scholarly journals Effects of body movement on yaw motion in bipedal running lizard by dynamic simulation

PLoS ONE ◽  
2020 ◽  
Vol 15 (12) ◽  
pp. e0243798
Author(s):  
Jeongryul Kim ◽  
Hongmin Kim ◽  
Jaeheung Park ◽  
Hwa Soo Kim ◽  
TaeWon Seo
Keyword(s):  
Dynamic Simulation ◽  
Body Movement ◽  
The Body ◽  
Joint Torque ◽  
Stride Frequency ◽  
Body Movements ◽  
Joint Torques ◽  
Biomechanical Simulation ◽  
Bipedal Gait ◽  
The Relationship

Lizards run quickly and stably in a bipedal gait, with their bodies exhibiting a lateral S-shaped undulation. We investigate the relationship between a lizard’s bipedal running and its body movement with the help of a dynamic simulation. In this study, a dynamic theoretical model of lizard is assumed as a three-link consisting of an anterior and posterior bodies, and a tail, with morphometrics based on Callisaurus draconoides. When a lizard runs straight in a stable bipedal gait, its pelvic rotation is periodically synchronized with its gait. This study shows that the S-shaped body undulation with the yaw motion is generated by minimizing the square of joint torque. Furthermore, we performed the biomechanical simulation to figure out the relationship between the lizard’s lateral body undulation and the bipedal running locomotion. In the biomechanical simulation, all joint torques significantly vary by the waist and tail’ motions at the same locomotion. Besides, when the waist and tail joint angles increase, the stride length and duration of the model also increase, and the stride frequency decreases at the same running speed. It means that the lizard’s undulatory body movements increase its stride and help it run faster. In this study, we found the benefits of the lizard’s undulatory body movement and figured out the relationship between the body movement and the locomotion by analyzing the dynamics. In the future works, we will analyze body movements under different environments with various simulators.

Mobilization of the Planet from the Spirit of Self-Intensification

2006 ◽  
Vol 50 (4) ◽  
pp. 36-43 ◽  
Author(s):  
Peter Sloterdijk
Keyword(s):  
Critical Theory ◽  
Gilles Deleuze ◽  
Body Movement ◽  
The Body ◽  
Felix Guattari ◽  
Peter Sloterdijk ◽  
First Time ◽  
The Relationship

The articles in this first installment of a series on choreography that considers the relationship between philosophy and dance interrogate conceptions of the body, movement, and language. Translated for the first time into English, the selection by José Gil reads the dancing body as paradoxical through the writings of Gilles Deleuze and Félix Guattari; and the chapter by Peter Sloterdijk examines modernity's impulse toward movement and posits a critical theory of mobilization. An interview with choreographer Hooman Sharifi accompanies a meditation on his recent performance.

Mutant Enunciations

2006 ◽  
Vol 50 (4) ◽  
pp. 17-20 ◽  
Author(s):  
André Lepecki
Keyword(s):  
Critical Theory ◽  
Gilles Deleuze ◽  
Body Movement ◽  
The Body ◽  
Felix Guattari ◽  
Peter Sloterdijk ◽  
First Time ◽  
The Relationship

The articles in this first installment of a series on choreography that considers the relationship between philosophy and dance interrogate conceptions of the body, movement, and language. Translated for the first time into English, the selection by José Gil reads the dancing body as paradoxical through the writings of Gilles Deleuze and Félix Guattari; and the chapter by Peter Sloterdijk examines modernity's impulse toward movement and posits a critical theory of mobilization. An interview with choreographer Hooman Sharifi accompanies a meditation on his recent performance.

scholarly journals Optimization of Coupling Ratio and Kinematics of an Underactuated Robot Leg for Passive Terrain Adaptability

2012 ◽  
Author(s):  
Oren Y. Kanner ◽  
Aaron M. Dollar
Keyword(s):  
Performance Metrics ◽  
Reaction Force ◽  
The Body ◽  
Joint Torque ◽  
Design Parameters ◽  
Leg Length ◽  
Coupling Ratio ◽  
Joint Torques ◽  
Robot Leg ◽  
Underactuated Robot

This paper investigates how the passive adaptability of an underactuated robot leg to uneven terrain is affected by variations in design parameters. In particular, the ratio between the joint torques, the ratio between the link lengths, and the initial joint rest angles are varied to determine configurations that allow for maximum terrain roughness adaptability while minimizing the transmission of disturbance forces to the body. The results show that a proximal/distal joint torque coupling ratio of 1.58, proximal/distal leg length ratio of 0.5, and an initial proximal joint angle of −49 degrees maximize the terrain variability over which the robot can remain stable by exerting a near-constant vertical reaction force while minimizing lateral force and moment disturbances. In addition, the spring stiffness ratio allows for a tradeoff to be made between the different performance metrics.

