scholarly journals A Kinematic Model of the Shoulder Complex Obtained from a Wearable Detection System

2020 ◽  
Vol 10 (11) ◽  
pp. 3696
Author(s):  
Jianfeng Li ◽  
Chunzhao Zhang ◽  
Mingjie Dong ◽  
Qiang Cao
Keyword(s):  
Detection System ◽  
Kinematic Model ◽  
Elevation Angle ◽  
Rehabilitation Robots ◽  
Variable Quantity ◽  
Analytical Formulas ◽  
Shoulder Complex ◽  
Arm Elevation ◽  
Joint Center ◽  
Movement Rules

Due to the complex coupled motion of the shoulder mechanism, the design of the guiding movement rules of rehabilitation robots generally lacks specific motion coupling information between the glenohumeral (GH) joint center and humeral elevation angle. This study focuses on establishing a kinematic model of the shoulder complex obtained from a wearable detection system, which can describe the specific motion coupling relationship between the GH joint center displacement variable quantity relative to the thorax coordinate system and the humeral elevation angle. A kinematic model, which is a generalized GH joint with a floating center, was proposed to describe the coupling motion. Twelve healthy subjects wearing the designed detection system performed a right-arm elevation in the sagittal and coronal planes respectively, and the motion information of the GH joint during humeral elevation in the sagittal and coronal planes was detected and quantized, with the analytical formulas acquired based on the experimental data. The differences in GH joint motion during humeral elevation in the sagittal and coronal planes were also evaluated respectively, which also verified the effectiveness of the proposed kinematic model.

scholarly journals A Modified Kinematic Model of Shoulder Complex Based on Vicon Motion Capturing System: Generalized GH Joint with Floating Centre

Sensors ◽  
2020 ◽  
Vol 20 (13) ◽  
pp. 3713
Author(s):  
Chunzhao Zhang ◽  
Mingjie Dong ◽  
Jianfeng Li ◽  
Qiang Cao
Keyword(s):  
Kinematic Model ◽  
Elevation Angle ◽  
Quantitative Information ◽  
Upper Limb Rehabilitation ◽  
Mechanism Model ◽  
Shoulder Complex ◽  
Coupling Characteristics ◽  
Motion Characteristics ◽  
Joint Center ◽  
Motion Capturing

Due to the complex coupling motion of shoulder mechanism, only a small amount of quantitative information is available in the existing literature, although various kinematic models of the shoulder complex have been proposed. This study focused on the specific motion coupling relationship between glenohumeral (GH) joint center displacement variable quantity relative to the thorax coordinate system and humeral elevation angle to describe the shoulder complex. The mechanism model of shoulder complex was proposed with an algorithm designed. Subsequently, twelve healthy subjects performed right arm raising, lowering, as well as raising and lowering (RAL) movements in sixteen elevation planes, and the motion information of the markers attached to the thorax, scapula, and humerus was captured by using Vicon motion capturing system. Then, experimental data was processed and the generalized GH joint with floating center was quantized. Simultaneously, different coupling characteristics were detected during humerus raising as well as lowering movements. The motion coupling relationships in different phases were acquired, and a modified kinematic model was established, with the description of overall motion characteristics of shoulder complex validated by comparing the results with a prior kinematic model from literature, showing enough accuracy for the design of upper limb rehabilitation robots.

BIOMECHANICAL MODEL PREDICTING VALUES OF MUSCLE FORCES IN THE SHOULDER GIRDLE DURING ARM ELEVATION

2010 ◽  
Vol 10 (04) ◽  
pp. 643-666 ◽  
Author(s):  
ERIC BERTHONNAUD ◽  
MELISSA MORROW ◽  
GUILLAUME HERZBERG ◽  
KAI-NAN AN ◽  
JOANNES DIMNET
Keyword(s):  
Geometric Modeling ◽  
Geometric Model ◽  
Contractile Element ◽  
Muscle Forces ◽  
Active Muscle ◽  
Cross Sectional ◽  
Shoulder Complex ◽  
Arm Elevation

A three-dimensional (3D) geometric model for predicting muscle forces in the shoulder complex is proposed. The model was applied throughout the range of arm elevation in the scapular plan. In vitro testing has been performed on 13 cadaveric shoulders. The objectives were to determine homogeneous values of physiological parameters of shoulder muscles and to locate sites of muscular attachment to any bone of the shoulder complex. Muscular fiber lengths, lengths of contractile element (CE), and muscle volumes were measured, corresponding physiological cross-sectional area (PCSA) were calculated, and force/length muscle relations were found. An in vivo biplanar radiography was performed on five volunteers. The photogrammetric reconstruction of bone axes and landmarks were coupled with a geometric modeling of bones and muscle sites of attachment. Muscular paths were drawn and changes in lengths during movement have been estimated. Directions of muscle forces are the same as that of muscular path at the point of attachment to bone. Magnitudes of muscular forces were found from muscle lengths coupled with force/length relations. Passive forces were directly determined contrary to active muscle forces. A resulting active muscle force is calculated from balancing weight and passive forces at each articular center. Active muscle forces were calculated by distributing the resulting force among active muscles based on the muscular PCSA values.

