Comparison of Manipulative Indicators of Students and Therapists Using a Robotic Arm: A Feasibility Study

2021 ◽  
Vol 11 (20) ◽  
pp. 9403
Author(s):  
Koike Yuji ◽  
Okino Akihisa ◽  
Takeda Kazuhisa ◽  
Takanami Yasuhiro ◽  
Toyohiro Hamaguchi
Keyword(s):  
Elbow Joint ◽  
Muscle Tone ◽  
Peak Velocity ◽  
Movement Time ◽  
Analysis Of Covariance ◽  
Movement Speed ◽  
Joint Movement ◽  
Exercise Time ◽  
Kinematic Data ◽  
Extended Position

In this study, the motion therapy elements necessary for student education were clarified through comparison of the therapeutic motion techniques of therapists and students using an educational arm robot (Samothrace: SAMO). Eight therapists and 25 fourth-year students participated. The therapeutic motion therapy task was a reciprocating exercise in which the elbow joint of SAMO was flexed from an extended position and then re-extended. This was performed for three types of muscle tone intensities (mild, moderate, and severe), and the peak velocity, angle ratio, velocity time, and movement time were recorded using SAMO. These data were then compared using analysis of covariance. It was found that the SAMO elbow joint kinematic data generated by therapists differed significantly from those of students for different muscle tones. Multiple comparisons showed that the therapeutic motion techniques of students were associated with a higher peak velocity, smaller peak angle ratio, and shorter peak velocity time and movement time than those of the therapists. Thus, when students learn therapeutic motion techniques, they should be taught to (1) deal with multiple muscle tone intensities and (2) reduce the joint movement speed applied to the patient to extend the exercise time and ensure maximum joint movement range.

scholarly journals Comparison of Manipulative Indicators of Students and Therapists Using a Robotic Arm

2021 ◽  
Author(s):  
KOIKE Yuji ◽  
OKINO Akihisa ◽  
TAKEDA Kazuhisa ◽  
TAKANAMI Yasuhiro ◽  
Toyohiro Hamaguchi
Keyword(s):  
Elbow Joint ◽  
Muscle Tone ◽  
Peak Velocity ◽  
Movement Time ◽  
Analysis Of Covariance ◽  
Joint Movement ◽  
Extended Position ◽  
Tone Intensity ◽  
Training Schools ◽  
Education Of Students

Abstract Background: The purpose of this study was to clarify the motion therapy elements necessary for the education of students through comparison of the therapeutic motion techniques of therapists and students using an educational arm robot (Samothrace: SAMO) set with varying degrees of muscle tone pathology.Methods: The participants included eight therapists with more than five years of clinical experience and 25 fourth-year students from occupational therapy training schools who had completed their clinical practice. The therapeutic motion therapy task was a reciprocating exercise in which the elbow joint of SAMO was flexed from an extended position and then re-extended. This was performed three times for each of the three types of muscle tone intensities (mild, moderate, and severe), for a total of nine repetitions. The peak velocity, peak angle ratio, peak velocity time, and movement time were recorded using SAMO while the subjects performed the therapeutic motion therapy task. These data were compared using analysis of covariance. Results: The SAMO elbow joint kinematic data generated by therapists were significantly different than those of students for different muscle tones. It was clear from multiple comparisons that the therapeutic motion techniques of students were associated with higher peak velocity, smaller peak angle ratio, and shorter peak velocity time and movement time than those of therapists. Conclusion: The therapeutic motion techniques applied by the students in response to the muscle tone condition of the arm robot were different from those applied by therapists, suggesting that the students were not able to perform the therapeutic motion techniques in response to the degree of the muscle tone intensity in the same way that an expert could. Based on the results, when students learn therapeutic motion techniques, they should be taught to 1) deal with multiple muscle tone intensities and 2) reduce the speed of joint movement applied to the patient, extend the exercise time, and ensure maximum range of joint movement. These were the suggested guiding factors.

Movement Control Phases of Upper Body Coordination in Visually Guided Reach Movements

2009 ◽  
Vol 53 (12) ◽  
pp. 834-838
Author(s):  
Shin-Yuan Yu ◽  
Bernard J. Martin
Keyword(s):  
Motor Behavior ◽  
Peak Velocity ◽  
Movement Time ◽  
Movement Control ◽  
Human Movement ◽  
Upper Body ◽  
Movement Speed ◽  
Joint Movement ◽  
Feedback Information ◽  
Time To Peak

Coordination of human movement includes temporal and spatial aspects. Under the assumption that the implicit movement sequence of body segments may be associated with visual feedback information, the activation timing, time to peak velocity of the hand and sequencing of joint movements were investigated in this study. The results show that variations in movement time with target azimuth and distance fit a quadratic regression model. In addition, the time to peak velocity reveals a movement scaling property in the context of self-imposed movement speed. Finally, the sequencing of joint movement also varies with target azimuth and distance. These motor behavior properties and movement characteristics can be used to model human reach movement in a dynamic manner and to estimate task durations.

