2P1-D27 Control of pneumatic five-fingered robot hand using antagonistic muscle ratio and antagonistic muscle activity : Joint angle control of one-degree-of-freedom finger model

A multi-fingered hand has been used in the explosive Disposal Robot to improve the disposal ability of explosive. Grasping ability of the multi-fingered hand is a problem with the change of grasping posture. This paper discusses grasping ability of the multi-fingered robot hand. Screw theory and BP neural network are used to optimize the joint angle of the finger. The most favorite grasping posture is calculated when the multi-fingered robot hand can withstand the largest external wrench. In order to guarantee the explosive not to be exploded under the exceeding grasp force, the weight of the explosive the multi-fingered hand can hold is also discussed in this paper. It is an important theoretical guidance for the multi-fingered robot hand handling of hazardous items.

Download Full-text

1A1-A07 Robot Hand using Compact Ultrasonic Motors having 20-degree-of-freedom

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2008._1a1-a07_1 ◽

2008 ◽

Vol 2008 (0) ◽

pp. _1A1-A07_1-_1A1-A07_2 ◽

Cited By ~ 2

Author(s):

Jun GOMI ◽

Takashi MAENO ◽

Ichiro KAWABUCHI

Keyword(s):

Degree Of Freedom ◽

Robot Hand ◽

Ultrasonic Motors

Download Full-text

The Influences of Impact Interface, Muscle Activity, and Knee Angle on Impact Forces and Tibial and Femoral Accelerations Occurring after External Impacts

Journal of Applied Biomechanics ◽

10.1123/jab.26.1.1 ◽

2010 ◽

Vol 26 (1) ◽

pp. 1-9 ◽

Cited By ~ 19

Author(s):

Wolfgang Potthast ◽

Gert-Peter Brüggemann ◽

Arne Lundberg ◽

Anton Arndt

Keyword(s):

Muscle Activity ◽

Knee Flexion ◽

Muscle Force ◽

Joint Angle ◽

Force Sensor ◽

Voluntary Contraction ◽

Knee Angle ◽

Impact Forces ◽

Interface Hardness ◽

Muscular Activation

The purpose of this study was to quantify relative contributions of impact interface, muscle activity, and knee angle to the magnitudes of tibial and femoral accelerations occurring after external impacts. Impacts were initiated with a pneumatically driven impacter under the heels of four volunteers. Impact forces were quantified with a force sensor. Segmental accelerations were measured with bone mounted accelerometers. Experimental interventions were hard and soft shock interfaces, different knee angles (0°, 20°, 40° knee flexion), and muscular preactivation (0%, 30%, 60% of maximal voluntary contraction) of gastrocnemii, hamstrings, and quadriceps. Greater knee flexion led to lower impact forces and higher tibial accelerations. Increased muscular activation led to higher forces and lower tibial accelerations. The softer of the two shock interfaces under study reduced both parameters. The effects on accelerations and forces through the activation and knee angle changes were greater than the effect of interface variations. The hardness of the two shock interfaces explained less than 10% of the variance of accelerations and impact forces, whereas knee angle changes explained 25–29%, and preactivation changes explained 35–48% of the variances. It can be concluded that muscle force and knee joint angle have greater effects in comparison with interface hardness on the severity of shocks on the lower leg.

Download Full-text

Influence of Trunk Posture on Knee Joint Angle and Muscle Activity during Single-leg Landing: A Comparison by Gender

Rigakuryoho Kagaku ◽

10.1589/rika.29.955 ◽

2014 ◽

Vol 29 (6) ◽

pp. 955-959

Author(s):

Akira SAITO ◽

Makoto SASAKI ◽

Masahiko WAKASA ◽

Sachiko UEMURA ◽

Kyoji OKADA

Keyword(s):

Knee Joint ◽

Muscle Activity ◽

Joint Angle ◽

Knee Joint Angle ◽

Trunk Posture

Download Full-text

Biomechanical demands of percussive techniques in the context of early stone toolmaking

Journal of The Royal Society Interface ◽

10.1098/rsif.2020.1044 ◽

2021 ◽

Vol 18 (178) ◽

pp. 20201044

Author(s):

R. Macchi ◽

G. Daver ◽

M. Brenet ◽

S. Prat ◽

L. Hugheville ◽

...

