scholarly journals Multi–Joint Angles Estimation of Forearm Motion Using a Regression Model

2021 ◽  
Vol 15 ◽  
Author(s):  
Zixuan Qin ◽  
Sorawit Stapornchaisit ◽  
Zixun He ◽  
Natsue Yoshimura ◽  
Yasuharu Koike
Keyword(s):  
Real Time ◽  
Transfer Learning ◽  
Wrist Joint ◽  
Joint Motion ◽  
Wrist Flexion ◽  
Joint Angles ◽  
Real Time Control ◽  
Hand Grip ◽  
Proposed Model ◽  
Flexion Extension

To improve the life quality of forearm amputees, prosthetic hands with high accuracy, and robustness are necessary. The application of surface electromyography (sEMG) signals to control a prosthetic hand is challenging. In this study, we proposed a time-domain CNN model for the regression prediction of joint angles in three degrees of freedom (3-DOFs, include two wrist joint motion and one finger joint motion), and five-fold cross validation was used to evaluate the correlation coefficient (CC). The CC value results of wrist flexion/extension motion obtained from 10 participants was 0.87–0.92, pronation/supination motion was 0.72–0.95, and hand grip/open motion was 0.75–0.94. We backtracked the fully connected layer weights to create a geometry plot for analyzing the motion pattern to investigate the learning of the proposed model. In order to discuss the daily updateability of the model by transfer learning, we performed a second experiment on five of the participants in another day and conducted transfer learning based on smaller amount of dataset. The CC results improved (wrist flexion/extension was 0.90–0.97, pronation/supination was 0.84–0.96, hand grip/open was 0.85–0.92), suggesting the effectiveness of the transfer learning by incorporating the small amounts of sEMG data acquired in different days. We compared our CNN-based model with four conventional regression models, the result illustrates that proposed model significantly outperforms the four conventional models with and without transfer learning. The offline result suggests the reliability of the proposed model in real-time control in different days, it can be applied for real-time prosthetic control in the future.

Measurements of Wrist and Finger Postures: A Comparison of Goniometric and Motion Capture Techniques

2007 ◽  
Vol 23 (1) ◽  
pp. 70-78 ◽  
Author(s):  
James R. Cook ◽  
Nancy A. Baker ◽  
Rakié Cham ◽  
Erin Hale ◽  
Mark S. Redfern
Keyword(s):  
Motion Capture ◽  
Measurement Methods ◽  
Wrist Flexion ◽  
Joint Angles ◽  
Hand Model ◽  
Proposed Model ◽  
Flexion Extension ◽  
The Difference ◽  
Goniometric Measurements ◽  
Capture Techniques

A marker-based kinematic hand model to quantify finger postures was developed and compared to manual goniometric measurements. The model was implemented with data collected from static postures of five subjects. The metacarpal phalangeal (MCP) and proximal interphalangeal (PIP) joints were positioned in flexion of approximately 30, 60, and 90 degrees for 5 subjects. Wrist flexion/extension and ulnar/radial deviations were also examined. The model-based angles for the MCP and PIP joints were not statistically equivalent to the goniometric measurements, with differences of −1.8 degrees and +3.5 degrees, respectively. Differences between the two measurement methods for the MCP and PIP were found to be a function of the posture (i.e., 150, 120, or 90 degree blocks) used. Wrist measurements differed by −4.0 degrees for ulnar/radial deviation and +5.2 degrees for flexion/extension. Much of the difference between the model and goniometric measurements is believed due to inaccuracies in the goniometric measurements. The proposed model is useful for future investigations of finger-intensive activities by supplying accurate and unbiased measures of joint angles.