Control of sequential movements: evidence for generalized motor programs

1984 ◽  
Vol 52 (5) ◽  
pp. 787-796 ◽  
Author(s):  
M. C. Carter ◽  
D. C. Shapiro
Keyword(s):  
Temporal Pattern ◽  
Peak Velocity ◽  
Movement Time ◽  
Movement Speed ◽  
Relative Timing ◽  
Motor Programs ◽  
Pronator Teres ◽  
Movement Sequence ◽  
Total Movement ◽  
Total Movement Time

The neuromotor processes underlying the control of rapid sequential limb movements were investigated. Subjects learned to pronate and supinate their forearms rapidly to four target locations in a specific spatio-temporal pattern under two movement-time conditions. The response sequence was first performed in a total movement time of 600 ms. Subjects were then told to produce the movement as quickly as possible while ignoring any timing pattern that they had previously learned. Electromyographic (EMG) signals were recorded from the biceps brachii and pronator teres muscles. Kinematic and EMG analyses were performed to investigate the temporal characteristics underlying the two movement-time conditions. When subjects produced the response as quickly as possible, average movement time to perform each reversal movement decreased while average peak velocity increased. Average total movement time was reduced by approximately 100 ms. Although movement time decreased, the proportion of total time to perform each movement of the sequence remained essentially invariant between movement-time conditions. Similar results were obtained for velocity. The time at which peak velocity was achieved occurred earlier in absolute time, although when normalized to the proportion of total movement time, the time to reach peak velocity was also invariant. Thus subjects proportionally compressed the entire movement sequence in time. The EMG analysis demonstrated that total EMG time decreased 89 ms on the average when subjects sped up the movement sequence. Thus average burst durations for both the biceps and pronator teres muscles decreased when movement speed increased. When burst durations were normalized to a proportion of total EMG time, the average proportion of time each muscle was active remained invariant. Therefore, the temporal pattern of activity for the biceps and pronator teres muscles were also proportionally compressed. The present experiment provided additional evidence for the structure of generalized motor programs consisting of invariant and variant features. Movement speed was considered a variant feature, which is specified each time the program is executed. Relative timing, the proportion of total time to produce each segment of the response, was considered to be an invariant feature and inherent in the structure of the motor program. Support for the invariance of relative timing was observed at both the kinematic and neuromuscular levels of analyses. Alternative models (9-11, 24) were found inadequate to account for the invariance of relative timing with the variation in movement time observed in the present experiment.

scholarly journals Effects of object size and distance on reaching kinematics in patients with schizophrenia

2018 ◽  
Vol 31 (1) ◽  
pp. 22-29 ◽  
Author(s):  
Shu-Mei Wang ◽  
Li-Chieh Kuo ◽  
Wen-Chen Ouyang ◽  
Hsiao-Man Hsu ◽  
Hui-Ing Ma
Keyword(s):  
Psychiatric Symptoms ◽  
Peak Velocity ◽  
Control Strategies ◽  
Movement Time ◽  
Movement Speed ◽  
Object Size ◽  
Spatial Efficiency ◽  
Time To Peak ◽  
Movement Performance ◽  
And Gender

Background/Objective Patients with schizophrenia not only have psychiatric symptoms, but also have movement problems, which might also be associated with their reduced quality of life. Little is known about how to improve their movement performance for patients. Manipulating object size and distance is common in occupational therapy practice to evaluate and optimize reaching performance in patients with physical disabilities, but effects of the manipulation in patients with schizophrenia remain unclear. The purpose of this study was to examine whether object size and distance could change performance of reaching kinematics in patients with mild schizophrenia. Methods Twenty-nine patients with mild schizophrenia and 15 age- and gender-matched healthy controls were required to reach for, as quickly as possible, a small or large object that was placed at a near or far distance. We measured movement time, peak velocity, path length ratio, percentage of time to peak velocity, and movement units to infer movement speed, forcefulness, spatial efficiency (directness), control strategies, and smoothness. Results Patients’ reaching movements were slower ( p = .017) and less direct ( p = .007) than those of controls. A larger object induced faster ( p = .016), more preprogrammed ( p = .018), and more forceful ( p = .010) movements in patients. A farther object induced slower, more feedback dependent, but more forceful and more direct movements (all p < .001). Conclusion The results of kinematic deficiencies suggest the need of movement training for patients with mild schizophrenia. Occupational therapists may grade or adapt reaching activities by changing object size and distance to enhance movement performance in patients with schizophrenia.