Keyword(s):

Motor Control ◽

Muscle Activity ◽

Joint Angle ◽

Biceps Brachii ◽

Stone Tool ◽

Muscle Coordination ◽

Physical Demands ◽

Kinematic Pattern ◽

Evolutionary Advantage ◽

Behavioural Repertoire

Recent discoveries in archaeology and palaeoanthropology highlight that stone tool knapping could have emerged first within the genera Australopithecus or Kenyanthropus rather than Homo . To explore the implications of this hypothesis determining the physical demands and motor control needed for performing the percussive movements during the oldest stone toolmaking technology (i.e. Lomekwian) would help. We analysed the joint angle patterns and muscle activity of a knapping expert using three stone tool replication techniques: unipolar flaking on the passive hammer (PH), bipolar (BP) flaking on the anvil, and multidirectional and multifacial flaking with free hand (FH). PH presents high levels of activity for Biceps brachii and wrist extensors and flexors. By contrast, BP and FH are characterized by high solicitation of forearm pronation. The synergy analyses depict a high muscular and kinematic coordination. Whereas the muscle pattern is very close between the techniques, the kinematic pattern is more variable, especially for PH. FH displays better muscle coordination and conversely lesser joint angle coordination. These observations suggest that the transition from anvil and hammer to freehand knapping techniques in early hominins would have been made possible by the acquisition of a behavioural repertoire producing an evolutionary advantage that gradually would have been beneficial for stone tool production.

Download Full-text

JOINTS ACTIVITY AND ITS ROLE IN THE UPPER EXTREMITY IN BADMINTON STROKES: A BIOMECHANICAL PERSPECTIVE OF SPORTS EDUCATION

Humanities & Social Sciences Reviews ◽

10.18510/hssr.2020.8451 ◽

2020 ◽

Vol 8 (4) ◽

pp. 522-529

Author(s):

Mottakin Ahmed ◽

G. D. Ghai

Keyword(s):

Upper Extremity ◽

Muscle Activity ◽

Shoulder Joint ◽

Elbow Joint ◽

High Performance ◽

Joint Angle ◽

Wrist Joint ◽

Video Camera ◽

Total N ◽

Practice Group

Purpose of the Study: This study aims to describe the muscle activity and its role in the upper extremity in Badminton Strokes and also investigates the Kinematics differences of Badminton forehand overhead shot, i.e., precise, smash and drop in wrist joint, elbow joint, and shoulder Joint from a biomechanics perspective. Methodology: Total [n=10] numbers of male badminton players were randomly selected from the badminton match practice group of L.N.I.P.E. Gwalior, Madhya Pradesh, India. The match practice group consisted of (n=78) players who at least participated in Inter-University badminton competition, and their age ranges from 17-25 years of old. Go Pro HERO 7, 2D camera was used. A video camera was mounted on a tripod at a height of 1.05 meters from the ground. 2D data of wrist joint, elbow joint, and shoulder joint were put in Kinovea 0.8.27 software. One way ANOVA was used. Principal Findings: The results of the finding demonstrate that Brain vibrations, paradoxically, are critical to the stability of movement and high performance. There are significant muscle activity and kinematics differences among forehand clear, forehand smash and forehand drop-in shoulder joint angle, elbow joint angle, and wrist joint angle. Applications of this Study: The Study may use by the badminton Players as well as coaches for the successful execution of badminton Skill. This study will provide the mechanical area of movement of badminton Players. The same kind of study may use in other games. Novelty/Originality of this Study: The Study explores the mechanical advantages of badminton forehand overhead Skill. It will give the reader new ideas to think of a similar kind of study in different games.