Quantification of Hand Grip Force under Dynamic Conditions

1993 ◽  
Vol 37 (10) ◽  
pp. 715-719 ◽  
Author(s):  
Katherine R. Lehman ◽  
W. Gary Allread ◽  
P. Lawrence Wright ◽  
William S. Marras
Keyword(s):  
Grip Force ◽  
Wrist Flexion ◽  
Range Of Movement ◽  
Ulnar Deviation ◽  
Dynamic Conditions ◽  
Radial Deviation ◽  
Hand Grip ◽  
Flexion Extension ◽  
Maximum Grip ◽  
Lower Grip

A laboratory experiment was conducted to determine whether grip force capabilities are lower when the wrist is moved than in a static position. The purpose was to determine the wrist velocity levels and wrist postures that had the most significant effect on grip force. Maximum grip forces of five male and five female subjects were determined under both static and dynamic conditions. The dominant wrist of each subject was secured to a CYBEX II dynamometer and grip force was collected during isokinetic wrist deviations for four directions of motion (flexion to extension, extension to flexion, radial to ulnar, and ulnar to radial). Six different velocity levels were analyzed and grip forces were recorded at specific wrist positions throughout each range of movement. For flexion-extension motions, wrist positions from 45 degrees flexion to 45 degrees extension were analyzed whereas positions from 20 degrees radial deviation to 20 degrees ulnar deviation were studied for radial-ulnar activity. Isometric exertions were also performed at each desired wrist position. Results showed that, for all directions of motion, grip forces for all isokinetic conditions were significantly lower than for the isometric exertions. Lower grip forces were exhibited at extreme wrist flexion and extreme radial and ulnar positions for both static and dynamic conditions. The direction of motion was also found to affect grip strength; extension to flexion exertions produced larger grip forces than flexion to extension exertions and radial to ulnar motion showed larger grip forces than ulnar to radial deviation. Although, males produced larger grip forces than females in all exertions, significant interactions between gender and velocity were noted.

Activity of precentral neurons during torque-triggered hand movements in awake primates

1979 ◽  
Vol 57 (2) ◽  
pp. 174-184 ◽  
Author(s):  
Y. C. Wong ◽  
H. C. Kwan ◽  
J. T. Murphy
Keyword(s):  
Wrist Joint ◽  
Wrist Flexion ◽  
Somatosensory Stimulation ◽  
Sensory Stimuli ◽  
Neuronal Populations ◽  
Supportive Role ◽  
Flexion Extension ◽  
Cortical Responses ◽  
Early Portion ◽  
Temporally Correlated

In monkeys performing a handle-repositioning task involving primarily wrist flexion–extension (F–E) movements after a torque perturbation was delivered to the handle, single units were recorded extracellularly in the contralateral precentral cortex. Precentral neurons were identified by passive somatosensory stimulation, and were classified into five somatotopically organized populations. Based on electromyographic recordings, it was observed that flexors and extensors about the wrist joint were specifically involved in the repositioning of the handle, while many other muscles which act at the wrist and other forelimb joints were involved in the task in a supportive role. In precentral cortex, all neuronal responses observed were temporally correlated to both the sensory stimuli and the motor responses. Visual stimuli, presented simultaneously with torque perturbations, did not affect the early portion of cortical responses to such torque perturbations. In each of the five somatotopically organized neuronal populations, task-related neurons as well as task-unrelated ones were observed. A significantly larger proportion of wrist (F–E) neurons was related to the task, as compared with the other, nonwrist (F–E) populations. The above findings were discussed in the context of a hypothesis for the function of precentral cortex during voluntary limb movement in awake primates. This hypothesis incorporates a relationship between activities of populations of precentral neurons, defined with respect to their responses to peripheral events at or about single joints, and movements about the same joint.

Clinical outcomes of proximal row carpectomy versus four-corner arthrodesis for post-traumatic wrist arthropathy: a systematic review

2014 ◽  
Vol 40 (5) ◽  
pp. 450-457 ◽  
Author(s):  
B. M. Saltzman ◽  
J. M. Frank ◽  
W. Slikker ◽  
J. J. Fernandez ◽  
M. S. Cohen ◽  
...  
Keyword(s):  
Systematic Review ◽  
Grip Strength ◽  
Complication Rate ◽  
Contralateral Side ◽  
Wrist Flexion ◽  
Proximal Row Carpectomy ◽  
Non Union ◽  
Radial Deviation ◽  
Hand Grip ◽  
Flexion Extension

