽  
General Technique ◽  
Motion Data ◽  
Physiological Loading ◽  
The Right

This paper describes a general technique for fitting a spatial kinematic model to an in-vivo anatomical joint under typical physiological loading conditions. The method employs a nonlinear least squares algorithm to minimize the aggregate deviation between postulated model motion and experimentally measured anatomical joint motion over multiple joint positions. Estimation of the parameters of a universal joint with skew-oblique revolutes to best reproduce wrist motion was used as an example. Experimental motion data from the right wrists of five subjects were analyzed. The technique performed very well and produced repeatable results consistent with previous biomechanical wrist findings.

scholarly journals Realtime Motion Assessment For Rehabilitation Exercises: Integration Of Kinematic Modeling With Fuzzy Inference

2014 ◽  
Vol 4 (4) ◽  
pp. 267-285 ◽  
Author(s):  
Wenbing Zhao ◽  
Roanna Lun ◽  
Deborah D. Espy ◽  
M. Ann Reinthal
Keyword(s):  
Fuzzy Inference ◽  
Kinematic Model ◽  
Integrated Approach ◽  
Kinematic Modeling ◽  
Motion Data ◽  
Fuzzy Interference System ◽  
Novel Approach ◽  
Motion Assessment ◽  
Rehabilitation Exercises ◽  
Rehabilitation Exercise

Abstract This article describes a novel approach to realtime motion assessment for rehabilitation exercises based on the integration of comprehensive kinematic modeling with fuzzy inference. To facilitate the assessment of all important aspects of a rehabilitation exercise, a kinematic model is developed to capture the essential requirements for static poses, dynamic movements, as well as the invariance that must be observed during an exercise. The kinematic model is expressed in terms of a set of kinematic rules. During the actual execution of a rehabilitation exercise, the similarity between the measured motion data and the model is computed in terms of their distances, which are then used as inputs to a fuzzy interference system to derive the overall quality of the execution. The integrated approach provides both a detailed categorical assessment of the overall execution of the exercise and the degree of adherence to individual kinematic rules.

Three-Dimensional Kinematic Modelling of the Human Shoulder Complex—Part II: Mathematical Modelling and Solution Via Optimization

1989 ◽  
Vol 111 (2) ◽  
pp. 113-121 ◽  
Author(s):  
S. T. Tu¨mer ◽  
A. E. Engin
Keyword(s):  
Optimization Problem ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Joint Motion ◽  
Upper Arm ◽  
Complex Part ◽  
Kinematic Modelling ◽  
Shoulder Complex ◽  
The Individual

In this paper, individual joint sinus cones associated with the sternoclavicular, claviscapular, and glenohumeral joints of the three-dimensional kinematic model introduced in Part I for the human shoulder complex are quantitatively determined. First, mathematical description of the humerus orientation with respect to torso is given in terms of eight joint variables. Since the system is a kinematically redundant one, solution for the joint variables satisfying a prescribed humerus orientation is possible only if additional requirements are imposed; and the “minimum joint motion” criterion is introduced for this purpose. Two methods, namely the Lagrange multipliers and flexible tolerance methods, are formulated and tested for the optimization problem. The statistical in-vivo data base for the circumductory motion of the upper arm is employed to determine a set of joint variables via optimization, which are then utilized to establish the sizes and orientations of the elliptical cones for the individual joint sinuses. The results are discussed and compared with those given on the basis of measurements made on cadaveric specimens.

scholarly journals A Cross-Platform Web3D Monitoring System of the Three-Machine Equipment in a Fully Mechanized Coalface Based on the Skeleton Model and Sensor Data

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Zhengxiong Lu ◽  
Wei Guo ◽  
Shuanfeng Zhao ◽  
Chuanwei Zhang ◽  
Yuan Wang ◽  
...  
Keyword(s):  
Monitoring System ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Sensor Data ◽  
Kinematic Modeling ◽  
Hydraulic Support ◽  
Skeleton Model ◽  
Motion Data ◽  
Mesh Model ◽  
Cross Platform

A fully mechanized coalface is a rugged environment that has poor visibility. The traditional video monitoring system has problems such as a lack of realism, a blurry monitoring effect, and poor reliability. It is an important task to monitor the operations of the three-machine equipment (we will refer to the shearer, hydraulic support, and scraper conveyor as the three-machine equipment) intuitively, accurately, and timely and ensure that it is operating safely. This study proposed a cross-platform Web3D monitoring system for the three-machine equipment. First, the virtual mesh model and skeleton model that was embedded in the mesh model were established according to three-machine ontology and basic motion units. Second, the kinematic model of the three-machine skeleton was established via the inverse kinematic modeling of the hydraulic support and the coordinate calculation of the vertices on the three-machine skeleton. Third, the motion data, which were captured by sensors, were applied to drive the movement of the three-machine skeleton and mesh model. Finally, WebGL, which is the latest Internet graphics standard, was used to render the three-machine models, and the performance of this monitoring system is tested on different equipment in the laboratory. The results of the test show that the three-machine cross-platform monitoring system has splendid performance, and it realizes cross-platform 3D monitoring effectively in the laboratory. In the future, this system will be used as a supervisory tool and be integrated with the traditional monitoring system to monitor the three-machine equipment with the field staff.

