Design of Bio-Exoskeleton for Elbow Rehabilitation

2020 ◽  
Author(s):  
Pablo Delgado ◽  
Thisath Attampola Arachchige Don ◽  
Jesus Gomez ◽  
Virgil Miranda ◽  
Yimesker Yihun
Keyword(s):  
Motion Capture ◽  
Elbow Joint ◽  
Synthesis Method ◽  
Elbow Flexion ◽  
Degree Of Freedom ◽  
Motion Capture System ◽  
Research Topics ◽  
End Effector ◽  
Joint Injuries ◽  
And Task

Abstract In this study, a methodology for designing a task-based exoskeleton which can recreate the end-effector trajectory of a given limb during a rehablitation task/movement is presented. The exoskeleton provides an option to replace traditional jointbased exoskeleton joints, which often have alignment issues with the biological joint. The proper fit of the exoskeleton to the user and task are research topics to reduce pain or joint injuries as well as for the execution of the task. The proposed task-based synthesis method was successfully applied to generate the 3D motions of the elbow flexion and extensions using a one degree of freedom (DOF), spatial four-bar mechanism. The elbow joint is analyzed through motion capture system to develop the bio-exoskeleton. The resulted exoskeleton does not need to align with the corresponding limb joint to generate the desired anatomical motion.

scholarly journals Biomechanical Role and Motion Contribution of Ligaments and Bony Constraints in the Elbow Stability: A Preliminary Study

2019 ◽  
Vol 6 (3) ◽  
pp. 68 ◽  
Author(s):  
Elisa Panero ◽  
Laura Gastaldi ◽  
Mara Terzini ◽  
Cristina Bignardi ◽  
Arman Sard ◽  
...  
Keyword(s):  
Motion Capture ◽  
Elbow Joint ◽  
Large Deflection ◽  
Elbow Flexion ◽  
Elbow Instability ◽  
Joint Stability ◽  
Coronoid Fracture ◽  
Flexion Extension ◽  
Preliminary Study ◽  
Functional Investigation

In flexion–extension motion, the interaction of several ligaments and bones characterizes the elbow joint stability. The aim of this preliminary study was to quantify the relative motion of the ulna with respect to the humerus in two human upper limbs specimens and to investigate the constraints role for maintaining the elbow joint stability in different section conditions. Two clusters of four markers were fixed respectively to the ulna and humerus, and their trajectory was recorded by a motion capture system during functional orthopedic maneuver. Considering the posterior bundle of medial collateral complex (pMUCL) and the coronoid, two section sequences were executed. The orthopedic maneuver of compression, pronation and varus force was repeated at 30°, 60° and 90° flexion for the functional investigation of constraints. Ulna deflection was compared to a baseline elbow flexion condition. With respect to the intact elbow, the coronoid osteotomy influences the elbow stability at 90° (deflection = 11.49 ± 17.39 mm), while small differences occur at 30° and 60°, due to ligaments constraint. The contemporary pMUCL section and coronoid osteotomy causes elbow instability, with large deflection at 30° (deflection = 34.40 ± 9.10 mm), 60° (deflection = 45.41 ± 18.47 mm) and 90° (deflection = 52.16 ± 21.92 mm). Surgeons may consider the pMUCL reconstruction in case of unfixable coronoid fracture.

Solution Region Synthesis Method for Six Positions Synthesis of 5-SS Spatial Linkage

2016 ◽  
Author(s):  
Jianyou Han ◽  
Guangzhen Cui ◽  
Junjie Hu
Keyword(s):  
Systematic Approach ◽  
Synthesis Method ◽  
Degree Of Freedom ◽  
Dimensional Synthesis ◽  
End Effector ◽  
Region Method ◽  
Solution Region ◽  
The One

This paper presents a systematic approach to perform the dimensional synthesis of spatial 5-SS (spherical-spherical) link-ages for six specified positions of the end-effector. The dimensional synthesis equations for a SS link are formulated and solved. We synthesize five SS links to connect the base and end-effector, and then obtain the one-degree-of-freedom spatial 5-SS linkage, which can move through six specified positions. We use the solution region method to build the planar solution region expressing the linkages, due to there are infinite linkages for six positions synthesis. It is convenient to select the linkages from the solution region for designers. The applicability of the proposed approach is illustrated by the example.

scholarly journals Validation of Inertial Measurement Units for Upper Body Kinematics

2017 ◽  
Vol 33 (3) ◽  
pp. 227-232 ◽  
Author(s):  
Melissa M.B. Morrow ◽  
Bethany Lowndes ◽  
Emma Fortune ◽  
Kenton R. Kaufman ◽  
M. Susan Hallbeck
Keyword(s):  
Motion Capture ◽  
Three Dimensional ◽  
Elbow Flexion ◽  
Upper Body ◽  
Measurement Unit ◽  
Motion Capture System ◽  
Trunk Flexion ◽  
Inertial Measurement ◽  
Flexion Extension ◽  
Shoulder Elevation

The purpose of this study was to validate a commercially available inertial measurement unit (IMU) system against a standard lab-based motion capture system for the measurement of shoulder elevation, elbow flexion, trunk flexion/extension, and neck flexion/extension kinematics. The validation analyses were applied to 6 surgical faculty members performing a standard, simulated surgical training task that mimics minimally invasive surgery. Three-dimensional joint kinematics were simultaneously recorded by an optical motion capture system and an IMU system with 6 sensors placed on the head, chest, and bilateral upper and lower arms. The sensor-to-segment axes alignment was accomplished manually. The IMU neck and trunk IMU flexion/extension angles were accurate to within 2.9 ± 0.9 degrees and 1.6 ± 1.1°, respectively. The IMU shoulder elevation measure was accurate to within 6.8 ± 2.7° and the elbow flexion measure was accurate to within 8.2 ± 2.8°. In the Bland-Altman analyses, there were no significant systematic errors present; however, there was a significant inversely proportional error across all joints. As the gold standard measurement increased, the IMU underestimated the magnitude of the joint angle. This study reports acceptable accuracy of a commercially available IMU system; however, results should be interpreted as protocol specific.

