scholarly journals Robot Modeling for Physical Rehabilitation

Robotics ◽  
2013 ◽  
pp. 1212-1232 ◽  
Author(s):  
Rogério Sales Gonçalves ◽  
João Carlos Mendes Carvalho
Keyword(s):  
Mathematical Models ◽  
Three Dimensional ◽  
Mechanical Systems ◽  
Industrial Robots ◽  
Limb Movements ◽  
Rehabilitation Robots ◽  
Wide Range ◽  
Movable Platform ◽  
Human Limb ◽  
Robot Modeling

The science of rehabilitation shows that repeated movements of human limbs can help the patient regain function in the injured limb. There are three types of mechanical systems used for movement rehabilitation: robots, cable-based manipulators, and exoskeletons. Industrial robots can be used because they provide a three-dimensional workspace with a wide range of flexibility to execute different trajectories, which are useful for motion rehabilitation. The cable-based manipulators consist of a movable platform and a base, which are connected by multiple cables that can extend or retract. The exoskeleton is fixed around the patient's limb to provide the physiotherapy movements. This chapter presents a summary of the principal human limb movements, a review of several mechanical systems used for rehabilitation, as well as common mathematical models of such systems.

Robot Modeling for Physical Rehabilitation

2012 ◽  
pp. 154-175 ◽  
Author(s):  
Rogério Sales Gonçalves ◽  
João Carlos Mendes Carvalho
Keyword(s):  
Mathematical Models ◽  
Three Dimensional ◽  
Mechanical Systems ◽  
Industrial Robots ◽  
Limb Movements ◽  
Rehabilitation Robots ◽  
Wide Range ◽  
Movable Platform ◽  
Human Limb ◽  
Robot Modeling

The science of rehabilitation shows that repeated movements of human limbs can help the patient regain function in the injured limb. There are three types of mechanical systems used for movement rehabilitation: robots, cable-based manipulators, and exoskeletons. Industrial robots can be used because they provide a three-dimensional workspace with a wide range of flexibility to execute different trajectories, which are useful for motion rehabilitation. The cable-based manipulators consist of a movable platform and a base, which are connected by multiple cables that can extend or retract. The exoskeleton is fixed around the patient’s limb to provide the physiotherapy movements. This chapter presents a summary of the principal human limb movements, a review of several mechanical systems used for rehabilitation, as well as common mathematical models of such systems.

Cable-Driven Robot for Upper and Lower Limbs Rehabilitation

2015 ◽  
pp. 284-315 ◽  
Author(s):  
Rogério Sales Gonçalves ◽  
João Carlos Mendes Carvalho ◽  
José Francisco Ribeiro ◽  
Vitor Vieira Salim
Keyword(s):  
Three Dimensional ◽  
Mechanical Systems ◽  
Experimental Tests ◽  
Industrial Robots ◽  
Lower Limbs ◽  
Future Research ◽  
Rehabilitation Robots ◽  
Future Research Directions ◽  
Movable Platform ◽  
Limb Rehabilitation

The science of rehabilitation shows that repeated movements of human limbs can help the patient regain function in the injured limb. There are three types of mechanical systems used for movement rehabilitation: robots, cable-driven manipulators, and exoskeletons. Industrial robots can be used because they provide a three-dimensional workspace with a wide range of flexibility to execute different trajectories, which are useful for motion rehabilitation. The cable-driven manipulators consist of a movable platform and a base, which are connected by multiple cables that can extend or retract. The exoskeleton is fixed around the patient's limb to provide the physiotherapy movements. This chapter presents the upper and lower human limbs movements, a review of several mechanical systems used for rehabilitation of upper and lower limbs, as well as the mathematical model of cable-driven manipulators. The experimental tests of the cable-driven manipulator for upper and lower limb rehabilitation movements are presented showing the viability of the proposed structure. Finally, this chapter presents the future research directions in rehabilitation robots.

Development and Research of Mathematical Models of Deployment of Mobole Parts of Transformable Space Construction. Part I

2020 ◽  
Vol 21 (1) ◽  
pp. 51-64
Author(s):  
S. A. Kabanov ◽  
B. A. Zimin ◽  
F. V. Mitin
Keyword(s):  
Mathematical Models ◽  
Three Dimensional ◽  
Transition Process ◽  
Natural Oscillation ◽  
Lagrange Equations ◽  
Brushless Dc ◽  
Wide Range ◽  
Space Construction ◽  
Dimensional Parameters ◽  
The Impact