scholarly journals Quantifying an Upper Extremity Everyday Task With 3D Kinematic Analysis in People With Spinal Cord Injury and Non-disabled Controls

2021 ◽  
Vol 12 ◽  
Author(s):  
Lamprini Lili ◽  
Katharina S. Sunnerhagen ◽  
Tiina Rekand ◽  
Margit Alt Murphy
Keyword(s):  
Spinal Cord ◽  
Spinal Cord Injury ◽  
Upper Extremity ◽  
Kinematic Analysis ◽  
Peak Velocity ◽  
Movement Time ◽  
Kinematic Data ◽  
Cord Injury ◽  
Daily Task ◽  
Upper Extremity Function

Objectives: Upper extremity function after spinal cord injury (SCI) is an important factor for performance of activities of daily living. An objective assessment of upper extremity function preferably in purposeful daily tasks is essential in understanding its impact on real-life activities. This study aimed to identify which movement parameters of upper extremity, measured by kinematic analysis during a purposeful daily task, are impaired in people with cervical or thoracic SCI.Materials and Methods: The study included 29 adults (mean 59.5 years, 9 women and 20 men) with cervical (n = 19) or thoracic (n = 10) established complete (n = 15) or incomplete (n = 14) SCI, and 54 non-disabled controls with commensurable age and sex (mean 59 years, 15 women, 39 men). The 3D kinematic data were captured with a five-camera system during a standardized unilateral daily task (drinking from a glass). In SCI, the upper extremity functioning of each arm was assessed with Action Research Arm Test (ARAT). Having a full score in ARAT indicated full functioning; a score of &lt;57 points indicated limited functioning. Kinematic data from full functioning arms (n = 27) and limited functioning arms (n = 30) in SCI were compared with the non-dominant arms (n = 54) in controls.Results: In the limited upper extremity functioning group, movement time, smoothness, arm abduction, wrist angle, trunk displacement, and inter-joint coordination, but not peak velocity of the hand, angular velocity of elbow, and relative time to peak velocity, all differed from controls. In the full upper extremity functioning group, arm abduction alone was significantly different from controls.Conclusions: The findings demonstrate that apart from measures of peak velocity, kinematic measures of movement quality including movement time, smoothness, trunk displacement, and joint angles are impaired in people with limited upper extremity functioning after SCI. The study provides robust results applicable to a representative population of individuals with established cervical or thoracic SCI. The results suggest that kinematic analysis might be useful for those with limited functioning in order to get a better understanding of the specific movement impairments in daily tasks after SCI.

scholarly journals Targeting in Virtual Workspaces: motor learning consolidates spatial memory for performance clusters

2019 ◽  
Author(s):  
Bradly Alicea ◽  
Corey Bohil ◽  
Frank Biocca ◽  
Charles Owen
Keyword(s):  
Repeated Measures ◽  
Target Location ◽  
Movement Time ◽  
Three Dimensional ◽  
Arm Movement ◽  
Hierarchical Cluster ◽  
Movement Speed ◽  
Advantages And Disadvantages ◽  
Training Interval ◽  
Speed And Accuracy

Our objective was to focus on linkages between the process of learning and memory and the placement of objects within an array of targets in a virtual workspace. Participants were instructed to place virtual objects serially within a three-dimensional target array. One phase presented each target sequentially, and required participants to make timed ballistic arm movements. The other phase presented all nine targets simultaneously, which required ballistic arm movement towards the correct target location as recalled from the learning phase. Movement time and accuracy were assessed using repeated-measures ANOVA, a hierarchical cluster analysis, and a multiple linear regression. Collectively, this revealed numerous speed and accuracy advantages and disadvantages for various positional combinations. Upper positions universally yielded longer movement times and larger error measurements. Individual ability for mental rotation combined with task learning over a fixed training interval was found to predict accuracy for specific locations. The prediction that location influences movement speed and accuracy was supported, but with some caveats. These results may be particularly useful in the design of instructor stations and other hybrid physical-virtual workspaces.