Gender differences in the Achilles tendon load during the fencing lunge

2014 ◽  
Vol 6 (3) ◽  
Author(s):  
Jonathan Kenneth Sinclair ◽  
Lindsay Bottoms
Keyword(s):  
Gender Differences ◽  
Achilles Tendon ◽  
Motion Capture ◽  
Tendon Injury ◽  
Force Platform ◽  
Motion Capture System ◽  
3D Motion ◽  
Loading Rates ◽  
Tendon Pathology ◽  
3D Motion Capture

AbstractRecent epidemiological analyses in fencing have shown that injuries and pain linked specifically to fencing training/competition were evident in 92.8% of fencers. Specifically the prevalence of Achilles tendon pathology has increased substantially in recent years, and males have been identified as being at greater risk of Achilles tendon injury compared to their female counterparts. This study aimed to examine gender differences in Achilles tendon loading during the fencing lunge.Achilles tendon load was obtained from eight male and eight female club level epee fencers using a 3D motion capture system and force platform information as they completed simulated lunges. Independent t-tests were performed on the data to determine whether differences existed.The results show that males were associated with significantly greater Achilles tendon loading rates in comparison to females.This suggests that male fencers may be at greater risk from Achilles tendon pathology as a function of fencing training/ competition.

Magnetic motion capture system using LC resonant magnetic marker composed of Ni–Zn ferrite core

2006 ◽  
Vol 99 (8) ◽  
pp. 08B312 ◽  
Author(s):  
S. Hashi ◽  
M. Toyoda ◽  
M. Ohya ◽  
Y. Okazaki ◽  
S. Yabukami ◽  
...  
Keyword(s):  
Motion Capture ◽  
Motion Capture System ◽  
Ferrite Core ◽  
Zn Ferrite ◽  
Magnetic Marker

scholarly journals Modeling and evaluating beat gestures for social robots

2021 ◽  
Author(s):  
Unai Zabala ◽  
Igor Rodriguez ◽  
José María Martínez-Otzeta ◽  
Elena Lazkano
Keyword(s):  
Motion Capture ◽  
Motion Capture System ◽  
Generative Adversarial Network ◽  
Adversarial Network ◽  
Desirable Feature ◽  
Quantitative Results ◽  
Path Lengths ◽  
End Effectors ◽  
The One ◽  
Made In

AbstractNatural gestures are a desirable feature for a humanoid robot, as they are presumed to elicit a more comfortable interaction in people. With this aim in mind, we present in this paper a system to develop a natural talking gesture generation behavior. A Generative Adversarial Network (GAN) produces novel beat gestures from the data captured from recordings of human talking. The data is obtained without the need for any kind of wearable, as a motion capture system properly estimates the position of the limbs/joints involved in human expressive talking behavior. After testing in a Pepper robot, it is shown that the system is able to generate natural gestures during large talking periods without becoming repetitive. This approach is computationally more demanding than previous work, therefore a comparison is made in order to evaluate the improvements. This comparison is made by calculating some common measures about the end effectors’ trajectories (jerk and path lengths) and complemented by the Fréchet Gesture Distance (FGD) that aims to measure the fidelity of the generated gestures with respect to the provided ones. Results show that the described system is able to learn natural gestures just by observation and improves the one developed with a simpler motion capture system. The quantitative results are sustained by questionnaire based human evaluation.

Assessing the Ergonomic Benefits of a New Adjustable Forklift Backrest

2020 ◽  
Vol 64 (1) ◽  
pp. 976-980
Author(s):  
Pranav Madhav Kuber ◽  
Ehsan Rashedi
Keyword(s):  
Comparative Study ◽  
Motion Capture ◽  
Center Of Pressure ◽  
Body Movement ◽  
Pressure Change ◽  
Motion Capture System ◽  
Design Features ◽  
Wide Range ◽  
Body Sizes ◽  
The Mean

A new forklift backrest has been developed by incorporating adjustability concepts into the design to facilitate comfort to a wide range of users. We have conducted a comparative study between the new and original backrests to assess the effectiveness of design features. Using the phenomenon of restlessness, discomfort of the user was associated with the amount of body movement, where we have used a motion- capture system and a force platform to quantify the individuals’ movement for a wide range of body sizes. Meanwhile, subjective comfort and design feedback were collected using a questionnaire. Our results showed a reduction in the mean torso movement and the maximum center of pressure change of location by 300 and 6 mm, respectively, for the new design. Taking advantage of adjustability feature, the new backrest design exhibited enhanced comfort for longer durations and reduced magnitude of discomfort for a wide range of participants’ body sizes.

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