scholarly journals Effect of body movements in the venous blood flow and lymphatic circulation

2021 ◽  
Vol 6 (2) ◽  
Author(s):  
Eduardo Pinto-Ferreira
Keyword(s):  
Venous Thromboembolism ◽  
Body Movement ◽  
Venous Blood ◽  
The Body ◽  
Body Motion ◽  
Venous Stasis ◽  
Venous Blood Flow ◽  
Body Movements ◽  
Predisposing Factor ◽  
Lymphatic Circulation

The studies of ballistocardiography about the effect of cardiovascular activity in body motion raised the author interest in the research of the influence of body movements in the circulatory flow in venous and lymphatic vessels. These effects follow Sir Isaac Newton laws. With the body movement, the one-way valve structure of these vessels will cause a mobilization of venous blood and lymph to the proximal side. A model was built to demonstrate the effect of oscillatory movement in a liquid flow in a system of one-way valve. There was a rise of the liquid with difference in level that ranged from 9 cm up to 34 cm, depending on the amplitude and frequency. The model tried to mimic a segment of vein with its valve, and evaluate the effectiveness of oscillatory movements in the progression of the liquid, In a preliminary study, to assess the effect of oscillatory movements on leg swelling, this movements was applied in a clinical cases. There was regression of the oedema and circumference on the leg, by oscillatory movements, that was correlated with increase in lymphatic and venous drainage. Venous stasis is a predisposing factor of venous thromboembolism. How we extrapolate from the experimental model, the oscillatory movements of the legs improving venous circulation may contribute to the prophylaxis of venous thromboembolism. In conclusion, it is of interest to study its application in some situations of venous thromboembolism risk.

A Postural Model of Balance-Correcting Movement Strategies

1992 ◽  
Vol 2 (4) ◽  
pp. 323-347
Author(s):  
J.H.J. Allum ◽  
F. Honegger
Keyword(s):  
Normal Subjects ◽  
Opposite Polarity ◽  
The Body ◽  
Joint Torque ◽  
Support Surface ◽  
Joint Torques ◽  
Eyes Closed ◽  
Movement Strategies ◽  
Eyes Open ◽  
Balance Corrections

The patterns of joint torques and movement strategies underlying human balance corrections were examined using a postural model. Two types of support-surface perturbation, dorsiflexion rotation (ROT) and rearward translation (TRANS), were employed. These two perturbations were adjusted to produce similar profiles of ankle dorsiflexion in order to obtain information on the role of lower leg proprioceptive inputs on triggering balance corrections. In addition, the dependence of balance control on head angular and linear accelerations was investigated by comparing the responses of normal and vestibularly deficient subjects under eyes-closed and eyes-open conditions. Differences in ROT and TRANS movement strategies were examined in three ways First, the amplitude and polarity of active joint torques were analysed. These were obtained by altering joint torques applied to a postural model until movements of the model accurately duplicated those of measured responses. Second, the pattern of body-segment angular movements depicted by stick figures moving in response to the computed joint torques was investigated. Third, the peak amplitude and patterns of crosscorrelations between joint torques were measured. Active ankle, knee, and hip joint torques computed for normal subjects rotated the body forward for ROT. In the case of TRANS, computed active torques in normal were of opposite polarity to those of ROT and reversed the forward motion of the body. Subjects with vestibular deficits had lower amplitude torques for ROT and failed to counter the platform rotation. Hip torques for TRANS in vestibular deficient subjects were of opposite polarity to those of normal subjects and resulted in excessive forward trunk rotation. Normally, neck torques acted to stabilize the head in space when trunk angular velocity peaked. Vestibular deficient subjects displayed head movements in response to ROT similar to those generated when neck torques were absent. For TRANS, these same subjects exhibited overcompensatory neck torques. Stick figures of normal responses indicated a stiffening of the body into a leg and a trunk-head link for ROT and a flexible multilink motion for TRANS. Likewise, normal response strategies, defined by using crosscorrelations of joint torques, differed for ROT and TRANS. All joint torque crosscorrelations were significant for TRANS. Neck torques led those of all other joint torques by 40 ms or more, and hip joint led ankle torques by 30 ms. Joint torque correlations for ROT were organised around hip and ankle torques without a major correlation to neck torques. Fundamental changes in all torque crosscorrelations occurred for vestibularly deficient subjects under both eyes-open and eyes-closed conditions. These results support the hypothesis that the modulation of postural responses by vestibular signals occurs at all major joint links of the upright human body and that the strategy underlying balance corrections at the hip and neck is selected independent of local sensory input from the lower leg. Rearward translation and dorsiflexion rotation of a support-surface elicit different movement strategies when ankle angle, changes are matched for such disturbances to human upright balance.

