Estimation of Muscle Response Using Three-Dimensional Musculoskeletal Models Before Impact Situation: A Simulation Study

2010 ◽  
Vol 132 (12) ◽  
Author(s):  
Tae Soo Bae ◽  
Peter Loan ◽  
Kuiwon Choi ◽  
Daehie Hong ◽  
Mu Seong Mun
Keyword(s):  
Degrees Of Freedom ◽  
Motion Tracking ◽  
Tracking System ◽  
Three Dimensional ◽  
Dynamic Simulations ◽  
Inverse Dynamic ◽  
Low Speed ◽  
Car Crash ◽  
Musculoskeletal Models ◽  
Ankle Joints

When car crash experiments are performed using cadavers or dummies, the active muscles’ reaction on crash situations cannot be observed. The aim of this study is to estimate muscles’ response of the major muscle groups using three-dimensional musculoskeletal model by dynamic simulations of low-speed sled-impact. The three-dimensional musculoskeletal models of eight subjects were developed, including 241 degrees of freedom and 86 muscles. The muscle parameters considering limb lengths and the force-generating properties of the muscles were redefined by optimization to fit for each subject. Kinematic data and external forces measured by motion tracking system and dynamometer were then input as boundary conditions. Through a least-squares optimization algorithm, active muscles’ responses were calculated during inverse dynamic analysis tracking the motion of each subject. Electromyography for major muscles at elbow, knee, and ankle joints was measured to validate each model. For low-speed sled-impact crash, experiment and simulation with optimized and unoptimized muscle parameters were performed at 9.4 m/h and 10 m/h and muscle activities were compared among them. The muscle activities with optimized parameters were closer to experimental measurements than the results without optimization. In addition, the extensor muscle activities at knee, ankle, and elbow joint were found considerably at impact time, unlike previous studies using cadaver or dummies. This study demonstrated the need to optimize the muscle parameters to predict impact situation correctly in computational studies using musculoskeletal models. And to improve accuracy of analysis for car crash injury using humanlike dummies, muscle reflex function, major extensor muscles’ response at elbow, knee, and ankle joints, should be considered.

UNSUPERVISED MARKERLESS 3-DOF MOTION TRACKING IN REAL TIME USING A SINGLE LOW-BUDGET CAMERA

2012 ◽  
Vol 22 (05) ◽  
pp. 1250019 ◽  
Author(s):  
LUIS QUESADA ◽  
ALEJANDRO J. LEÓN
Keyword(s):  
Real Time ◽  
Degrees Of Freedom ◽  
Motion Tracking ◽  
Tracking System ◽  
Three Dimensional ◽  
Target Object ◽  
Commercial Applications ◽  
Amount Of Knowledge ◽  
Partially Occluded ◽  
Motion Tracking System

Motion tracking is a critical task in many computer vision applications. Existing motion tracking techniques require either a great amount of knowledge on the target object or specific hardware. These requirements discourage the wide spread of commercial applications based on motion tracking. In this paper, we present a novel three degrees of freedom motion tracking system that needs no knowledge on the target object and that only requires a single low-budget camera that can be found installed in most computers and smartphones. Our system estimates, in real time, the three-dimensional position of a nonmodeled unmarked object that may be nonrigid, nonconvex, partially occluded, self-occluded, or motion blurred, given that it is opaque, evenly colored, enough contrasting with the background in each frame, and that it does not rotate. Our system is also able to determine the most relevant object to track in the screen. Our proposal does not impose additional constraints, therefore it allows a market-wide implementation of applications that require the estimation of the three position degrees of freedom of an object.

scholarly journals Multi-sensor three-dimensional Monte Carlo localization for long-term aerial robot navigation

2017 ◽  
Vol 14 (5) ◽  
pp. 172988141773275 ◽  
Author(s):  
Francisco J Perez-Grau ◽  
Fernando Caballero ◽  
Antidio Viguria ◽  
Anibal Ollero
Keyword(s):  
Monte Carlo ◽  
Motion Tracking ◽  
Robot Navigation ◽  
Tracking System ◽  
Three Dimensional ◽  
Measurement Unit ◽  
Indoor Environments ◽  
Localization Algorithm ◽  
Monte Carlo Localization ◽  
Motion Tracking System

This article presents an enhanced version of the Monte Carlo localization algorithm, commonly used for robot navigation in indoor environments, which is suitable for aerial robots moving in a three-dimentional environment and makes use of a combination of measurements from an Red,Green,Blue-Depth (RGB-D) sensor, distances to several radio-tags placed in the environment, and an inertial measurement unit. The approach is demonstrated with an unmanned aerial vehicle flying for 10 min indoors and validated with a very precise motion tracking system. The approach has been implemented using the robot operating system framework and works smoothly on a regular i7 computer, leaving plenty of computational capacity for other navigation tasks such as motion planning or control.

