Task-Based Knee Rehabilitation With Assist-as-Needed Control Strategy and Recovery Tracking System

2020 ◽  
Vol 3 (2) ◽  
Author(s):  
Yimesker Yihun ◽  
Visharath Adhikari ◽  
Amirhossein Majidirad ◽  
Jaydip Desai
Keyword(s):  
Motion Capture ◽  
Control Strategy ◽  
Structural Parameters ◽  
Tracking System ◽  
Three Dimensional ◽  
Parallel Mechanisms ◽  
Emg Signal ◽  
Knee Rehabilitation ◽  
Synthesis Procedure ◽  
Serial Chains

Abstract This research aims to design and implement a novel task-based knee rehabilitation strategy through kinematic synthesis, assist-as-needed control strategy, and recovery tracking system. Experimental kinematic data collected through motion capture system are utilized as an input to the mechanism synthesis procedure. Parallel mechanisms with single degree-of-freedom are considered to generate the complex three-dimensional (3D) motions of the lower leg. An exact workspace synthesis approach is utilized, in which the implicit description of the workspace is made to be a function of the structural parameters of the serial chains of the parallel mechanism, making it easy to relate those parameters to the desired trajectory from the motion capture. The synthesis procedure resulted an exoskeleton which can guide the complex motion of the human knee without the need of mimicking the joint by the exoskeleton counterpart. This can potentially reduce the improper alignment problems arising due to the constantly varying axis of rotation of human joint, which is often very difficult to predict. An assist-as-needed control and recovery tracking strategy is outlined based on an electromyography (EMG) signals and force sensing resistors (FSRs) mounted on the user and exoskeleton, respectively. The EMG signal is captured from the user leg and FSRs are applied at the attachment area of the exoskeleton and the leg, this helps to get the amount of force applied by the exoskeleton to the leg as well as for the recovery tracking. The assist-as-needed controller eliminates the need of constant supervision, and hence saves time and reduces cost of the rehabilitation process. Similarly, the real-time progress tracking system will motivate and actively engage users

scholarly journals Design of a Novel Task-Based Knee Rehabilitation Exoskeleton Device

2018 ◽  
Author(s):  
Visharath Adhikari ◽  
Yimesker Yihun ◽  
Hamid M. Lankarani
Keyword(s):  
Structural Parameters ◽  
Parallel Mechanisms ◽  
Single Degree Of Freedom ◽  
Kinematic Data ◽  
Knee Rehabilitation ◽  
Serial Chain ◽  
Implicit Equations ◽  
Synthesis Procedure ◽  
Serial Chains ◽  
Synthesis Approach

This study is aimed at the design of a novel task-based knee rehabilitation device. The desired trajectories of the knee have been obtained through a vision-based motion capture system. The collected experimental kinematic data has been used as an input to a spatial mechanism synthesis procedure. Parallel mechanisms with single degree-of-freedom (DOF) have been considered to generate the complex 3D motions of the lower leg. An exact workspace synthesis approach is utilized, in which the parameterized forward kinematics equations of each serial chains of the parallel mechanisms are to be converted into implicit equations via elimination. The implicit description of the workspace is made to be a function of the structural parameters of the serial chain, making it easy to relate those parameters to the desired trajectory. The selected mechanism has been verified for the accuracy of its trajectory through CAD modeling and simulations. This design approach reduces alignment and fitting challenges in an exoskeleton as the mechanism does not require alignment of each robotic joint axis with its human counterpart.

