scholarly journals On the Relationship Between Muscle Synergies and Redundant Degrees of Freedom in Musculoskeletal Systems

Author(s):  
Reza Sharif Razavian ◽  
Borna Ghannadi ◽  
John McPhee
2021 ◽  
Author(s):  
Toon Maas ◽  
Mohamad Tuffaha ◽  
Laurent Ney

<p>“A bridge has to be designed”. Every bridge is the exploration of all degrees of a freedom of a project: the context, cultural processes, technology, engineering and industrial skills. A successful bridge aims to dialogue with these degrees of freedom to achieve a delicate equilibrium, one that invites the participation of its users and emotes new perceptions for its viewers. In short, a good design “makes the bridge talk.”</p><p>Too often, the bridge, as an object, is reduced to its functionality. Matters of perceptions and experiences of the users are often not considered in the design process; they are relegated to levels of chance or treated as simple decorative matter. The longevity of infrastructure projects, in general, and bridges, in particular, highlights the deficiencies of such an approach. The framework to design bridges must include historical, cultural, and experiential dimensions. Technology and engineering are of paramount importance but cannot be considered as “an end in themselves but a means to an end”. This paper proposes to discuss three projects by Ney &amp; Partners that illustrate such a comprehensive exploration approach to footbridge design: the Poissy and Albi crossings and the Tintagel footbridge.</p><p>The footbridges of Poissy and Albi dialogue most clearly with their historical contexts, reconfiguring the relationship between old and new in the materiality and typology use. In Tintagel, legend replaces history. Becoming a metaphor for the void it crosses, the Tintagel footbridge illustrates the delicate dialogue of technology and engineering on one side and imagination and experience on the other.</p>


Author(s):  
Sophie Docherty ◽  
Rachael Harley ◽  
Joseph J. McAuley ◽  
Lindsay A. N. Crowe ◽  
Carles Pedret ◽  
...  

AbstractThe physiological effects of physical exercise are ubiquitously reported as beneficial to the cardiovascular and musculoskeletal systems. Exercise is widely promoted by medical professionals to aid both physical and emotional wellbeing; however, mechanisms through which this is achieved are less well understood. Despite numerous beneficial attributes, certain types of exercise can inflict significant significant physiological stress. Several studies document a key relationship between exercise and immune activation. Activation of the innate immune system occurs in response to exercise and it is proposed this is largely mediated by cytokine signalling. Cytokines are typically classified according to their inflammatory properties and evidence has shown that cytokines expressed in response to exercise are diverse and may act to propagate, modulate or mitigate inflammation in musculoskeletal health. The review summarizes the existing literature on the relationship between exercise and the immune system with emphasis on how exercise-induced cytokine expression modulates inflammation and the immune response.


Legal Theory ◽  
2011 ◽  
Vol 17 (4) ◽  
pp. 301-317 ◽  
Author(s):  
Christopher T. Wonnell

This article explores four topics raised by Eyal Zamir and Barak Medina's treatment of constrained deontology. First, it examines whether mathematical threshold functions are the proper way to think about limits on deontology, given the discontinuities of our moral judgments and the desired phenomenology of rule-following. Second, it asks whether constrained deontology is appropriate for public as well as private decision-making, taking issue with the book's conclusion that deontological options are inapplicable to public decision-making, whereas deontological constraints are applicable. Third, it examines the issue of the relationship between deontology and efficiency, asking whether deontological constraints should yield in situations where everyone would expect to benefit from their suspension, either ex ante or ex post. Finally, the article concludes that constrained deontology is susceptible to political abuse because of the many degrees of freedom involved in identifying constrained actions and the point at which those constraints yield to consequentialist benefits.


2015 ◽  
Vol 39 (3) ◽  
pp. 431-441 ◽  
Author(s):  
Yi-Chang Wu ◽  
Tze-Cheng Wu

This paper presents embodiment design of 5-speed rear drive hubs for bicycles. A 7-link, 2-degrees of freedom (DOF) compound planetary gear train as the main body of a rear drive hub is introduced. The relationship between the number of coaxial links of a planetary gear train and the number of gear stages that a drive hub can provide with is discussed. By means of kinematic analysis, four speed ratios of the planetary gear train are derived, which represents four forward gears of the rear drive hub. By adding a direct-drive gear, five forward gears can be provided and two feasible clutching sequence tables are synthesized. Manual translational-type gear-shifting mechanisms are further designed to incorporate with the planetary gear train for appropriately controlling the gear stage. The power-flow path at each gear stage is checked to verify the feasibility of the proposed design. Finally, two novel 5-speed bicycle rear drive hubs are presented.


Author(s):  
Chalongrath Pholsiri ◽  
Chetan Kapoor ◽  
Delbert Tesar

This research uses new developments in redundancy resolution and real-time capability analysis to improve the ability of an articulated arm to satisfy task constraints. Task constraints are specified using numerical values of position, velocity, force, and accuracy. Inherent in the definition of task constraints is the number of output constraints that the system needs to satisfy. The relationship of this with the input space (degrees of freedom) defines the ability to optimize manipulator performance. This is done through a Task-Based Redundancy Resolution (TBRR) scheme that uses the extra resources to find a solution that avoids system constraints (joint limits, singularities, etc.) and satisfies task constraints. To avoid system constraints, we use well-understood criteria associated with the constraints. For task requirements, the robot capabilities are estimated based on kinematic and dynamic manipulability analyses. We then compare the robot capabilities with the user-specified requirement values. This eliminates a confusing chore of selecting a proper set of performance criteria for a task at hand. The breakthrough of this approach lies in the fact that it continuously evaluates the relationship between task constraints and system resources, and when possible, improves system performance. This makes it equally applicable to redundant and non-redundant systems. The scheme is implemented using an object-oriented operational software framework and its effectiveness is demonstrated in computer simulations of a 10-DOF manipulator.