scholarly journals Jumping in frogs: assessing the design of the skeletal system by anatomically realistic modeling and forward dynamic simulation

2002 ◽  
Vol 205 (12) ◽  
pp. 1683-1702 ◽  
Author(s):  
William J. Kargo ◽  
Frank Nelson ◽  
Lawrence C. Rome
Keyword(s):  
Degrees Of Freedom ◽  
The Body ◽  
Joint Torque ◽  
Rotational Degree ◽  
Skeletal System ◽  
Dynamic Simulations ◽  
Inverse Dynamic ◽  
Maximal Distance ◽  
Out Of Plane ◽  
Rotational Degrees Of Freedom

SUMMARY Comparative musculoskeletal modeling represents a tool to understand better how motor system parameters are fine-tuned for specific behaviors. Frog jumping is a behavior in which the physical properties of the body and musculotendon actuators may have evolved specifically to extend the limits of performance. Little is known about how the joints of the frog contribute to and limit jumping performance. To address these issues, we developed a skeletal model of the frog Rana pipiens that contained realistic bones, joints and body-segment properties. We performed forward dynamic simulations of jumping to determine the minimal number of joint degrees of freedom required to produce maximal-distance jumps and to produce jumps of varied take-off angles. The forward dynamics of the models was driven with joint torque patterns determined from inverse dynamic analysis of jumping in experimental frogs. When the joints were constrained to rotate in the extension—flexion plane, the simulations produced short jumps with a fixed angle of take-off. We found that, to produce maximal-distance jumping,the skeletal system of the frog must minimally include a gimbal joint at the hip (three rotational degrees of freedom), a universal Hooke's joint at the knee (two rotational degrees of freedom) and pin joints at the ankle,tarsometatarsal, metatarsophalangeal and iliosacral joints (one rotational degree of freedom). One of the knee degrees of freedom represented a unique kinematic mechanism (internal rotation about the long axis of the tibiofibula)and played a crucial role in bringing the feet under the body so that maximal jump distances could be attained. Finally, the out-of-plane degrees of freedom were found to be essential to enable the frog to alter the angle of take-off and thereby permit flexible neuromotor control. The results of this study form a foundation upon which additional model subsystems (e.g. musculotendon and neural) can be added to test the integrative action of the neuromusculoskeletal system during frog jumping.

Design and locomotion analysis of a novel deformable mobile robot with two spatial reconfigurable platforms and three kinematic chains

2016 ◽  
Vol 231 (8) ◽  
pp. 1481-1499 ◽  
Author(s):  
Wan Ding ◽  
Qiang Ruan ◽  
Yan-an Yao
Keyword(s):  
Mobile Robot ◽  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Three Dimensional Model ◽  
Dynamic Simulations ◽  
Gait Planning ◽  
Plane Symmetric ◽  
Kinematic Chains ◽  
Reconfigurable Platforms ◽  
Actuation Systems

A novel five degrees of freedom deformable mobile robot composed of two spatial reconfigurable platforms and three revolute–prismatic–spherical kinematic chains acting in parallel to link the two platforms is proposed to realize large deformation capabilities and multiple locomotion modes. Each platform is an improved deployable single degrees of freedom three-plane-symmetric Bricard linkage. By taking advantage of locomotion collaborating among platforms and kinematic chains, the mobile robot can fold into stick-like shape and possess omnidirectional rolling and worm-like motions. The mechanism design, kinematics, and locomotion feasibility are the main focus. Through kinematics and gait planning, the robot is analyzed to have the capabilities of rolling and turning. Based on its deformation, the worm-like motion performs the ability to overcome narrow passages (such as pipes, holes, gaps, etc.) with large range of variable size. Dynamic simulations with detailed three-dimensional model are carried out to verify the gait planning and provide the variations of essential motion and dynamic parameters in each mode. An experimental robotic system with servo and pneumatic actuation systems is built, experiments are carried out to verify the validity of the theoretical analysis and the feasibility of the different locomotion functions, and its motion performances are compared and analyzed with collected data.

scholarly journals Validation of a single camera three-dimensional motion tracking system

2010 ◽  
Vol 43 (7) ◽  
pp. 1437-1440 ◽  
Author(s):  
Joshua T. Weinhandl ◽  
Brian S.R. Armstrong ◽  
Todd P. Kusik ◽  
Robb T. Barrows ◽  
Kristian M. O’Connor
Keyword(s):  
Motion Tracking ◽  
Tracking System ◽  
Three Dimensional ◽  
Single Camera ◽  
Motion Tracking System