Research on the Control Strategy of Eye-to-Hand Target Track Real-Time Tracking System

2014 ◽  
Vol 1055 ◽  
pp. 334-337
Author(s):  
Jia Xin Zhang ◽  
Xiao La Yao ◽  
Jiang Tao Miao
Keyword(s):  
Real Time ◽  
Control Strategy ◽  
Vision System ◽  
Tracking System ◽  
Three Dimensional ◽  
Target Position ◽  
Color Measurement ◽  
Moving Targets ◽  
Target Track ◽  
Real Time Tracking

This paper presents an Eye-to-hand system, designed for hand-eye system presents a automatically real-time tracking of moving targets control strategy. The first strategy uses a color mark on the target, the use of binocular stereo vision system for color measurement and then in the visual system of the target three-dimensional reconstruction to give the three-dimensional coordinates in the visual coordinate system when the target position and orientation when changes according to the amount of change in the three-dimensional coordinates of the direct control of the robot arm motion of each joint, enabling the tracking of moving targets.

scholarly journals Towards Tracking of Deep Brain Stimulation Electrodes Using an Integrated Magnetometer

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2670
Author(s):  
Thomas Quirin ◽  
Corentin Féry ◽  
Dorian Vogel ◽  
Céline Vergne ◽  
Mathieu Sarracanie ◽  
...  
Keyword(s):  
Deep Brain Stimulation ◽  
Brain Stimulation ◽  
Mean Absolute Error ◽  
Tracking System ◽  
Three Dimensional ◽  
Absolute Error ◽  
Magnetic Tracking ◽  
Magnetic Camera ◽  
Magnetic Resonance Imaging Mri ◽  
Deep Brain

This paper presents a tracking system using magnetometers, possibly integrable in a deep brain stimulation (DBS) electrode. DBS is a treatment for movement disorders where the position of the implant is of prime importance. Positioning challenges during the surgery could be addressed thanks to a magnetic tracking. The system proposed in this paper, complementary to existing procedures, has been designed to bridge preoperative clinical imaging with DBS surgery, allowing the surgeon to increase his/her control on the implantation trajectory. Here the magnetic source required for tracking consists of three coils, and is experimentally mapped. This mapping has been performed with an in-house three-dimensional magnetic camera. The system demonstrates how magnetometers integrated directly at the tip of a DBS electrode, might improve treatment by monitoring the position during and after the surgery. The three-dimensional operation without line of sight has been demonstrated using a reference obtained with magnetic resonance imaging (MRI) of a simplified brain model. We observed experimentally a mean absolute error of 1.35 mm and an Euclidean error of 3.07 mm. Several areas of improvement to target errors below 1 mm are also discussed.

scholarly journals Brain capillary structures of schizophrenia cases and controls show a correlation with their neuron structures

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Rino Saiga ◽  
Masayuki Uesugi ◽  
Akihisa Takeuchi ◽  
Kentaro Uesugi ◽  
Yoshio Suzuki ◽  
...  
Keyword(s):  
Blood Vessels ◽  
Structural Parameters ◽  
Three Dimensional ◽  
Superior Temporal Gyrus ◽  
Anterior Cingulate ◽  
Dimensional Structure ◽  
Constant Diameter ◽  
The Mean ◽  
Cartesian Coordinate ◽  
Micrometer Scale

AbstractBrain blood vessels constitute a micrometer-scale vascular network responsible for supply of oxygen and nutrition. In this study, we analyzed cerebral tissues of the anterior cingulate cortex and superior temporal gyrus of schizophrenia cases and age/gender-matched controls by using synchrotron radiation microtomography or micro-CT in order to examine the three-dimensional structure of cerebral vessels. Over 1 m of cerebral blood vessels was traced to build Cartesian-coordinate models, which were then used for calculating structural parameters including the diameter and curvature of the vessels. The distribution of vessel outer diameters showed a peak at 7–9 μm, corresponding to the diameter of the capillaries. Mean curvatures of the capillary vessels showed a significant correlation to the mean curvatures of neurites, while the mean capillary diameter was almost constant, independent of the cases. Our previous studies indicated that the neurites of schizophrenia cases are thin and tortuous compared to controls. The curved capillaries with a constant diameter should occupy a nearly constant volume, while neurons suffering from neurite thinning should have reduced volumes, resulting in a volumetric imbalance between the neurons and the vessels. We suggest that the observed structural correlation between neurons and blood vessels is related to neurovascular abnormalities in schizophrenia.