Research on On-line Detection and Data Processing Technology of Welding Seam for Bellow

2011 ◽  
Vol 66-68 ◽  
pp. 1714-1717
Author(s):  
Zhong Wei Ren ◽  
Zhen Yun Duan ◽  
Wen Hui Zhao ◽  
Guo Fu Tian ◽  
Yuan Tao Wang
Keyword(s):  
Detection System ◽  
Line Detection ◽  
Laser Sensor ◽  
Welding Seam ◽  
Ieee 1394 ◽  
Detection Technology ◽  
On Line ◽  
Joint Center ◽  
Along Track ◽  
Welding Technique

In order to improve the welding quality and welding speed of irregular bellows, according to the characteristic of welding seam of bellows, an automatic and on-line detection technology is proposed in welding technique. The infrared laser sensor is used for measuring with non-contact and real-time detection of welded joint center, the position of welding seam is transfered by the IEEE-1394(Fire Wire). After data preprocessing, the coordinates of feature point are extracted, be storaged and forecasted, then sent to the control system, the moving of welding gun is controlled along track scanning. According to the accuracy analysis of on-line detection system of bellows, the technology of tracking measurement is stable and reliable, and it is effective for improving measuring accuracy and efficiency.

Three-Dimensional Kinematic Modelling of the Human Shoulder Complex—Part II: Mathematical Modelling and Solution Via Optimization

1989 ◽  
Vol 111 (2) ◽  
pp. 113-121 ◽  
Author(s):  
S. T. Tu¨mer ◽  
A. E. Engin
Keyword(s):  
Optimization Problem ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Joint Motion ◽  
Upper Arm ◽  
Complex Part ◽  
Kinematic Modelling ◽  
Shoulder Complex ◽  
The Individual

In this paper, individual joint sinus cones associated with the sternoclavicular, claviscapular, and glenohumeral joints of the three-dimensional kinematic model introduced in Part I for the human shoulder complex are quantitatively determined. First, mathematical description of the humerus orientation with respect to torso is given in terms of eight joint variables. Since the system is a kinematically redundant one, solution for the joint variables satisfying a prescribed humerus orientation is possible only if additional requirements are imposed; and the “minimum joint motion” criterion is introduced for this purpose. Two methods, namely the Lagrange multipliers and flexible tolerance methods, are formulated and tested for the optimization problem. The statistical in-vivo data base for the circumductory motion of the upper arm is employed to determine a set of joint variables via optimization, which are then utilized to establish the sizes and orientations of the elliptical cones for the individual joint sinuses. The results are discussed and compared with those given on the basis of measurements made on cadaveric specimens.

scholarly journals Shoulder Coordination During Full-Can and Empty-Can Rehabilitation Exercises

2015 ◽  
Vol 50 (11) ◽  
pp. 1117-1125 ◽  
Author(s):  
Xavier Robert-Lachaine ◽  
Paul Allard ◽  
Veronique Gobout ◽  
Mickael Begon
Keyword(s):  
Shoulder Joint ◽  
Elevation Angle ◽  
Motion Coordination ◽  
Optoelectronic System ◽  
Motion Direction ◽  
Supraspinatus Tear ◽  
Analysis Laboratory ◽  
Arm Elevation ◽  
Exercise Type ◽  
Rehabilitation Exercises