The thermodynamics of diastole: kinematic modeling-based derivation of the P-V loop to transmitral flow energy relation with in vivo validation

2011 ◽  
Vol 300 (2) ◽  
pp. H514-H521 ◽  
Author(s):  
Sina Mossahebi ◽  
Leonid Shmuylovich ◽  
Sándor J. Kovács
Keyword(s):  
Diastolic Function ◽  
Thermodynamic Assessment ◽  
Cardiac Cycle ◽  
Kinematic Model ◽  
Left Ventricular ◽  
Phenotypic Characterization ◽  
Energy Relation ◽  
Kinematic Modeling ◽  
Flow Energy

Pressure-volume (P-V) loop-based analysis facilitates thermodynamic assessment of left ventricular function in terms of work and energy. Typically these quantities are calculated for a cardiac cycle using the entire P-V loop, although thermodynamic analysis may be applied to a selected phase of the cardiac cycle, specifically, diastole. Diastolic function is routinely quantified by analysis of transmitral Doppler E-wave contours. The first law of thermodynamics requires that energy (ε) computed from the Doppler E-wave (εE-wave) and the same portion of the P-V loop (εP-V E-wave) be equivalent. These energies have not been previously derived nor have their predicted equivalence been experimentally validated. To test the hypothesis that εP-V E-wave and εE-wave are equivalent, we used a validated kinematic model of filling to derive εE-wave in terms of chamber stiffness, relaxation/viscoelasticity, and load. For validation, simultaneous (conductance catheter) P-V and echocadiographic data from 12 subjects (205 total cardiac cycles) having a range of diastolic function were analyzed. For each E-wave, εE-wave was compared with εP-V E-wave calculated from simultaneous P-V data. Linear regression yielded the following: εP-V E-wave = αεE-wave + b ( R2 = 0.67), where α = 0.95 and b = 6 e−5. We conclude that E-wave-derived energy for suction-initiated early rapid filling εE-wave, quantitated via kinematic modeling, is equivalent to invasive P-V-defined filling energy. Hence, the thermodynamics of diastole via εE-wave generate a novel mechanism-based index of diastolic function suitable for in vivo phenotypic characterization.

Mechanical Strength of PhotoFix® and Glutaraldehyde Treated Porcine Aortic Valve Wall Tissue

1999 ◽  
Author(s):  
Eric Talman ◽  
Jeffery Poehlmann
Keyword(s):  
Mechanical Strength ◽  
Heart Valves ◽  
Aortic Tissue ◽  
Prosthetic Heart Valves ◽  
Physiological Loading ◽  
Standard Design ◽  
The Right ◽  
In Vivo Loading ◽  
Composite Designs

Abstract The use of prosthetic heart valves manufactured from porcine aortic valves is commonplace. The standard design incorporates a valve mounted on a plastic or metal stent to facilitate implantation. More recently stentless valves have gained favor. These valves include the intact aortic root or a composite design. Composite valves are assembled using tissue from different valves cut axially along the aorta between valve leaflets. Composite designs are used to eliminate the right coronary leaflet substantially reducing the associated muscle shelf which has been the cause of high re-operation rates in the past (1). We are developing a tri-composite, PhotoFix® stentless valve, combining three non-coronary leaflets and it is the goal of this study to examine the mechanical strength of the associated aortic tissue. This is being done to ensure adequate strength of the material to withstand physiological loading. The strength will be compared to estimated in vivo loading conditions as well as to the strength of tissue from a commercially available glutaraldehyde fixed product.

Evaluation of 99mTc-Label led Vitamin K4 as an Agent for Testicular Imaging

1991 ◽  
Vol 30 (01) ◽  
pp. 35-39 ◽  
Author(s):  
H. S. Durak ◽  
M. Kitapgi ◽  
B. E. Caner ◽  
R. Senekowitsch ◽  
M. T. Ercan
Keyword(s):  
Soft Tissue ◽  
Room Temperature ◽  
Normal Subjects ◽  
Left Testis ◽  
Wide Range ◽  
Activity Ratios ◽  
The Right ◽  
Radioactivity Levels

