Using K’NEX to Understand and Teach Concepts in Movement Biomechanics

2010 ◽  
Author(s):  
Steven Charles
Keyword(s):  
Lower Limb ◽  
Reference Frames ◽  
Human Motion ◽  
The Body ◽  
Single Degree Of Freedom ◽  
Generalized Coordinates ◽  
Single Degree ◽  
Fixed Reference ◽  
Time To Learn ◽  
And Robotics

In order to analyze the kinematics or model the dynamics of human motion, one must be able to abstract from the intricate anatomy of the body the mechanical linkages and kinematic constraints which best approximate the joints of the body. Given the number and complexity of joints in the human body, this abstraction can be a challenging task, especially for students. While rotations about a single degree of freedom are easy to grasp, rotations about multiple DOF, which occur commonly throughout the body (e.g. shoulder, wrist, ankle, etc.) are anything but trivial. Likewise, the kinematics or dynamics of mechanical linkages such as the upper or lower limb quickly become unwieldy. To deal with these challenges, students learn to use tools from mechanics and robotics (body- and space-fixed reference frames, transformations, generalized coordinates, etc.), but these concepts can themselves be challenging and certainly take time to learn.

scholarly journals Design and integration of a drone based passive manipulator for capturing flying targets

Robotica ◽  
2021 ◽  
pp. 1-16
Author(s):  
B. V. Vidyadhara ◽  
Lima Agnel Tony ◽  
Mohitvishnu S. Gadde ◽  
Shuvrangshu Jana ◽  
V. P. Varun ◽  
...  
Keyword(s):  
The Body ◽  
Outdoor Environment ◽  
Moving Target ◽  
Minimal Energy ◽  
Energy Usage ◽  
Single Degree Of Freedom ◽  
End Effector ◽  
Single Degree ◽  
Measurement Uncertainties ◽  
Manipulator Design

SUMMARY In this paper, we present a novel passive single degree-of-freedom (DoF) manipulator design and its integration on an autonomous drone to capture a moving target. The end-effector is designed to be passive, to disengage the moving target from a flying UAV and capture it efficiently in the presence of disturbances, with minimal energy usage. It is also designed to handle target sway and the effect of downwash. The passive manipulator is integrated with the drone through a single DoF arm, and experiments are carried out in an outdoor environment. The rack-and-pinion mechanism incorporated for this manipulator ensures safety by extending the manipulator beyond the body of the drone to capture the target. The autonomous capturing experiments are conducted using a red ball hanging from a stationary drone and subsequently from a moving drone. The experiments show that the manipulator captures the target with a success rate of 70% even under environmental/measurement uncertainties and errors.

scholarly journals An approach to drastically reduce the required legs DOFs for bipedal robots and lower-limb exoskeletons

Robotica ◽  
2021 ◽  
pp. 1-15
Author(s):  
Rodrigo S. Jamisola ◽  
Rodney G. Roberts
Keyword(s):  
Relative Motion ◽  
Lower Limb ◽  
Degrees Of Freedom ◽  
Reference Frames ◽  
Null Space ◽  
Usual Method ◽  
Bipedal Walking ◽  
Basic Form ◽  
Bipedal Robots ◽  
Fixed Reference

Abstract We present a method to drastically reduce the required number of degrees-of-freedom (DOFs) needed for walking for each leg of bipedal robots and lower-limb exoskeletons. This approach releases more legs DOFs in the null space to do other tasks, instead of unnecessarily constraining them. It uses relative reference frames to control relative motion between the two feet, instead of the usual method of controlling foot movement with respect to fixed reference frames. In its basic form, it controls the bipedal walking holistically using two controllers: (1) world space control using relative feet motion and (2) null-space control of the legs posture.

Study on Pramana Shareera in relation to Prakriti

2016 ◽  
Vol 2 (3) ◽  
Author(s):  
Rajendra Pai N. ◽  
U. Govindaraju
Keyword(s):  
Observational Study ◽  
Upper Limb ◽  
Lower Limb ◽  
Characteristic Property ◽  
The Body ◽  
Artificial Limbs ◽  
Body Parts ◽  
Unit Of Measurement ◽  
The Individual ◽  
Different Parts

Ayurveda in its principle has given importance to individualistic approach rather than generalize. Application of this examination can be clearly seem like even though two patients suffering from same disease, the treatment modality may change depending upon the results of Dashvidha Pariksha. Prakruti and Pramana both used in Dashvidha Pariksha. Both determine the health of the individual and Bala (strength) of Rogi (Patient). Ayurveda followed Swa-angula Pramana as the unit of measurement for measuring the different parts of the body which is prime step assessing patient before treatment. Sushruta and Charaka had stated different Angula Pramana of each Pratyanga (body parts). Specificity is the characteristic property of Swa-angula Pramana. This can be applicable in present era for example artificial limbs. A scientific research includes collection, compilation, analysis and lastly scrutiny of entire findings to arrive at a conclusion. Study of Pramana and its relation with Prakruti was conducted in 1000 volunteers using Prakruti Parkishan proforma with an objective of evaluation of Anguli Pramana in various Prakriti. It was observed co-relating Pramana in each Prakruti and Granthokta Pramana that there is no vast difference in measurement of head, upper limb and lower limb. The observational study shows closer relation of features with classical texts.

scholarly journals A cross-species neural integration of gravity for motor optimization

2021 ◽  
Vol 7 (15) ◽  
pp. eabf7800
Author(s):  
Jeremie Gaveau ◽  
Sidney Grospretre ◽  
Bastien Berret ◽  
Dora E. Angelaki ◽  
Charalambos Papaxanthis
Keyword(s):  
Optimization Strategy ◽  
Motor Patterns ◽  
Activation Patterns ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Neural Integration ◽  
Gravity Effects ◽  
Neural Signature ◽  
Experimental Findings ◽  
Muscular Activation

Recent kinematic results, combined with model simulations, have provided support for the hypothesis that the human brain shapes motor patterns that use gravity effects to minimize muscle effort. Because many different muscular activation patterns can give rise to the same trajectory, here, we specifically investigate gravity-related movement properties by analyzing muscular activation patterns during single-degree-of-freedom arm movements in various directions. Using a well-known decomposition method of tonic and phasic electromyographic activities, we demonstrate that phasic electromyograms (EMGs) present systematic negative phases. This negativity reveals the optimal motor plan’s neural signature, where the motor system harvests the mechanical effects of gravity to accelerate downward and decelerate upward movements, thereby saving muscle effort. We compare experimental findings in humans to monkeys, generalizing the Effort-optimization strategy across species.

Kinematic comparison of single degree-of-freedom robotic gait trainers

2021 ◽  
Vol 159 ◽  
pp. 104258
Author(s):  
Jeonghwan Lee ◽  
Lailu Li ◽  
Sung Yul Shin ◽  
Ashish D. Deshpande ◽  
James Sulzer
Keyword(s):  
Degree Of Freedom ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Robotic Gait
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