scholarly journals Estimation of Individual Muscular Forces of the Lower Limb during Walking Using a Wearable Sensor System

2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Suin Kim ◽  
Kyongkwan Ro ◽  
Joonbum Bae
Keyword(s):  
Inverse Dynamics ◽  
Reaction Force ◽  
Force Plate ◽  
Force Sensor ◽  
Optimization Method ◽  
Sensor System ◽  
Wearable Sensor ◽  
Static Optimization ◽  
Muscle Groups ◽  
Set Up

Although various kinds of methodologies have been suggested to estimate individual muscular forces, many of them require a costly measurement system accompanied by complex preprocessing and postprocessing procedures. In this research, a simple wearable sensor system was developed, combined with the inverse dynamics-based static optimization method. The suggested method can be set up easily and can immediately convert motion information into muscular forces. The proposed sensor system consisted of the four inertial measurement units (IMUs) and manually developed ground reaction force sensor to measure the joint angles and ground reaction forces, respectively. To verify performance, the measured data was compared with that of the camera-based motion capture system and a force plate. Based on the motion data, muscular efforts were estimated in the nine muscle groups in the lower extremity using the inverse dynamics-based static optimization. The estimated muscular forces were qualitatively analyzed in the perspective of gait functions and compared with the electromyography signal.

A Design Based Materials Study for a Wearable Muscle Stretching Device Aimed at Patients With Spasticity

2007 ◽  
Author(s):  
Michael Bailey-Van Kuren ◽  
Carter Hamilton ◽  
Eduardo Rivera
Keyword(s):  
Composite Structure ◽  
Treatment Options ◽  
Current Treatment ◽  
Sensor System ◽  
Wearable Sensor ◽  
Thin Film Sensors ◽  
Muscle Stretching ◽  
Serial Casting ◽  
Muscle Groups ◽  
And Control

The efficacy of robotic systems in rehabilitation is well established. Many of these systems are fixed equipment that requires the user to visit a facility for treatment. Furthermore, current treatment options for pediatric patients with spastic dyplagia include manual stretching of the muscle groups and serial casting in conjunction with Botox injections. The goal of this work is to develop a dynamic orthotic to stretch the muscles of the lower calf. A subsystem of this project is the development of wearable sensor system to detect spasticity and control the system actuators. A system of thin film sensors embedded into a novel composite structure is proposed. In order to develop a dynamic orthotic to stretch the muscles of the lower calf, a subsystem of this project is the development of wearable sensor system embedded into a novel composite structure [1, 2, 3].

Two-Dimensional Team Lifting Prediction With Different Box Weights

2020 ◽  
Author(s):  
Asif Arefeen ◽  
Yujiang Xiang
Keyword(s):  
Joint Angle ◽  
Inverse Dynamics ◽  
Reaction Force ◽  
Optimization Method ◽  
Two Dimensional ◽  
Dynamics Modeling ◽  
Floating Base ◽  
Grasping Forces ◽  
Design Variables ◽  
Grasping Force

Abstract A novel multibody dynamics modeling method is proposed for two-dimensional (2D) team lifting prediction. The box itself is modeled as a floating-base rigid body in Denavit-Hartenberg representation. The interactions between humans and box are modeled as a set of grasping forces which are treated as unknowns (design variables) in the optimization formulation. An inverse-dynamics-based optimization method is used to simulate the team lifting motion where the dynamic effort of two humans is minimized subjected to physical and task-based constraints. The design variables are control points of cubic B-splines of joint angle profiles of two humans and the box, and the grasping forces between humans and the box. Two numerical examples are successfully simulated with different box weights (20 Kg and 30 Kg, respectively). The humans’ joint angle, torque, ground reaction force, and grasping force profiles are reported. The joint angle profiles are validated with the experimental data.

Hybrid Position and Force Control Without Force Sensor

1996 ◽  
Vol 8 (3) ◽  
pp. 226-234
Author(s):  
Kiyoshi Ohishi ◽  
◽  
Masaru Miyazaki ◽  
Masahiro Fujita ◽  
Keyword(s):  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Hybrid Control ◽  
Robot Manipulator ◽  
Reaction Force ◽  
Force Sensor ◽  
Force Estimation ◽  
Estimation System ◽  
Dynamics Calculation ◽  
Torque Observer

Generally, hybrid control is realized by sensor signal feedback of position and force. However, some robot manipulators do not have a force sensor due to the environment. Moreover, a precise force sensor is very expensive. In order to overcome these problems, we propose the estimation system of reaction force without using a force sensor. This system consists of the torque observer and the inverse dynamics calculation. Using both this force estimation system and <I>H</I>∞ acceleration controller which is based on <I>H</I>∞ control theory, it takes into account the frequency characteristics of both sensor noise effect and disturbance rejection. The experimental results in this paper illustrate the fine hybrid control of the three tested degrees-of-freedom DD robot manipulator without force sensor.