scholarly journals Coupled Fluid–Solid Numerical Simulation for Flow Field Characteristics and Supporting Performance of Flexible Support Cylindrical Gas Film Seal

Aerospace ◽  
2021 ◽  
Vol 8 (4) ◽  
pp. 97
Author(s):  
Junfeng Sun ◽  
Meihong Liu ◽  
Zhen Xu ◽  
Taohong Liao ◽  
Xiangping Hu ◽  
...  
Keyword(s):  
Flow Field ◽  
Film Thickness ◽  
Fluid Dynamic ◽  
Structural Characteristics ◽  
Structural Parameters ◽  
Equivalent Stress ◽  
Three Dimensional ◽  
High Rotational Speed ◽  
Flexible Support ◽  
Flow Field Characteristics

A new type of cylindrical gas film seal (CGFS) with a flexible support is proposed according to the working characteristics of the fluid dynamic seal in high-rotational-speed fluid machinery, such as aero-engines and centrifuges. Compared with the CGFS without a flexible support, the CGFS with flexible support presents stronger radial floating characteristics since it absorbs vibration and reduces thermal deformation of the rotor system. Combined with the structural characteristics of a film seal, an analytical model of CGFS with a flexible wave foil is established. Based on the fluid-structure coupling analysis method, the three-dimensional flow field of a straight-groove CGFS model is simulated to study the effects of operating and structural parameters on the steady-state characteristics and the effects of gas film thickness, eccentricity, and the number of wave foils on the equivalent stress of the flexible support. Simulation results show that the film stiffness increases significantly when the depth of groove increases. When the gas film thickness increases, the average equivalent stress of the flexible support first decreases and then stabilizes. Furthermore, the number of wave foils affects the average foils thickness. Therefore, when selecting the number of wave foils, the support stiffness and buffer capacity should be considered simultaneously.

scholarly journals Strata behavior and control strategy of backfilling collaborate with caving fully-mechanized mining

2020 ◽  
Vol 12 (1) ◽  
pp. 703-717
Author(s):  
Yin Wei ◽  
Wang Jiaqi ◽  
Bai Xiaomin ◽  
Sun Wenjie ◽  
Zhou Zheyuan
Keyword(s):  
Numerical Simulation ◽  
Control Strategy ◽  
Three Dimensional ◽  
Simulation Method ◽  
Mine Pressure ◽  
Hydraulic Support ◽  
Transition Area ◽  
Pressure Concentration ◽  
Strata Behavior ◽  
And Control

AbstractThis article analyzes the technical difficulties in full-section backfill mining and briefly introduces the technical principle and advantages of backfilling combined with caving fully mechanized mining (BCCFM). To reveal the strata behavior law of the BCCFM workface, this work establishes a three-dimensional numerical model and designs a simulation method by dynamically updating the modulus parameter of the filling body. By the analysis of numerical simulation, the following conclusions about strata behavior of the BCCFM workface were drawn. (1) The strata behavior of the BCCFM workface shows significant nonsymmetrical characteristics, and the pressure in the caving section is higher than that in the backfilling section. φ has the greatest influence on the backfilling section and the least influence on the caving section. C has a significant influence on the range of abutment pressure in the backfilling section. (2) There exits the transition area with strong mine pressure of the BCCFM workface. φ and C have significant effect on the degree of pressure concentration but little effect on the influence range of strong mine pressure in the transition area. (3) Under different conditions, the influence range of strong mine pressure is all less than 6 m. This article puts forward a control strategy of mine pressure in the transition area, which is appropriately improving the strength of the transition hydraulic support within the influence range (6 m) in the transition area according to the pressure concentration coefficient. The field measurement value of Ji15-31010 workface was consistent with numerical simulation, which verifies the reliability of control strategy of the BCCFM workface.

scholarly journals A Novel Suture Training System for Open Surgery Replicating Procedures Performed by Experts Using Augmented Reality