We conducted a systematic review of studies reporting clinical outcomes after proximal row carpectomy or to four-corner arthrodesis for scaphoid non-union advanced collapse or scapholunate advanced collapse arthritis. Seven studies (Levels I–III; 240 patients, 242 wrists) were evaluated. Significantly different post-operative values were as follows for four-corner arthrodesis versus proximal row carpectomy groups: wrist extension, 39 (SD 11º) versus 43 (SD 11º); wrist flexion, 32 (SD 10º) versus 36 (SD 11º); flexion-extension arc, 62 (SD 14º) versus 75 (SD 10º); radial deviation, 14 (SD 5º) versus 10 (SD 5º); hand grip strength as a percentage of contralateral side, 74% (SD 13) versus 67% (SD 16); overall complication rate, 29% versus 14%. The most common post-operative complications were non-union (grouped incidence, 7%) after four-corner arthrodesis and synovitis and clinically significant oedema (3.1%) after proximal row carpectomy. Radial deviation and post-operative hand grip strength (as a percentage of the contralateral side) were significantly better after four-corner arthrodesis. Four-corner arthrodesis gave significantly greater post-operative radial deviation and grip strength as a percentage of the opposite side. Wrist flexion, extension, and the flexion-extension arc were better after proximal row carpectomy, which also had a lower overall complication rate. Level of evidence: Level III (Level I-III studies), Systematic Review. Therapeutic.

Arterial-Friendly Local Ramp Metering Control Strategy

2021 ◽  
pp. 036119812199458
Author(s):  
Yao Cheng ◽  
Gang-Len Chang
Keyword(s):  
Real Time ◽  
Time Of Day ◽  
Ramp Metering ◽  
Real Time Control ◽  
Simulation Experiments ◽  
Traffic Conditions ◽  
Time Control ◽  
Proposed Model ◽  
Time Extension ◽  
Base Module

To prevent local streets being blocked by overflowing on-ramp queues, a standard practice of ramp metering control is to restrain its function when a series of preset conditions are identified by on-ramp queue detectors. Such a trade-off between potential ramp queue spillback and the restraint resulting from the operation of metering control may often fail to either effectively mitigate bottlenecks caused by on-ramp waving or convince arterial users and local traffic agencies of the need for ramp metering operations. This study, therefore, presents an arterial-friendly local ramp metering system (named AF-ramp) that can achieve the target metering rate to produce optimal freeway conditions without ramp queues spilling back onto local streets. This is achieved by concurrently optimizing the signal plans for those intersections that send turning flows to the ramp. At this stage, this system has been developed for time-of-day control. It could also serve as the base module for extending to real-time control, or multi-ramp coordinated operations. The AF-ramp model, with its ability to optimize the arterial signals concurrently with the ramp metering rate, can ensure the best use of the capacity of local intersections and prevent any gridlock caused by overflows from on-ramp queue spillback or arterial turning traffic. With extensive simulation experiments, the evaluation results confirmed the AF-ramp model’s effectiveness in improving traffic conditions on both the freeway and its neighboring arterial links at the same time. This study has also introduced the real-time extension of the proposed model and a framework of a transition from the time-of-day control to fully responsive real-time operations.

scholarly journals Classification of the Angular Position During Wrist Flexion-extension Based on EMG Signals

2021 ◽  
Vol 25 ◽  
Author(s):  
María Alexandra Fajardo-Perdomo ◽  
Verónica Guardo-Gómez ◽  
Alvaro David Orjuela-Cañón ◽  
Andrés Felipe Ruiz-Olaya
Keyword(s):  
Pattern Recognition ◽  
Wrist Joint ◽  
Angular Position ◽  
Recognition Algorithm ◽  
Ar Model ◽  
Model Parameters ◽  
Wrist Flexion ◽  
Pattern Recognition Algorithm ◽  
Time Frequency ◽  
Flexion Extension

