Proposal of Motion Judgment Algorithm Based on Joint Angle of Variable Elastic Assist Suit with High Back Drivability

2020 ◽  
Vol 32 (5) ◽  
pp. 863-875
Author(s):  
Seigo Kimura ◽  
Ryuji Suzuki ◽  
Katsuki Machida ◽  
Rie Nishihama ◽  
Manabu Okui ◽  
...  
Keyword(s):  
Success Rate ◽  
Motion Capture ◽  
Joint Angle ◽  
Joint Angles ◽  
Working Population ◽  
Standing Up ◽  
Human Joint

In recent years, the burden per worker has increased due to a decrease in the working population. Wearable assist suits have been developed as one of the methods for solving the problem. To extend the assist suit to practical situations, it is necessary to provide a motion judgment interface for judging the motion of a wearer. Therefore, in our study, a motion judgment algorithm is proposed for assist suits, based on variable viscoelasticity. The proposed algorithm judges sitting, standing-up, stance, sitting-down, and gait using only the joint angle information of the suit and verification is performed using human joint angles obtained by motion capture. Thus, the motion judgment rate is 90% or more for sitting, standing-up, stance, and sitting-down, and 80% or more for gait, confirming the usefulness of motion judgment. Additionally, based on these results, further verification is performed on an actual machine. As a result, in a series of motions starting from the sitting to the standing-up, the stance, and the gait, the motion judgement is successful five times from the sitting to the standing-up, the stance, and once in gait. In a series of motions from sitting to standing-up, the stance, and sitting-down, the motion judgment is successful five times during sitting; five times during sitting, stance, and sitting-down; and three times during standing-up. In this way, it is confirmed that the proposed method can judge the motion only by angle information, although there is a problem in a success rate depending on the motion.

scholarly journals Validation of a Commercially Available Markerless Motion-Capture System for Trunk and Lower Extremity Kinematics During a Jump-Landing Assessment

2021 ◽  
Vol 56 (2) ◽  
pp. 177-190
Author(s):  
Timothy C. Mauntel ◽  
Kenneth L. Cameron ◽  
Brian Pietrosimone ◽  
Stephen W. Marshall ◽  
Anthony C. Hackney ◽  
...  
Keyword(s):  
Lower Extremity ◽  
Motion Capture ◽  
Joint Angle ◽  
Sagittal Plane ◽  
Frontal Plane ◽  
Lower Extremity Injury ◽  
Joint Angles ◽  
Jump Landing ◽  
Markerless Motion Capture ◽  
Motion Capture Systems

Context Field-based, portable motion-capture systems can be used to help identify individuals at greater risk of lower extremity injury. Microsoft Kinect-based markerless motion-capture systems meet these requirements; however, until recently, these systems were generally not automated, required substantial data postprocessing, and were not commercially available. Objective To validate the kinematic measures of a commercially available markerless motion-capture system. Design Descriptive laboratory study. Setting Laboratory. Patients or Other Participants A total of 20 healthy, physically active university students (10 males, 10 females; age = 20.50 ± 2.78 years, height = 170.36 ± 9.82 cm, mass = 68.38 ± 10.07 kg, body mass index = 23.50 ± 2.40 kg/m2). Intervention(s) Participants completed 5 jump-landing trials. Kinematic data were simultaneously recorded using Kinect-based markerless and stereophotogrammetric motion-capture systems. Main Outcome Measure(s) Sagittal- and frontal-plane trunk, hip-joint, and knee-joint angles were identified at initial ground contact of the jump landing (IC), for the maximum joint angle during the landing phase of the initial landing (MAX), and for the joint-angle displacement from IC to MAX (DSP). Outliers were removed, and data were averaged across trials. We used intraclass correlation coefficients (ICCs [2,1]) to assess intersystem reliability and the paired-samples t test to examine mean differences (α ≤ .05). Results Agreement existed between the systems (ICC range = −1.52 to 0.96; ICC average = 0.58), with 75.00% (n = 24/32) of the measures being validated (P ≤ .05). Agreement was better for sagittal- (ICC average = 0.84) than frontal- (ICC average = 0.35) plane measures. Agreement was best for MAX (ICC average = 0.77) compared with IC (ICC average = 0.56) and DSP (ICC average = 0.41) measures. Pairwise comparisons identified differences for 18.75% (6/32) of the measures. Fewer differences were observed for sagittal- (0.00%; 0/15) than for frontal- (35.29%; 6/17) plane measures. Between-systems differences were equivalent for MAX (18.18%; 2/11), DSP (18.18%; 2/11), and IC (20.00%; 2/10) measures. The markerless system underestimated sagittal-plane measures (86.67%; 13/15) and overestimated frontal-plane measures (76.47%; 13/17). No trends were observed for overestimating or underestimating IC, MAX, or DSP measures. Conclusions Moderate agreement existed between markerless and stereophotogrammetric motion-capture systems. Better agreement existed for larger (eg, sagittal-plane, MAX) than for smaller (eg, frontal-plane, IC) joint angles. The DSP angles had the worst agreement. Markerless motion-capture systems may help clinicians identify individuals at greater risk of lower extremity injury.