CONTINUOUS MOTION AND TIME-VARYING STIFFNESS ESTIMATION OF THE HUMAN ELBOW JOINT BASED ON SEMG

2019 ◽  
Vol 19 (05) ◽  
pp. 1950040 ◽  
Author(s):  
KEXIANG LI ◽  
XUAN LIU ◽  
JIANHUA ZHANG ◽  
MINGLU ZHANG ◽  
ZIMIN HOU
Keyword(s):  
Elbow Joint ◽  
Joint Stiffness ◽  
Muscle Stiffness ◽  
Time Varying ◽  
Joint Movement ◽  
Estimation Model ◽  
Unknown Parameters ◽  
Continuous Motion ◽  
Robotic Joints ◽  
Mean Square Errors

The flexibility of body joints plays an important role in daily life, particularly when performing high-precision rapid pose switching. Importantly, understanding the characteristics of human joint movement is necessary for constructing robotic joints with the softness of humanoid joints. A novel method for estimating continuous motion and time-varying stiffness of the human elbow joint was proposed in the current study, which was based on surface electromyography (sEMG). We used the Hill-based muscle model (HMM) to establish a continuous motion estimation model (CMEM) of the elbow joint, and the genetic algorithm (GA) was used to optimize unknown parameters. Muscle short-range stiffness (SRS) was then used to characterize muscle stiffness, and a joint kinetic equation was used to express the relationship between skeletal muscle stiffness and elbow joint stiffness. Finally, we established a time-varying stiffness estimation model (TVSEM) of the elbow joint based on the CMEM. In addition, five subjects were tested to verify the performance of the CMEM and TVSEM. The total average root-mean-square errors (RMSEs) of the CMEM with the optimal trials were 0.19[Formula: see text]rad and 0.21[Formula: see text]rad and the repeated trials were 0.24[Formula: see text]rad and 0.25[Formula: see text]rad, with 1.25-kg and 2.5[Formula: see text]kg-loads, respectively. The values of elbow joint stiffness ranged from 0–40[Formula: see text]Nm/rad for different muscle activities, which were estimated by the TVSEM.

scholarly journals Distinction of Students and Expert Therapists Based on Therapeutic Motions on a Robotic Device Using Support Vector Machine

2020 ◽  
Vol 40 (6) ◽  
pp. 790-797
Author(s):  
Koike Yuji ◽  
Suzuki Makoto ◽  
Okino Akihisa ◽  
Takeda Kazuhisa ◽  
Takanami Yasuhiro ◽  
...  
Keyword(s):  
Support Vector Machine ◽  
Exercise Therapy ◽  
Upper Limb ◽  
Peak Velocity ◽  
Movement Time ◽  
Elbow Flexion ◽  
Flexion Angle ◽  
Support Vector ◽  
Robot Arm ◽  
Clinical Practices

Abstract Purpose To clarify the feature values of exercise therapy that can differentiate students and expert therapists and use this information as a reference for exercise therapy education. Methods The participants were therapists with 5 or more years of clinical experience and 4th year students at occupational therapist training schools who had completed their clinical practices. The exercise therapy task included Samothrace (code name, SAMO) exercises implemented on the elbow joint based on the elbow flexion angle, angular velocity, and exercise interval recordings. For analyses and student/therapist comparisons, the peak flexion angle, peak velocity, and movement time were calculated using data on elbow angle changes acquired via SAMO. Subsequently, bootstrap data were generated to differentiate between the exercise therapy techniques adopted by therapists and students, and a support vector machine was used to generate four types of data combinations with the peak flexion angle, peak velocity, and movement time values. These data were used to estimate and compare the respective accuracies with the Friedman test. Results The peak flexion angles were significantly smaller in the case of students. Furthermore, the peak velocities were larger, the peak flexion angles were smaller, and the movement times were shorter compared with those of therapists. The combination of peak velocity and peak flexion angle yielded the highest diagnostic accuracies. Conclusion When students and therapists performed upper limb exercise therapy techniques based on the kinematics movement of a robot arm, the movement speeds and joint angles differed. The combination of peak velocity and peak flexion angle was the most effective classifier used for the differentiation of the abilities of students and therapists. The peak velocity and peak flexion angle of the therapist group can be used as a reference for students when they learn upper limb therapeutic exercise techniques.

Separating A and W effects: Pointing to targets on computer displays

1997 ◽  
Vol 20 (2) ◽  
pp. 316-318 ◽  
Author(s):  
Christine L. MacKenzie ◽  
Evan D. Graham
Keyword(s):  
Human Computer Interaction ◽  
Movement Time ◽  
Kinematic Data ◽  
Human Adults ◽  
Practical Implications ◽  
Part Model ◽  
Computer Interaction

We address two main issues: the distinction between time-constrained and spatially constrained tasks, and the separable A and W effects on movement time (MT) in spatially- constrained tasks. We consider MT and 3-D kinematic data from human adults pointing to targets in human-computer interaction. These are better fit by Welford's (1968) two- part model, than Fitts' (1954; Fitts & Peterson 1964) ID model. We identify theoretical and practical implications.

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