Objective: To evaluate a group of features in a myoelectric pattern recognition algorithm to differentiate between five angular positions of the wrist during flexion-extension movements. Materials and Methods: An experimental configuration was made to capture the EMG and wrist joint angle related to flexion-extension movements. After that, a myoelectric pattern recognition algorithm based on a multilayer perceptron artificial neural network (ANN) was implemented. Three different groups were used: Time domain characteristics, autoregressive (AR) model parameters, and representation of time frequency using Wavelet transform (WT). Results and Discussion: The experimental results of 10 healthy subjects indicate that the coefficients of the AR models offer the best parameters for classification, with a differentiation rate of 78 % for the five angular positions studied. The combination of frequency and time frequency resulted in a differentiation rate that reached 82 %. Conclusions: An algorithm based on pattern recognition of EMG signals was used to carry out a comparative study of groups of features that allow for the differentiation of the angular position of the wrist in terms of flexion-extension movements. The method has the potential for application in the field of rehabilitation engineering to detect the user’s movement intent.

Effects of Mass on Wrist Velocities and Accelerations

1992 ◽  
Vol 36 (10) ◽  
pp. 761-764
Author(s):  
Jasper Shealy ◽  
Wendi Latko
Keyword(s):  
Wrist Joint ◽  
Load Condition ◽  
Biomechanical Analysis ◽  
Neutral Position ◽  
Industrial Workers ◽  
Hand Grip ◽  
Flexion Extension ◽  
Trauma Disorders ◽  
Sign Language Interpreting ◽  
The Masses

Upper Extremity Cumulative Trauma Disorders (UECTD) have been linked to risk factors such as frequency, forcefulness, posture and time for rest/recovery. More recently, wrist and forearm movement velocities and accelerations have been identified as significant correlates to UECTD in industrial tasks. In earlier work with biomechanical analysis of Sign Language Interpreting (SLI), we found that SLI involves frequencies, velocities and accelerations of wrist and forearm motions that greatly exceed those noted as UECTD high risk jobs. A primary difference between the workers in the industrial studies and our studies of SLI is that industrial workers typically hold objects in their hands, while in SLI, the hand is empty. In SLI, we have found the maximum velocities and accelerations reach as much as 70 to 80% of the maximum possible values. This study looks at the effect of holding graduated masses on the maximum velocities and accelerations for the wrist joint for the flexion/extension and radial/ulnar deviation and forearm pronation/supination motions. Five subjects were used. Each subject repeated a maximum voluntary motion three times in each configuration, starting from a stationary neutral position, with the forearm held stationary for the wrist movements. Four different masses were used (9.5 125, 250 and 500 grams) to assess the effect of mass. Each mass was a cylinder of the same external dimensions. As a control, a hollow cardboard tube (9.5 grams) was used to measure the velocity and acceleration for essentially a no-load condition. Thus the hand was always in the same grip configuration. The results show that for the masses and hand-grip configurations used, the effect of the masses was not statistically significant for forearm pronation/supination, but was for wrist movements. The effect was greatest for flexion/extension, with about a 20% decline in velocity and acceleration at 500 grams versus the 9.5 gram weight.

Rebalancing the tetraplegic wrist using extensor carpi ulnaris-tenodesis

2012 ◽  
Vol 38 (1) ◽  
pp. 22-28 ◽  
Author(s):  
C. Reinholdt ◽  
J. Fridén
Keyword(s):  
Grip Strength ◽  
Motion Correction ◽  
Wrist Joint ◽  
Cervical Spinal Cord ◽  
Wrist Flexion ◽  
Extensor Carpi Ulnaris ◽  
Flexion Extension ◽  
Cord Injury ◽  
Joint Flexion ◽  
Flexion And Extension

Patients with cervical spinal cord injury and tetraplegia often present with a radial deviation deformity of the wrist owing to impaired active wrist flexion and extension. Tenodesis of the extensor carpi ulnaris can help optimize grip strength. The purpose of the study was to compare reconstruction of the grip with and without extensor carpi ulnaris-tenodesis, as well as evaluating the outcome of the procedure. The grip strength of the group with tenodesis of the extensor carpi ulnaris was twice as strong as of the group without the tenodesis and with similar wrist joint flexion–extension range of motion. Correction of the wrist deformity enables a more ergonomic use of the hand. This may also help prevent shoulder pain, which is common among patients with tetraplegia.