scholarly journals Genome-Wide Association Studies Based on Equine Joint Angle Measurements Reveal New QTL Affecting the Conformation of Horses

Genes ◽  
2019 ◽  
Vol 10 (5) ◽  
pp. 370 ◽  
Author(s):  
Annik Imogen Gmel ◽  
Thomas Druml ◽  
Rudolf von Niederhäusern ◽  
Tosso Leeb ◽  
Markus Neuditschko
Keyword(s):  
Joint Angle ◽  
Association Studies ◽  
Genome Wide Association ◽  
Cranial Morphology ◽  
Genome Wide Association Studies ◽  
Joint Angles ◽  
Mineral Density ◽  
Mixed Effect ◽  
Stifle Joint ◽  
Genome Wide

The evaluation of conformation traits is an important part of selection for breeding stallions and mares. Some of these judged conformation traits involve joint angles that are associated with performance, health, and longevity. To improve our understanding of the genetic background of joint angles in horses, we have objectively measured the angles of the poll, elbow, carpal, fetlock (front and hind), hip, stifle, and hock joints based on one photograph of each of the 300 Franches-Montagnes (FM) and 224 Lipizzan (LIP) horses. After quality control, genome-wide association studies (GWASs) for these traits were performed on 495 horses, using 374,070 genome-wide single nucleotide polymorphisms (SNPs) in a mixed-effect model. We identified two significant quantitative trait loci (QTL) for the poll angle on ECA28 (p = 1.36 × 10−7), 50 kb downstream of the ALX1 gene, involved in cranial morphology, and for the elbow joint on ECA29 (p = 1.69 × 10−7), 49 kb downstream of the RSU1 gene, and 75 kb upstream of the PTER gene. Both genes are associated with bone mineral density in humans. Furthermore, we identified other suggestive QTL associated with the stifle joint on ECA8 (p = 3.10 × 10−7); the poll on ECA1 (p = 6.83 × 10−7); the fetlock joint of the hind limb on ECA27 (p = 5.42 × 10−7); and the carpal joint angle on ECA3 (p = 6.24 × 10−7), ECA4 (p = 6.07 × 10−7), and ECA7 (p = 8.83 × 10−7). The application of angular measurements in genetic studies may increase our understanding of the underlying genetic effects of important traits in equine breeding.

scholarly journals Experimental and Numerical Study of Fracture Behavior of Rock-Like Material Specimens with Single Pre-Set Joint under Dynamic Loading

Materials ◽  
2021 ◽  
Vol 14 (10) ◽  
pp. 2690
Author(s):  
Bo Pan ◽  
Xuguang Wang ◽  
Zhenyang Xu ◽  
Lianjun Guo ◽  
Xuesong Wang
Keyword(s):  
Crack Initiation ◽  
Crack Propagation ◽  
Joint Angle ◽  
Simulation Software ◽  
Dissipated Energy ◽  
Energy Structure ◽  
Joint Angles ◽  
Crack Penetration ◽  
Before And After ◽  
The Impact

The Split Hopkinson Pressure Bar (SHPB) is an apparatus for testing the dynamic stress-strain response of the cement mortar specimen with pre-set joints at different angles to explore the influence of joint attitudes of underground rock engineering on the failure characteristics of rock mass structure. The nuclear magnetic resonance (NMR) has also been used to measure the pore distribution and internal cracks of the specimen before and after the testing. In combination with numerical analysis, the paper systematically discusses the influence of joint angles on the failure mode of rock-like materials from three aspects of energy dissipation, microscopic damage, and stress field characteristics. The result indicates that the impact energy structure of the SHPB is greatly affected by the pre-set joint angle of the specimen. With the joint angle increasing, the proportion of reflected energy moves in fluctuation, while the ratio of transmitted energy to dissipated energy varies from one to the other. NMR analysis reveals the structural variation of the pores in those cement specimens before and after the impact. Crack propagation direction is correlated with pre-set joint angles of the specimens. With the increase of the pre-set joint angles, the crack initiation angle decreases gradually. When the joint angles are around 30°–75°, the specimens develop obvious cracks. The crushing process of the specimens is simulated by LS-DYNA software. It is concluded that the stresses at the crack initiation time are concentrated between 20 and 40 MPa. The instantaneous stress curve first increases and then decreases with crack propagation, peaking at different times under various joint angles; but most of them occur when the crack penetration ratio reaches 80–90%. With the increment of joint angles in specimens through the simulation software, the changing trend of peak stress is consistent with the test results.