The process of deployment elements of constructions and adjustment of the radio-reflecting network of large-sized transformable space-based reflector with the use of a cable-stayed form maintenance system is considered. The deployment process can be broken down into separate phases. At each stage, the movement is due to the impact on the design of the actuator — the element of the control system. Energy for the deployment of the reflector elements is produced by drives, in particular an electric machine. The use of this type of actuator allows you to control the process of disclosure. Due to the fact that currently achieved a huge process in computer technology that allows you to perform three-dimensional computing operations in a short time, it is particularly important to use optimal control algorithms. When deployment the reflector for two types of motion — rotational and translational — mathematical models based on Lagrange equations of the II-kind are obtained. These mathematical models take into account such parameters as dissipation, the presence of longitudinal and transverse deformation. The models provide for the presence of a stop and a lock, as an Executive element in the deployment selected brushless DC motor. All the observations made allow us to formulate a smooth statement disclose items on the stop with minimum oscillation of the structure. The developed models allow to analyze the n-th number of natural oscillation frequencies. Modeling with different parameters of the model is carried out. The parameters of the transition process of the spoke at the opening of the first link with the other links embedded in it and at the fully covered spoke are analyzed. It is shown that depending on the mass-dimensional parameters there is a significant change in the dynamics. For the spoke extension stage, the weight and size characteristics have little effect on the opening dynamics. The smaller the Young’s modulus and density of the material, the greater the damped longitudinal oscillations.. The simulation of this stage with a spoke made of different materials is carried out. Various methods are proposed to reduce the opening time at all stages and minimize transverse and longitudinal oscillations. The possibility of application of the developed mathematical models for a wide range of tasks is shown.

scholarly journals The simulation model for a flood management by flood control facilities

2018 ◽  
Vol 245 ◽  
pp. 15002 ◽  
Author(s):  
Roman Davydov ◽  
Valery Antonov ◽  
Dmitry Molodtsov ◽  
Alexey Cheremisin ◽  
Vadim Korablev
Keyword(s):  
Mathematical Models ◽  
Flood Control ◽  
Flood Management ◽  
Hydroelectric Power Station ◽  
Hydroelectric Power ◽  
Operating Characteristics ◽  
Hydro Power ◽  
Operation Modes ◽  
Wide Range ◽  
Environmental Requirements

The rapid spread of storm floods over large areas requires flood management throughout the river basin by the creation an innovative system of flood control facilities of various functional purposes distributed in the area. The central part of the system is the hydro system with hydro power plant. In addition, the flood control facilities on the side tributaries with self-regulating reservoir are included in the system. To assess the effect of controlling extreme water discharges by flood control facilities, it is necessary to develop special mathematical models reflecting the specifics of their operation. Unified mathematical models of the operation modes of a hydro complex with hydroelectric power station and flood control facility are created. They are implemented in a computer program that provides the ability to determine the main parameters and operating characteristics of hydro systems when performing multivariate calculations in a wide range of initial data. This makes possible specifying the parameters and operation modes of each hydro system with the current economic and environmental requirements, to assess the energy-economic and environmental consequences in the operation of the system of flood control facilities distributed in the area. The article analyses the results of the extreme water discharge’s regulation by the hydro system on the main river and flood control facilities on the side tributaries, considering environmental requirements.

Turbulent three-dimensional dielectric electrohydrodynamic convection between two plates

2012 ◽  
Vol 696 ◽  
pp. 228-262 ◽  
Author(s):  
A. Kourmatzis ◽  
J. S. Shrimpton
Keyword(s):  
Spatial Data ◽  
Three Dimensional ◽  
Reynolds Numbers ◽  
Two Dimensions ◽  
Three Dimensions ◽  
Energy Budgets ◽  
Turbulent Regime ◽  
Scalar Flux ◽  
Wide Range ◽  
Scalar Variance

AbstractThe fundamental mechanisms responsible for the creation of electrohydrodynamically driven roll structures in free electroconvection between two plates are analysed with reference to traditional Rayleigh–Bénard convection (RBC). Previously available knowledge limited to two dimensions is extended to three-dimensions, and a wide range of electric Reynolds numbers is analysed, extending into a fully inherently three-dimensional turbulent regime. Results reveal that structures appearing in three-dimensional electrohydrodynamics (EHD) are similar to those observed for RBC, and while two-dimensional EHD results bear some similarities with the three-dimensional results there are distinct differences. Analysis of two-point correlations and integral length scales show that full three-dimensional electroconvection is more chaotic than in two dimensions and this is also noted by qualitatively observing the roll structures that arise for both low (${\mathit{Re}}_{E} = 1$) and high electric Reynolds numbers (up to ${\mathit{Re}}_{E} = 120$). Furthermore, calculations of mean profiles and second-order moments along with energy budgets and spectra have examined the validity of neglecting the fluctuating electric field ${ E}_{i}^{\ensuremath{\prime} } $ in the Reynolds-averaged EHD equations and provide insight into the generation and transport mechanisms of turbulent EHD. Spectral and spatial data clearly indicate how fluctuating energy is transferred from electrical to hydrodynamic forms, on moving through the domain away from the charging electrode. It is shown that ${ E}_{i}^{\ensuremath{\prime} } $ is not negligible close to the walls and terms acting as sources and sinks in the turbulent kinetic energy, turbulent scalar flux and turbulent scalar variance equations are examined. Profiles of hydrodynamic terms in the budgets resemble those in the literature for RBC; however there are terms specific to EHD that are significant, indicating that the transfer of energy in EHD is also attributed to further electrodynamic terms and a strong coupling exists between the charge flux and variance, due to the ionic drift term.