Screening Sleep Disordered Breathing with Noncontact Measurement in a Clinical Site

2017 ◽  
Vol 29 (2) ◽  
pp. 327-337 ◽  
Author(s):  
Yutaka Matsuura ◽  
◽  
Hieyong Jeong ◽  
Kenji Yamada ◽  
Kenji Watabe ◽  
...  
Keyword(s):  
Respiratory Rate ◽  
Sleep Disordered Breathing ◽  
Body Movement ◽  
The Body ◽  
Body Movements ◽  
Simple Method ◽  
Waveform Data ◽  
Respiratory Condition ◽  
Clinical Site ◽  
Disordered Breathing

[abstFig src='/00290002/06.jpg' width='300' text='Respiratory rate from simulator and Kinect' ]<span class=”bold”>Background and purpose:</span>It has been considered that sleep-disordered breathing disorders, such as sleep apnea syndrome (SAS), cause an increase in the risk of cardiovascular disease or traffic accident risk, and thus early detection of SAS is important. It has been also important for medical workers at clinical sites to quantitatively evaluate the respiratory condition of hospitalized patients who are asleep in a simple method. A noncontact-type system was proposed to monitor the respiratory condition of sleeping patients and minimized patient-related stress such that medical workers could use the system for SAS screening and perform a preliminary check prior to definite diagnosis.<span class=”bold”>Method:</span>The system included Microsoft Kinect™ for windows® (Kinect), a tripod, and a PC. A depth sensor of Kinect was used to measure movement in the thorax motion. Data obtained from periodic waveforms were divided with the intervals of 1 min, and the number of peaks was used to obtain the respiratory rate. Additionally, a frequency analysis was performed to calculate the respiratory frequency from a frequency at which the maximum amplitude was observed. In Experiment 1), a METI-man® PatientSimulator (CAE healthcare) (simulator) was used to study the respiratory rate and frequency calculated from the Kinect data by gradually changing the designated respiratory rate. In Experiment 2), the respiratory condition of four sleeping subjects was monitored to calculate their respiratory rate and frequencies. Furthermore, a video camera was used to confirm periodic waveforms and spectrum features of body movements during sleep.<span class=”bold”>Results:</span>In Experiment 1), the results indicated that both the respiratory rate and frequency corresponded to the designated respiratory rate in each time zone. In Experiment 2), the results indicated that the respiratory rate of examines 1, 2, 3, and 4 corresponded to 12.79±2.44 times/min (average ± standard deviation), 16.46±4.33 times/min, 28.24±2.79 times/min, and 13.05±2.64 times/min, respectively. The findings also indicated that the frequency of examines 1, 2, 3, and 4 corresponded to 0.20±0.04 Hz, 0.26±0.06 Hz, 0.45±0.12 Hz, and 0.22±0.06 Hz, respectively. The periodic waveforms and amplitude spectra were enhanced with respect to body movements although regular waveform data were obtained after the body movement occurred.<span class=”bold”>Discussions:</span>The results indicated that body movement and posture temporarily affected monitoring of the system. However, the findings also revealed that it was possible to calculate the respiratory rate and frequency, and thus it was considered that the system was useful for monitoring the respiration confirm with the non-contact or SAS screening of patients in clinical site.