scholarly journals A VERIFICATION OF STANDING UP MOTIONS AND RESEAT ACTIONS FROM THE MUSCLE ACTIVITIES AND JOINT ANGLES

2017 ◽  
Vol 82 (740) ◽  
pp. 2541-2551 ◽  
Author(s):  
Takanori ITO ◽  
Yuto KOGURE ◽  
Ryota HORI ◽  
Tomohiro NISHIDA
Keyword(s):  
Joint Angles ◽  
Standing Up

Gyroscope-Free Link Parameter Measurement Using Accelerometers and Magnetometer

2014 ◽  
Author(s):  
Vishesh Vikas ◽  
Carl D. Crane
Keyword(s):  
Angular Velocity ◽  
Joint Angle ◽  
Inertial Sensors ◽  
Angular Acceleration ◽  
Parameter Measurement ◽  
Joint Angles ◽  
Symmetry Constraint ◽  
Estimation Techniques ◽  
Angular Velocities ◽  
Joint Parameters

Knowledge of joint angles, angular velocities is essential for control of link mechanisms and robots. The estimation of joint angles and angular velocity is performed using combination of inertial sensors (accelerometers and gyroscopes) which are contactless and flexible at point of application. Different estimation techniques are used to fuse data from different inertial sensors. Bio-inspired sensors using symmetrically placed multiple inertial sensors are capable of instantaneously measuring joint parameters (joint angle, angular velocities and angular acceleration) without use of any estimation techniques. Calibration of inertial sensors is easier and more reliable for accelerometers as compared to gyroscopes. The research presents gyroscope-less, multiple accelerometer and magnetometer based sensors capable of measuring (not estimating) joint parameters. The contribution of the improved sensor are four-fold. Firstly, the inertial sensors are devoid of symmetry constraint unlike the previously researched bio-inspired sensors. However, the accelerometer are non-coplanarly placed. Secondly, the accelerometer-magnetometer combination sensor allows for calculation of a unique rotation matrix between two link joined by any kind of joint. Thirdly, the sensors are easier to calibrate as they consist only of accelerometers. Finally, the sensors allow for calculation of angular velocity and angular acceleration without use of gyroscopes.

Invariant Manifolds in Human Joint Angle Analysis During Walking Gait

2021 ◽  
Author(s):  
Sandesh Bhat ◽  
Sangram Redkar ◽  
Thomas G. Sugar
Keyword(s):  
Invariant Manifolds ◽  
Joint Angle ◽  
Walking Gait ◽  
Human Joint

Graphene Film Based Wireless and Flexibly Wearable Sensor for Human Joint Angle Measurement

2021 ◽  
Author(s):  
Rongguo Song ◽  
Zelong Hu ◽  
Shaoqiu Jiang ◽  
Li Ma ◽  
Qingsong Ai ◽  
...  
Keyword(s):  
Joint Angle ◽  
Graphene Film ◽  
Angle Measurement ◽  
Wearable Sensor ◽  
Human Joint

Muscle torques and joint accelerations provide more sensitive measures of post-stroke movement deficits than joint angles.

2021 ◽  
Author(s):  
Ariel B Thomas ◽  
Erienne V Olesh ◽  
Amelia Adcock ◽  
Valeriya Gritsenko
Keyword(s):  
Motor Control ◽  
Motion Capture ◽  
Reaching Movements ◽  
Motor Deficits ◽  
Joint Angles ◽  
Active Joint ◽  
Joint Torques ◽  
Post Stroke ◽  
Muscle Moments ◽  
Muscle Torques

The whole repertoire of complex human motion is enabled by forces applied by our muscles and controlled by the nervous system. The impact of stroke on the complex multi-joint motor control is difficult to quantify in a meaningful way that informs about the underlying deficit in the active motor control and intersegmental coordination. We tested whether post-stroke deficit can be quantified with high sensitivity using motion capture and inverse modeling of a broad range of reaching movements. Our hypothesis is that muscle moments estimated based on active joint torques provide a more sensitive measure of post-stroke motor deficits than joint angles. The motion of twenty-two participants was captured while performing reaching movements in a center-out task, presented in virtual reality. We used inverse dynamics analysis to derive active joint torques that were the result of muscle contractions, termed muscle torques, that caused the recorded multi-joint motion. We then applied a novel analysis to separate the component of muscle torque related to gravity compensation from that related to intersegmental dynamics. Our results show that muscle torques characterize individual reaching movements with higher information content than joint angles do. Moreover, muscle torques enable distinguishing the individual motor deficits caused by aging or stroke from the typical differences in reaching between healthy individuals. Similar results were obtained using metrics derived from joint accelerations. This novel quantitative assessment method may be used in conjunction with home-based gaming motion-capture technology for remote monitoring of motor deficits and inform the development of evidence-based robotic therapy interventions.

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