Vitamin K4 was labelled with 99mTc with an efficiency higher than 97%. The compound was stable up to 24 h at room temperature, and its biodistribution in NMRI mice indicated its in vivo stability. Blood radioactivity levels were high over a wide range. 10% of the injected activity remained in blood after 24 h. Excretion was mostly via kidneys. Only the liver and kidneys concentrated appreciable amounts of radioactivity. Testis/soft tissue ratios were 1.4 and 1.57 at 6 and 24 h, respectively. Testis/blood ratios were lower than 1. In vitro studies with mouse blood indicated that 33.9 ±9.6% of the radioactivity was associated with RBCs; it was washed out almost completely with saline. Protein binding was 28.7 ±6.3% as determined by TCA precipitation. Blood clearance of 99mTc-l<4 in normal subjects showed a slow decrease of radioactivity, reaching a plateau after 16 h at 20% of the injected activity. In scintigraphic images in men the testes could be well visualized. The right/left testis ratio was 1.08 ±0.13. Testis/soft tissue and testis/blood activity ratios were highest at 3 h. These ratios were higher than those obtained with pertechnetate at 20 min post injection.99mTc-l<4 appears to be a promising radiopharmaceutical for the scintigraphic visualization of testes.

Enhanced Increases in Cytosolic Ca2+ in ADP-Stimulated Platelets from Patients with Delta-Storage Pool Deficiency – A Possible Indicator of Interactions between Granule-Bound ADP and the Membrane ADP Receptor

1997 ◽  
Vol 77 (02) ◽  
pp. 376-382 ◽  
Author(s):  
Bruce Lages ◽  
Harvey J Weiss
Keyword(s):  
Platelet Rich Plasma ◽  
Limited Range ◽  
Dense Granule ◽  
Receptor Desensitization ◽  
Fura 2 ◽  
Storage Pool ◽  
Low Levels ◽  
The Right

SummaryThe possible involvement of secreted platelet substances in agonist- induced [Ca2+]i increases was investigated by comparing these increases in aspirin-treated, fura-2-loaded normal platelets and platelets from patients with storage pool deficiencies (SPD). In the presence and absence of extracellular calcium, the [Ca2+]i response induced by 10 µM ADP, but not those induced by 0.1 unit/ml thrombin, 3.3 µM U46619, or 20 µM serotonin, was significantly greater in SPD platelets than in normal platelets, and was increased to the greatest extent in SPD patients with Hermansky-Pudlak syndrome (HPS), in whom the dense granule deficiencies are the most severe. Pre-incubation of SPD-HPS and normal platelets with 0.005-5 µM ADP produced a dose-dependent inhibition of the [Ca2+]i response induced by 10 µ M ADP, but did not alter the [Ca2+]i increases induced by thrombin or U46619. Within a limited range of ADP concentrations, the dose-inhibition curve of the [Ca2+]i response to 10 µM ADP was significantly shifted to the right in SPD-HPS platelets, indicating that pre-incubation with greater amounts of ADP were required to achieve the same extent of inhibition as in normal platelets. These results are consistent with a hypothesis that the smaller ADP-induced [Ca2+]i increases seen in normal platelets may result from prior interactions of dense granule ADP, released via leakage or low levels of activation, with membrane ADP receptors, causing receptor desensitization. Addition of apyrase to platelet-rich plasma prior to fura-2 loading increased the ADP-induced [Ca2+]i response in both normal and SPD-HPS platelets, suggesting that some release of ADP derived from both dense granule and non-granular sources occurs during in vitro fura-2 loading and platelet washing procedures. However, this [Ca2+]i response was also greater in SPD-HPS platelets when blood was collected with minimal manipulation directly into anticoagulant containing apyrase, raising the possibility that release of dense granule ADP resulting in receptor desensitization may also occur in vivo. Thus, in addition to enhancing platelet activation, dense granule ADP could also act to limit the ADP-mediated reactivity of platelets exposed in vivo to low levels of stimulation.

scholarly journals Functional Characterization of the mazEF Toxin-Antitoxin System in the Pathogenic Bacterium Agrobacterium tumefaciens

2021 ◽  
Vol 9 (5) ◽  
pp. 1107
Author(s):  
Wonho Choi ◽  
Yoshihiro Yamaguchi ◽  
Ji-Young Park ◽  
Sang-Hyun Park ◽  
Hyeok-Won Lee ◽  
...  
Keyword(s):  
Agrobacterium Tumefaciens ◽  
Physiological Function ◽  
Functional Characterization ◽  
Site Directed Mutagenesis ◽  
In Vitro Assays ◽  
Cell Growth Inhibition ◽  
The Right