Active Assistive Orthotic System

2021 ◽  
pp. 170-197
Author(s):  
Ivanka Petkova Veneva ◽  
Dimitar Chakarov ◽  
Mihail Tsveov ◽  
Dimitar Stefanov Trifonov ◽  
Evgeni Zlatanov ◽  
...  
Keyword(s):  
Data Exchange ◽  
Degrees Of Freedom ◽  
Motion Tracking ◽  
Tracking System ◽  
Lower Limbs ◽  
Assistive Device ◽  
Left And Right ◽  
Motion Tracking System ◽  
And Control ◽  
Active Orthosis

Active orthosis (exoskeleton) is an assistive device with a wearable structure, corresponding to the natural motions of the human. This chapter focuses on developing an active/assistive orthosis system (AOS) enhancing movement. The AOS design is inspired by the biological musculoskeletal system of human upper and lower limbs and mimics the muscle-tendon-ligament structure. The exoskeleton structure includes left and right upper limb, left and right lower limb, and central exoskeleton structure for human torso and waist and provides support, balance, and control of different segments of the body. The device was fabricated with light materials and powered by pneumatic artificial muscles that provide more than fifteen degrees of freedom for the different joints. The active orthotic systems (AOS) can operate in three modes: motion tracking system with data exchange with virtual reality; haptic and rehabilitation device; and assistive mode with active orthosis in cases of impaired muscles.

Kinematic Differences Between Those With and Without Medial Knee Displacement During a Single-leg Squat

2014 ◽  
Vol 30 (6) ◽  
pp. 707-712 ◽  
Author(s):  
Timothy C. Mauntel ◽  
Barnett S. Frank ◽  
Rebecca L. Begalle ◽  
J. Troy Blackburn ◽  
Darin A. Padua
Keyword(s):  
Motion Tracking ◽  
Tracking System ◽  
Three Dimensional ◽  
Control Group ◽  
Knee Valgus ◽  
Medial Knee ◽  
Lower Extremity Injuries ◽  
Valgus Angle ◽  
Peak Knee ◽  
Single Leg Squat

A greater knee valgus angle is a risk factor for lower extremity injuries. Visually observed medial knee displacement is used as a proxy for knee valgus motion during movement assessments in an attempt to identify individuals at heightened risk for injury. The validity of medial knee displacement as an indicator of valgus motion has yet to be determined during a single-leg squat. This study compared three-dimensional knee and hip angles between participants who displayed medial knee displacement (MKD group) during a single-leg squat and those who did not (control group). Participants completed five single-leg squats. An electromagnetic motion tracking system was used to quantify peak knee and hip joint angles during the descent phase of each squat. MANOVA identified a difference between the MKD and control group kinematics. ANOVA post hoc testing revealed greater knee valgus angle in the MKD (12.86 ± 5.76) compared with the control (6.08 ± 5.23) group. There were no other differences between groups. Medial knee displacement is indicative of knee valgus motion; however, it is not indicative of greater knee or hip rotation, or hip adduction. These data indicate that clinicians can accurately identify individuals with greater knee valgus angle through visually observed medial knee displacement.

Accuracy of Wearable Sensors for Estimating Joint Reactions

2017 ◽  
Vol 12 (4) ◽  
Author(s):  
Ryan S. McGinnis ◽  
Jessandra Hough ◽  
Noel C. Perkins
Keyword(s):  
Degrees Of Freedom ◽  
Wearable Sensors ◽  
Three Dimensional ◽  
Correlation Coefficients ◽  
Human Motion ◽  
Load Cell ◽  
Great Promise ◽  
Human Motion Analysis ◽  
Double Pendulum ◽  
Inverse Dynamic

Miniature wireless inertial measurement units (IMUs) hold great promise for measuring and analyzing multibody system dynamics. This relatively inexpensive technology enables noninvasive motion tracking in broad applications, including human motion analysis. This paper advances the use of an array of IMUs to estimate the joint reactions (forces and moments) in multibody systems via inverse dynamic modeling. In particular, this paper reports a benchmark experiment on a double-pendulum that reveals the accuracy of IMU-informed estimates of joint reactions. The estimated reactions are compared to those measured by high-precision miniature (6 degrees-of-freedom) load cells. Results from ten trials demonstrate that IMU-informed estimates of the three-dimensional reaction forces remain within 5.0% RMS of the load cell measurements and with correlation coefficients greater than 0.95 on average. Similarly, the IMU-informed estimates of the three-dimensional reaction moments remain within 5.9% RMS of the load cell measurements and with correlation coefficients greater than 0.88 on average. The sensitivity of these estimates to mass center location is discussed. Looking ahead, this benchmarking study supports the promising and broad use of this technology for estimating joint reactions in human motion applications.

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