THE THREE-DIMENSIONAL MOVEMENT CORRELATIONS BETWEEN ELBOW AND WRIST JOINT AND ANTHROPOMETRIC DETERMINANTS

2018 ◽  
Vol 18 (02) ◽  
pp. 1850013 ◽  
Author(s):  
WEI WANG ◽  
DONGMEI WANG ◽  
CHENGHUI LAI
Keyword(s):  
Multiple Regression ◽  
Wrist Joint ◽  
Three Dimensional ◽  
Elbow Flexion ◽  
Wrist Flexion ◽  
Factors Affecting ◽  
Bivariate Correlation ◽  
Flexion Extension ◽  
Joint Motions ◽  
The Relationship

This study aimed to investigate three-dimensional (3D) kinematic characteristics of elbow and wrist motions, the relationship between them, and the anthropometric factors affecting them. Using motion capture system, this study measured and calculated the 3D angles of elbow flexion/extension, elbow pronation/supination, wrist flexion/extension, and wrist adduction/abduction of 40 healthy young adults. The study measured nine anthropometric variables and used unpaired [Formula: see text]-tests to assess gender difference. Also, bivariate correlation tests and step-wise multiple regression analyses were performed between joint ranges and anthropometric variables, as well as different joint motions. Results showed two opposite patterns occurred during elbow flexion/extension. The study found a correlation between the range of elbow flexion/extension and the range of elbow pronation/supination that occurred during elbow flexion/extension. Additionally, the study tested joint correlations between the four joint motions. Finally, the study established bivariate and multiple regression relationships between range of elbow motions and anthropometric factors. This research presented an unrecognized pattern of 3D elbow flexion/extension, and associations between various anthropometric factors and different joint motions. These findings can contribute to the design of orthosis of upper extremities and the rehabilitation of joint mobility.

scholarly journals Wrist Position Sense in Two Dimensions: Between-Hand Symmetry and Anisotropic Accuracy Across the Space

2021 ◽  
Vol 15 ◽  
Author(s):  
Giulia A. Albanese ◽  
Michael W. R. Holmes ◽  
Francesca Marini ◽  
Pietro Morasso ◽  
Jacopo Zenzeri
Keyword(s):  
Wrist Joint ◽  
Position Sense ◽  
Two Dimensions ◽  
Joint Position ◽  
Wrist Flexion ◽  
Ulnar Deviation ◽  
Target Direction ◽  
Wrist Position ◽  
Flexion Extension ◽  
Combined Movements

A deep investigation of proprioceptive processes is necessary to understand the relationship between sensory afferent inputs and motor outcomes. In this work, we investigate whether and how perception of wrist position is influenced by the direction along which the movement occurs. Most previous studies have tested Joint Position Sense (JPS) through 1 degree of freedom (DoF) wrist movements, such as flexion/extension (FE) or radial/ulnar deviation (RUD). However, the wrist joint has 3-DoF and many activities of daily living produce combined movements, requiring at least 2-DoF wrist coordination. For this reason, in this study, target positions involved movement directions that combined wrist flexion or extension with radial or ulnar deviation. The chosen task was a robot-aided Joint Position Matching (JPM), in which blindfolded participants actively reproduced a previously passively assumed target joint configuration. The JPM performance of 20 healthy participants was quantified through measures of accuracy and precision, in terms of both perceived target direction and distance along each direction of movement. Twelve different directions of movement were selected and both hands tested. The left and right hand led to comparable results, both target extents and directions were differently perceived according to the target direction on the FE/RUD space. Moreover, during 2-DoF combined movements, subjects’ perception of directions was impaired when compared to 1-DoF target movements. In summary, our results showed that human perception of wrist position on the FE/RUD space is symmetric between hands but not isotropic among movement directions.

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