Context Supraspinatus tear is a common rotator cuff injury. During rehabilitation, debate persists regarding the most appropriate exercises. Whereas shoulder coordination is part of normal arm function, it has been infrequently considered in the context of exercise selection. Objective To assess shoulder-motion coordination during 2 common supraspinatus rehabilitation exercises and to characterize load and motion-direction influences on shoulder coordination. Design Descriptive laboratory study. Setting Motion-analysis laboratory. Patient or Other Participants Fifteen asymptomatic right-hand–dominant men (age = 26 ± 4 years, height = 1.77 ± 0.06 m, mass = 74.3 ± 7.7 kg). Intervention(s) Full-can and empty-can exercises with and without a 2.27-kg load. Main Outcome Measure(s) We recorded motion with an optoelectronic system. Scapulohumeral rhythm and complete shoulder joint kinematics were calculated to quantify shoulder coordination. The effects of exercise type, load, motion direction, and humerothoracic-elevation angle on the scapulohumeral rhythm and shoulder-joint angles were assessed. Results We observed multivariate interactions between exercise type and humerothoracic elevation and between load and humerothoracic elevation. Scapulohumeral rhythm increased by a mean ratio of 0.44 ± 0.22 during the full-can exercise, whereas the addition of load increased mean glenohumeral elevation by 4° ± 1°. Conclusions The full-can exercise increased the glenohumeral contribution, as hypothesized, and showed normal shoulder coordination. During the empty-can exercise, the increased scapulothoracic contribution was associated with a compensatory pattern that limits the glenohumeral contribution. Using loads during shoulder rehabilitation seems justified because the scapulohumeral rhythm is similar to that of unloaded arm elevation. Finally, motion direction showed a limited effect during the exercises in healthy individuals.

scholarly journals Performance in Solar Orientation Determination for Regular Pyramid Sun Sensors

Sensors ◽  
2019 ◽  
Vol 19 (6) ◽  
pp. 1424 ◽  
Author(s):  
Jiang Wang ◽  
Yongchao Zhang ◽  
Yin Zhang ◽  
Yulin Huang ◽  
Jianyu Yang ◽  
...  
Keyword(s):  
Frequency Domain ◽  
Field Experiments ◽  
Detection System ◽  
Elevation Angle ◽  
Limiting Factor ◽  
Frequency Domain Method ◽  
Solar Panels ◽  
Method Error ◽  
Solar Orientation ◽  
Orientation Determination

Non-planar sun sensors can determine solar orientation by existing photodiodes or by reusing solar panels, without increasing the size and mass of spacecraft. However, a limiting factor for the improvement of the accuracy of orientation lies in the lack of a detailed performance assessment on interference suppression. In this paper, a new method that determines solar orientation in the frequency domain is developed for regular pyramid sun sensors, which are formed by regular pyramid arrays. Furthermore, two formulations are established to evaluate the errors of the solar azimuth and elevation angle in solar orientation determination based on the newly proposed frequency-domain method. With these formulations of performance evaluation, we discover the mathematical relationship between the interference spectrum, array geometry, solar irradiance, solar azimuth or elevation angle, and the error in solar orientation determination for the first time. This reveals that the internal interference from the detection system can be completely suppressed in solar orientation determination, and the constant interference can be eliminated in the estimation of solar azimuth angle. Simulation and field experiments validated the effectiveness of the new orientation method, error formulations and performance of each interference source.

scholarly journals The Mechanical Origin of the Radial Shape in Distichous Phyllotaxy Grass Plants

2021 ◽  
Author(s):  
Yoshiki Tokuyama ◽  
Yohei Koide ◽  
Kazumitsu Onishi ◽  
Kiwamu Hikichi ◽  
Miku Omachi ◽  
...  
Keyword(s):  
Time Course ◽  
Computational Models ◽  
Shape Change ◽  
Kinematic Model ◽  
Elevation Angle ◽  
Three Dimensional ◽  
Oryza Rufipogon ◽  
Model Parameters ◽  
Isogenic Line ◽  
Wild Rice Species

Abstract Three-dimensional plant shapes are influenced by their phyllotaxy, which plays a significant role in their environmental adaptation. Grasses with distichous phyllotaxy have linearly aligned culms and usually have vertical fan-like shapes. Counterintuitively, some distichous phyllotaxy grasses have radial shapes. Here, we investigate the organ-level mechanism underlying radial shape development in the distichous phyllotactic wild rice species (Oryza rufipogon). Detailed time-course phenotyping and three-dimensional micro-computed tomography showed that changes in the elevation angle in the main culm and azimuth angle in the primary tillers contribute to radial shape development. To infer the mechanical basis of the shape change, we simulated the movements of culms controlled by different kinematic factors. The computational models predicted that the combination of movements, including that controlled by negative gravitropism, produces the overall radial shape. This prediction was experimentally assessed. The analysis using a near-isogenic line of the gene, PROG1 for prostrate growth and the gravitropic mutant (lazy1) showed an association between genes and our model parameters. Our findings provide a simple, yet substantial, kinematic model for how the shape in distichous phyllotaxy plants changes as part of their adaptation to the surrounding environment.

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