Author(s):  
Varan Gupta ◽  
Rohit Patel ◽  
Jitendra P. Khatait ◽  
I. N. Kar

Quick locomotion has always been a challenge for humanoid robots. Most of the work has been done to improve the efficiency of the walking gaits. Recently, additional equipment like skates are increasingly being used to speed up location, but they also make the system highly unstable. This paper describes the development of a statically stable skating gait to facilitate movement across plain surfaces, such as roads and hard ice. The new gait utilises the non-holonomic nature of a wheel (or blade of an ice skate). The proposed motion of the skates on the ground plane enables it to propel the robot forward without lifting its leg. Kinematic and dynamic equations of an equivalent model are formulated. Further, the paper discusses the relationship between different input signals and their corresponding output gaits. Multibody dynamics software is then used to simulate and verify the results for various scenarios. The design of an equivalent model with three degrees of freedom is then analysed and discussed for practical testing. Finally, the algorithm was tested on a fabricated robot.


2019 ◽  
Vol 2019 ◽  
pp. 1-14
Author(s):  
Xiaogao Li ◽  
Ning Zhang ◽  
Xianjian Jin ◽  
Nan Chen

Based on the Lagrange equation, a 9-degrees-of-freedom shimmy model with consideration of the coupling effects between the motions of vehicle body and the shimmy of front wheels and a 5-degrees-of-freedom shimmy model ignoring these coupling effects for a vehicle with double-wishbone independent front suspensions are presented here to study the problem of vehicle shimmy. According to the eigenvalue loci of system’s Jacobian matrix plotted on the complex plane, the Hopf bifurcation characteristics of nonlinear shimmy are studied and the conditions for the generation of limit cycle are analyzed. Numerical calculation and simulation are used to study the dynamic behavior of vehicle shimmy. By comparing the dynamic responses of two different shimmy models, the coupling effects of vehicle body on vehicle shimmy are studied. Finally, the relationship between the amplitude of each DoF and vehicle velocity and the influences of vehicle parameters such as the mass of vehicle body, the longitudinal position of the center of gravity of vehicle body, and the inclination angle of front suspension on shimmy are studied.


2013 ◽  
Vol 22 (11) ◽  
pp. 1350077 ◽  
Author(s):  
TRAN HUU PHAT ◽  
NGUYEN TUAN ANH ◽  
PHUNG THI THU HA

We study systematically various types of phase transitions in nuclear matter at finite temperature T and baryon chemical potential μ based on the extended linear sigma model with nucleon degrees of freedom. It is shown that there are three types of phase transitions in nuclear matter: the chiral symmetry nonrestoration (SNR) at high temperature, the well-known liquid–gas (LG) phase transition at sub-saturation density and the Lifshitz phase transition (LPT) from the fully-gapped state to the state with Fermi surface. Their phase diagrams are established in the (T, μ)-plane and their physical properties are investigated in detail. The relationship between the chiral phase transition and the LG phase transition in nuclear matter is discussed.


2010 ◽  
Vol 6 (5) ◽  
pp. 565-573 ◽  
Author(s):  
P. Yiou ◽  
E. Bard ◽  
P. Dandin ◽  
B. Legras ◽  
P. Naveau ◽  
...  

Abstract. The relationship between solar activity and temperature variation is a frequently discussed issue in climatology. This relationships is usually hypothesized on the basis of statistical analyses of temperature time series and time series related to solar activity. Recent studies (Le Mouël et al., 2008, 2009; Courtillot et al., 2010) focus on the variabilities of temperature and solar activity records to identify their relationships. We discuss the meaning of such analyses and propose a general framework to test the statistical significance for these variability-based analyses. This approach is illustrated using European temperature data sets and geomagnetic field variations. We show that tests for significant correlation between observed temperature variability and geomagnetic field variability is hindered by a low number of degrees of freedom introduced by excessively smoothing the variability-based statistics.


2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Shengnan Lu ◽  
Dimiter Zlatanov ◽  
Xilun Ding ◽  
Rezia Molfino ◽  
Matteo Zoppi

A novel family of deployable mechanisms (DMs) is presented. Unlike most such devices, which have one degree-of-freedom (DOF), the proposed DM can be deployed and compacted independently in two or three directions. This widens the range of its potential applications, including flexible industrial fixtures and deployable tents. The mechanism's basic deployable unit (DU) is assembled by combining a scissor linkage and a Sarrus linkage. The kinematic properties of these two components and of the combined unit are analyzed. The conditions under which the unit can be maximally compacted and deployed are determined through singularity analysis. New 2DOF DMs are obtained by linking the DUs: each mechanism's shape can be modified in two directions. The relationship between the degree of overconstraint and the number of DUs is derived. The magnification ratio is calculated as a function of link thickness and the number of DUs. The idea of deployment in independent directions is then extended to three dimensions with a family of 3DOF mechanisms. Finally, kinematic simulations are performed to validate the proposed designs and analyses.


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