Agrobacterium tumefaciens is a pathogen of various plants which transfers its own DNA (T-DNA) to the host plants. It is used for producing genetically modified plants with this ability. To control T-DNA transfer to the right place, toxin-antitoxin (TA) systems of A. tumefaciens were used to control the target site of transfer without any unintentional targeting. Here, we describe a toxin-antitoxin system, Atu0939 (mazE-at) and Atu0940 (mazF-at), in the chromosome of Agrobacterium tumefaciens. The toxin in the TA system has 33.3% identity and 45.5% similarity with MazF in Escherichia coli. The expression of MazF-at caused cell growth inhibition, while cells with MazF-at co-expressed with MazE-at grew normally. In vivo and in vitro assays revealed that MazF-at inhibited protein synthesis by decreasing the cellular mRNA stability. Moreover, the catalytic residue of MazF-at was determined to be the 24th glutamic acid using site-directed mutagenesis. From the results, we concluded that MazF-at is a type II toxin-antitoxin system and a ribosome-independent endoribonuclease. Here, we characterized a TA system in A. tumefaciens whose understanding might help to find its physiological function and to develop further applications.

scholarly journals Observation and analysis of diving beetle movements while swimming

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Debo Qi ◽  
Chengchun Zhang ◽  
Jingwei He ◽  
Yongli Yue ◽  
Jing Wang ◽  
...  
Keyword(s):  
Swimming Speed ◽  
High Speed ◽  
Kinematic Model ◽  
Movement Pattern ◽  
Unmanned Vehicles ◽  
Power Stroke ◽  
Cross Sectional ◽  
Motion Data ◽  
The Cross ◽  
Diving Beetle

AbstractThe fast swimming speed, flexible cornering, and high propulsion efficiency of diving beetles are primarily achieved by their two powerful hind legs. Unlike other aquatic organisms, such as turtle, jellyfish, fish and frog et al., the diving beetle could complete retreating motion without turning around, and the turning radius is small for this kind of propulsion mode. However, most bionic vehicles have not contained these advantages, the study about this propulsion method is useful for the design of bionic robots. In this paper, the swimming videos of the diving beetle, including forwarding, turning and retreating, were captured by two synchronized high-speed cameras, and were analyzed via SIMI Motion. The analysis results revealed that the swimming speed initially increased quickly to a maximum at 60% of the power stroke, and then decreased. During the power stroke, the diving beetle stretched its tibias and tarsi, the bristles on both sides of which were shaped like paddles, to maximize the cross-sectional areas against the water to achieve the maximum thrust. During the recovery stroke, the diving beetle rotated its tarsi and folded the bristles to minimize the cross-sectional areas to reduce the drag force. For one turning motion (turn right about 90 degrees), it takes only one motion cycle for the diving beetle to complete it. During the retreating motion, the average acceleration was close to 9.8 m/s2 in the first 25 ms. Finally, based on the diving beetle's hind-leg movement pattern, a kinematic model was constructed, and according to this model and the motion data of the joint angles, the motion trajectories of the hind legs were obtained by using MATLAB. Since the advantages of this propulsion method, it may become a new bionic propulsion method, and the motion data and kinematic model of the hind legs will be helpful in the design of bionic underwater unmanned vehicles.

scholarly journals Alteration within the Hippocampal Volume in Patients with LHON Disease—7 Tesla MRI Study

2020 ◽  
Vol 10 (1) ◽  
pp. 14
Author(s):  
Cezary Grochowski ◽  
Kamil Jonak ◽  
Marcin Maciejewski ◽  
Andrzej Stępniewski ◽  
Mansur Rahnama-Hezavah
Keyword(s):  
Magnetic Resonance Imaging ◽  
Magnetic Resonance ◽  
Molecular Layer ◽  
Three Dimensional ◽  
Hippocampal Volume ◽  
7 Tesla ◽  
Diagnostic Process ◽  
Resonance Imaging ◽  
The Right

Purpose: The aim of this study was to assess the volumetry of the hippocampus in the Leber’s hereditary optic neuropathy (LHON) of blind patients. Methods: A total of 25 patients with LHON were randomly included into the study from the national health database. A total of 15 patients were selected according to the inclusion criteria. The submillimeter segmentation of the hippocampus was based on three-dimensional spoiled gradient recalled acquisition in steady state (3D-SPGR) BRAVO 7T magnetic resonance imaging (MRI) protocol. Results: Statistical analysis revealed that compared to healthy controls (HC), LHON subjects had multiple significant differences only in the right hippocampus, including a significantly higher volume of hippocampal tail (p = 0.009), subiculum body (p = 0.018), CA1 body (p = 0.002), hippocampal fissure (p = 0.046), molecular layer hippocampus (HP) body (p = 0.014), CA3 body (p = 0.006), Granule Cell (GC) and Molecular Layer (ML) of the Dentate Gyrus (DG)–GC ML DG body (p = 0.003), CA4 body (p = 0.001), whole hippocampal body (p = 0.018), and the whole hippocampus volume (p = 0.023). Discussion: The ultra-high-field magnetic resonance imaging allowed hippocampus quality visualization and analysis, serving as a powerful in vivo diagnostic tool in the diagnostic process and LHON disease course assessment. The study confirmed previous reports regarding volumetry of hippocampus in blind individuals.

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