The Role of the Body in the Production and Perception of Solo Vocal Performance: A Case Study of Annie Lennox

2001 ◽  
Vol 5 (2) ◽  
pp. 235-256 ◽  
Author(s):  
Jane W. Davidson
Keyword(s):  
Mental States ◽  
The Body ◽  
Vocal Performance ◽  
Body Movements ◽  
Functional Movement ◽  
Present Information ◽  
Implicit And Explicit ◽  
The Relationship

The work described in this paper interprets the body movements of singers in an attempt to understand the relationships between physical control and the musical material being performed, and the performer's implicit and explicit expressive intentions. The work builds upon a previous literature which has suggested that the relationship between physical execution and the expression of mental states is a subtle and complex one. For instance, performers appear to develop a vocabulary of expressive gestures, yet these gestures – though perceptually discreet – co-exist and are even integrated to become part of the functional movement of playing. Additionally, there is the matter of how both musical and extra-musical concerns are coordinated between performer, co-performers and audience using body movements. A case study shows how, in the interaction between body style, musical expression and communication movements of both an individual and culturally-determined style are used. Many of these performance movements have clear functions and meanings: to communicate expressive intention (for instance, a sudden surge forwards to facilitate the execution of a loud musical passage, or a high curving hand gesture to link sections of the music during a pause); to communicate to the audience or co-performers a need for co-ordination or participation (for example, nodding the head to indicate “now” for the audience to join in a chorus of a song; or exchanging glances for the co-performer to take over a solo); to signal extra-musical concerns (for example, gesturing to the audience to remain quiet); and to present information about the performer's personality, with their individualized characteristics providing important cues (muted contained gestures, or large extravagant gestures, for example); to show off to the audience. From these results a theory is developed to explain how gestural elements help to make a performance meaningful.

The relationship between controlled joint torque and end-effector force in underactuated robotic systems

Robotica ◽  
2010 ◽  
Vol 29 (4) ◽  
pp. 581-584 ◽  
Author(s):  
Jaeheung Park
Keyword(s):  
Jacobian Matrix ◽  
Joint Torque ◽  
Generalized Jacobian ◽  
End Effector ◽  
Joint Torques ◽  
Floating Base ◽  
Force Moment ◽  
Generalized Jacobian Matrix ◽  
The Relationship ◽  
Jacobian Inverse

SUMMARYThe generalized Jacobian matrix was introduced for dealing with end-effector control in space robots. One of the applications of this Jacobian is to be used in Jacobian transpose control to generate joint torques given end-effector position error. It would be misleading, however, to consider the transpose of this Jacobian as a mapping from end-effector force/moment to controlled joint torques for underactuated systems or floating base robots. This paper explains why it does not represent the mapping and provides a simple example. Later, the correct mapping is provided using the dynamically consistent Jacobian inverse and then a method to compute the actuated-joint torques is explained given the desired end-effector force. Finally, the effect of using the generalized Jacobian in the Jacobian transpose control is analyzed.

Reflections on Failure

2006 ◽  
Vol 50 (4) ◽  
pp. 44-51
Author(s):  
Jenn Joy
Keyword(s):  
Critical Theory ◽  
Gilles Deleuze ◽  
Body Movement ◽  
The Body ◽  
Felix Guattari ◽  
Peter Sloterdijk ◽  
First Time ◽  
The Relationship

The articles in this first installment of a series on choreography that considers the relationship between philosophy and dance interrogate conceptions of the body, movement, and language. Translated for the first time into English, the selection by José Gil reads the dancing body as paradoxical through the writings of Gilles Deleuze and Félix Guattari; and the chapter by Peter Sloterdijk examines modernity's impulse toward movement and posits a critical theory of mobilization. An interview with choreographer Hooman Sharifi accompanies a meditation on his recent performance.

Respiratory consequences of passive body movement

1961 ◽  
Vol 16 (1) ◽  
pp. 30-34 ◽  
Author(s):  
M. E. Dixon ◽  
P. B. Stewart ◽  
F. C. Mills ◽  
C. J. Varvis ◽  
D. V. Bates
Keyword(s):  
Respiratory Rate ◽  
High Velocity ◽  
Body Movement ◽  
Normal Subjects ◽  
Upright Position ◽  
The Body ◽  
The Other ◽  
Metabolic Demand ◽  
Body Movements ◽  
End Tidal

The respiratory consequences of a number of passive body movements have been investigated in a group of normal subjects. It has been shown that certain types of torso movement produce hyperventilation in excess of metabolic demand, with a consequent lowering of end-tidal CO2 tension. Passive pedal motion of the legs did not produce this type of hyperventilation and concealed it if performed in conjunction with the other movements. The mechanism for the passive hyperventilation is not understood, since the respiratory rate did not appear to be rhythmically linked to the body movement, and certain maneuvers in the experiments did not affect the results. The level of hyperventilation that has been demonstrated is considered to be adequate to explain the phenomenon of hyperventilation which has been recorded in pilots flying high-velocity low-level aircraft, who may be subjected to considerable jolting while sitting in an upright position. Submitted on May 10, 1960

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