2021 ◽  
Vol 45 (5) ◽  
Author(s):  
Yuri Nagayo ◽  
Toki Saito ◽  
Hiroshi Oyama
Keyword(s):  
Augmented Reality ◽  
Motion Capture ◽  
Open Surgery ◽  
Three Dimensional ◽  
Training System ◽  
Surgical Skills ◽  
Surgical Instruments ◽  
Interrupted Suture ◽  
Education Environment ◽  
Surgical Field

AbstractThe surgical education environment has been changing significantly due to restricted work hours, limited resources, and increasing public concern for safety and quality, leading to the evolution of simulation-based training in surgery. Of the various simulators, low-fidelity simulators are widely used to practice surgical skills such as sutures because they are portable, inexpensive, and easy to use without requiring complicated settings. However, since low-fidelity simulators do not offer any teaching information, trainees do self-practice with them, referring to textbooks or videos, which are insufficient to learn open surgical procedures. This study aimed to develop a new suture training system for open surgery that provides trainees with the three-dimensional information of exemplary procedures performed by experts and allows them to observe and imitate the procedures during self-practice. The proposed system consists of a motion capture system of surgical instruments and a three-dimensional replication system of captured procedures on the surgical field. Motion capture of surgical instruments was achieved inexpensively by using cylindrical augmented reality (AR) markers, and replication of captured procedures was realized by visualizing them three-dimensionally at the same position and orientation as captured, using an AR device. For subcuticular interrupted suture, it was confirmed that the proposed system enabled users to observe experts’ procedures from any angle and imitate them by manipulating the actual surgical instruments during self-practice. We expect that this training system will contribute to developing a novel surgical training method that enables trainees to learn surgical skills by themselves in the absence of experts.

scholarly journals The Effect of Lateral Column Lengthening on Subtalar Motion: Are We Trading Deformity for Stiffness?

2020 ◽  
Vol 5 (4) ◽  
pp. 2473011420S0004
Author(s):  
Brittany Hedrick ◽  
Anthony Riccio ◽  
Danielle M. Thomas ◽  
Claire Shivers ◽  
Matthew Siebert ◽  
...  
Keyword(s):  
Motion Capture ◽  
Three Dimensional ◽  
Deformity Correction ◽  
Porous Titanium ◽  
Testing System ◽  
Materials Testing ◽  
Lateral Column ◽  
Fresh Frozen ◽  
Lateral Column Lengthening ◽  
Paired T Test

Category: Hindfoot; Other Introduction/Purpose: While lengthening of the lateral column through a calcaneal neck osteotomy is an integral component of flatfoot reconstruction in younger patients with flexible planovalgus deformities, concern exists as to the effect of this intra- articular osteotomy on subtalar motion. The purpose of this study is to quantify the alterations in subtalar motion following lateral column lengthening (LCL). Methods: The subtalar motion of 14 fresh frozen cadaveric feet was assessed using a three-dimensional motion capture system and materials testing system (MTS). Following potting of the tibia and calcaneus, optic markers were placed into the tibia, calcaneus and talus. The MTS was used to apply a rotational force across the subtalar joint to a torque of 5Nm. Abduction/adduction, supination/pronation, and plantarflexion/dorsiflexion about the talus was recorded. Specimens then underwent LCL via a calcaneal neck osteotomy which was maintained with a 12mm porous titanium wedge. Repeat subtalar motion analysis was performed and compared to pre-LCL motion using a paired t-test. Results:: No statistically significant differences in subtalar abduction/adduction (10.9O vs. 11.8O degrees, p=.48), supination/pronation (3.5O vs. 2.7O, p=.31), or plantarflexion/dorsiflexion (1.6O vs 1.0O, p=.10) were identified following LCL. Conclusion:: No significant changes in subtalar motion were observed following lateral column lengthening in this biomechanical cadaveric study. While these findings do not obviate concerns of clinical subtalar stiffness following planovalgus deformity correction, they suggest that diminished postoperative subtalar motion may be due to soft tissue scarring rather than alterations of joint anatomy.

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.

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