A Soft Ground Reaction Force Sensor System Utilizing Time-Delay Recurrent Neural Network

2020 ◽  
Vol 20 (18) ◽  
pp. 10851-10861 ◽  
Author(s):  
Hyo Seung Han ◽  
Juyoung Yoon ◽  
Seungkyu Nam ◽  
Sangin Park ◽  
Dong Jin Hyun
Keyword(s):  
Neural Network ◽  
Time Delay ◽  
Recurrent Neural Network ◽  
Ground Reaction Force ◽  
Reaction Force ◽  
Force Sensor ◽  
Sensor System ◽  
Soft Ground

11102 Development of a New Wearable Ground Reaction Force Sensor System:Experimental Study of the Sensor System

2013 ◽  
Vol 2013.19 (0) ◽  
pp. 127-128
Author(s):  
Kazuhiro SUGAWARA ◽  
Nozomu KOIKE ◽  
Naoya KOSAKI ◽  
Jyun KOBAYASHI ◽  
Yoshihiro KAI
Keyword(s):  
Ground Reaction Force ◽  
Reaction Force ◽  
Force Sensor ◽  
Sensor System

scholarly journals Development of Force Plates Installed with Five-Axis Load Cells and Analysis Using a Wearable Sensor System

Proceedings ◽  
2020 ◽  
Vol 49 (1) ◽  
pp. 16
Author(s):  
Kiyoshi Hirose ◽  
Akiko Kondo
Keyword(s):  
Cross Talk ◽  
Force Plate ◽  
Sensor System ◽  
Wearable Sensor ◽  
Output Force ◽  
Measurement And Analysis ◽  
Load Cells ◽  
The Moment ◽  
Five Axis ◽  
Plate System

In this study, we developed a new force plate system. Conventional force plates output force and moment by using the signals of three-axis load cells. The developed force plate installs four 5-axis load cells, and each load cell can output 3-axis force and 2-axis moment relating to deflection. The moment components of load cells are used for the compensation of cross talk and the calculation of moment in the force plate. The force plate can measure force and moment on the outside of load cells installed in the force plate. Gait measurement and analysis were conducted by using the developed force plate, a conventional force plate, and a wearable sensor system (wearable force plate). The results of the comparison of the developed force plates and the conventional force plate outputs indicated a difference in performance on the outside of load cells.

A Novel Three-Dimensional Gait Analysis System

2012 ◽  
Vol 569 ◽  
pp. 352-355 ◽  
Author(s):  
Tao Liu ◽  
Yoshio Inoue ◽  
Kyoko Shibata ◽  
Kozou Shiojima ◽  
Ji Bin Yin
Keyword(s):  
Wireless Local Area Network ◽  
Inverse Dynamics ◽  
Local Area Network ◽  
Reaction Force ◽  
Force Plate ◽  
Three Dimensional ◽  
Local Area ◽  
Area Network ◽  
Data Logger ◽  
Joint Moments

Three-dimensional (3D) lower limb kinematic and kinetic analysis based on ambulatory measurements is introduced in this paper. We developed a wireless sensor system composed of a mobile force plate system, 3D motion sensor units and a wireless data logger. 3D motions of body segment and triaxial ground reaction force (GRF) could be simultaneously measured using the system, and the data obtained from sensor units on thighs, shanks and feet could be transferred to a personal computer by wireless local area network (LAN). An inverse dynamics method was adopted to calculate triaxial joint moments. The accuracy of kinematics and kinetics (joint moments) assessment is validated against results obtained from the stationary measurement system based on camera movement analysis and force plates.

A Biomechanical Study of Side Steps at Different Distances

2013 ◽  
Vol 29 (3) ◽  
pp. 336-345 ◽  
Author(s):  
Yuki Inaba ◽  
Shinsuke Yoshioka ◽  
Yoshiaki Iida ◽  
Dean C. Hay ◽  
Senshi Fukashiro
Keyword(s):  
Inverse Dynamics ◽  
Center Of Mass ◽  
Reaction Force ◽  
Biomechanical Study ◽  
Joint Torque ◽  
Large Power ◽  
Lower Extremity Muscle ◽  
Ankle Joints ◽  
Hip Abduction ◽  
Muscle Groups

Lateral quickness is a crucial component of many sports. However, biomechanical factors that contribute to quickness in lateral movements have not been understood well. Thus, the purpose of this study was to quantify 3-dimensional kinetics of hip, knee, and ankle joints in side steps to understand the function of lower extremity muscle groups. Side steps at nine different distances were performed by nine male subjects. Kinematic and ground reaction force data were recorded, and net joint torque and work were calculated by a standard inverse-dynamics method. Extension torques and work done at hip, knee, and ankle joints contributed substantially to the changes in side step distances. On the other hand, hip abduction work was not as sensitive to the changes in the side step distances. The main roles of hip abduction torque and work were to accelerate the center of mass laterally in the earlier phase of the movement and to keep the trunk upright, but not to generate large power for propulsion.

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