Download Full-text

Optimization-Based Digital Human Dynamics: Santos™ Walking Backwards

Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2007-35616 ◽

2007 ◽

Cited By ~ 1

Author(s):

Hyun Jung Kwon ◽

Yujiang Xiang ◽

Salam Rahmatalla ◽

R. Timothy Marler ◽

Karim Abdel-Malek ◽

...

Keyword(s):

Degrees Of Freedom ◽

Optimization Problem ◽

Joint Angle ◽

Spline Interpolation ◽

Performance Measure ◽

Degree Of Freedom ◽

Human Model ◽

Entire Body ◽

Joint Torques ◽

Digital Human

An objective of this study is to simulate the backward walking motion of a full-body digital human model. The model consists of 55 degree of freedom – 6 degrees of freedom for global translation and rotation and 49 degrees of freedom representing the kinematics of the entire body. The resultant action of all the muscles at a joint is represented by the torque for each degree of freedom. The torques and angles at a joint are treated as unknowns in the optimization problem. The B-spline interpolation is used to represent the time histories of the joint angles and the well-established robotics formulation of the Denavit-Hartenberg method is used for kinematics analysis of the mechanical system. The recursive Lagrangian formulation is used to develop the equations of motion, and was chosen because of its known computational efficiency. The backwards walking problem is formulated as a nonlinear optimization problem. The control points of the B-splines for the joint angle profiles are treated as the design variables. For the performance measure, total dynamic effort that is represented as the integral of the sum of the squares of all the joint torques is minimized using a sequential quadratic programming algorithm. The solution is simulated in the Santos™ environment. Results of the optimization problem are the torque and joint angle profiles. The torques at the key joints and the ground reaction forces are compared to those for the forward walk in order to study the differences between the two walking patterns. Simulation results are approximately validated with the experimental data which is motion captured in the VSR Lab at the University of Iowa.

Download Full-text

Effect of Knee Joint Angle on Regional Hamstrings Activation During Isometric Knee-Flexion Exercise

Journal of Sport Rehabilitation ◽

10.1123/jsr.2020-0181 ◽

2020 ◽

pp. 1-6

Author(s):

Raki Kawama ◽

Masamichi Okudaira ◽

David H. Fukuda ◽

Hirohiko Maemura ◽

Satoru Tanigawa

Keyword(s):

Knee Joint ◽

Muscle Activity ◽

Repeated Measures ◽

Knee Flexion ◽

Muscle Activation ◽

Joint Angle ◽

Motor Nerve ◽

Activity Level ◽

Activity Levels ◽

Knee Joint Angle

Context: Each hamstring muscle is subdivided into several regions by multiple motor nerve branches, which implies each region has different muscle activation properties. However, little is known about the muscle activation of each region with a change in the knee joint angle. Understanding of regional activation of the hamstrings could be helpful for designing rehabilitation and training programs targeted at strengthening a specific region. Objective: To investigate the effect of knee joint angle on the activity level of several regions within the individual hamstring muscles during isometric knee-flexion exercise with maximal effort (MVCKF). Design: Within-subjects repeated measures. Setting: University laboratory. Participants: Sixteen young males with previous participation in sports competition and resistance training experience. Intervention: The participants performed 2 MVCKF trials at each knee joint angle of 30°, 60°, and 90°. Outcome Measures: Surface electromyography was used to measure muscle activity in the proximal, middle, and distal regions of the biceps femoris long head (BFlh), semitendinosus, and semimembranosus of hamstrings at 30°, 60°, and 90° of knee flexion during MVCKF. Results: Muscle activity levels in the proximal and middle regions of the BFlh were higher at 30° and 60° of knee flexion than at 90° during MVCKF (all: P < .05). Meanwhile, the activity levels in the distal region of the BFlh were not different among all of the evaluated knee joint angles. In semitendinosus and semimembranosus, the activity levels were higher at 30° and 60° than at 90°, regardless of region (all: P < .05). Conclusion: These findings suggest that the effect of knee joint angle on muscle activity level differs between regions of the BFlh, whereas that is similar among regions of semitendinosus and semimembranosus during MVCKF.

Download Full-text