scholarly journals Application of Dendrimers for Treating Parasitic Diseases

Pharmaceutics ◽  
2021 ◽  
Vol 13 (3) ◽  
pp. 343
Author(s):  
Veronica Folliero ◽  
Carla Zannella ◽  
Annalisa Chianese ◽  
Debora Stelitano ◽  
Annalisa Ambrosino ◽  
...  
Keyword(s):  
Drug Delivery ◽  
Water Solubility ◽  
Parasitic Infection ◽  
Three Dimensional ◽  
Medical Knowledge ◽  
High Ratio ◽  
Molecular Volume ◽  
Parasitic Infections ◽  
Parasitic Diseases ◽  
Wide Range

Despite advances in medical knowledge, parasitic diseases remain a significant global health burden and their pharmacological treatment is often hampered by drug toxicity. Therefore, drug delivery systems may provide useful advantages when used in combination with conventional therapeutic compounds. Dendrimers are three-dimensional polymeric structures, characterized by a central core, branches and terminal functional groups. These nanostructures are known for their defined structure, great water solubility, biocompatibility and high encapsulation ability against a wide range of molecules. Furthermore, the high ratio between terminal groups and molecular volume render them a hopeful vector for drug delivery. These nanostructures offer several advantages compared to conventional drugs for the treatment of parasitic infection. Dendrimers deliver drugs to target sites with reduced dosage, solving side effects that occur with accepted marketed drugs. In recent years, extensive progress has been made towards the use of dendrimers for therapeutic, prophylactic and diagnostic purposes for the management of parasitic infections. The present review highlights the potential of several dendrimers in the management of parasitic diseases.

scholarly journals An Overview on the Rheology, Mechanical Properties, Durability, 3D Printing, and Microstructural Performance of Nanomaterials in Cementitious Composites

Materials ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 2950
Author(s):  
Hongwei Song ◽  
Xinle Li
Keyword(s):  
Mechanical Properties ◽  
3D Printing ◽  
Three Dimensional ◽  
Cementitious Materials ◽  
Research Area ◽  
Cementitious Composites ◽  
Split Tensile Strength ◽  
Contour Crafting ◽  
Wide Range ◽  
Active Research

The most active research area is nanotechnology in cementitious composites, which has a wide range of applications and has achieved popularity over the last three decades. Nanoparticles (NPs) have emerged as possible materials to be used in the field of civil engineering. Previous research has concentrated on evaluating the effect of different NPs in cementitious materials to alter material characteristics. In order to provide a broad understanding of how nanomaterials (NMs) can be used, this paper critically evaluates previous research on the influence of rheology, mechanical properties, durability, 3D printing, and microstructural performance on cementitious materials. The flow properties of fresh cementitious composites can be measured using rheology and slump. Mechanical properties such as compressive, flexural, and split tensile strength reveal hardened properties. The necessary tests for determining a NM’s durability in concrete are shrinkage, pore structure and porosity, and permeability. The advent of modern 3D printing technologies is suitable for structural printing, such as contour crafting and binder jetting. Three-dimensional (3D) printing has opened up new avenues for the building and construction industry to become more digital. Regardless of the material science, a range of problems must be tackled, including developing smart cementitious composites suitable for 3D structural printing. According to the scanning electron microscopy results, the addition of NMs to cementitious materials results in a denser and improved microstructure with more hydration products. This paper provides valuable information and details about the rheology, mechanical properties, durability, 3D printing, and microstructural performance of cementitious materials with NMs and encourages further research.

scholarly journals Polymer cyclization for the emergence of hierarchical nanostructures

2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Chaojian Chen ◽  
Manjesh Kumar Singh ◽  
Katrin Wunderlich ◽  
Sean Harvey ◽  
Colette J. Whitfield ◽  
...  
Keyword(s):  
Self Assembly ◽  
Three Dimensional ◽  
Hierarchical Structures ◽  
Structural Similarity ◽  
Vital Role ◽  
Nanomaterial Synthesis ◽  
Wide Range ◽  
Linear Poly ◽  
Polymer Folding ◽  
Dynamics Simulations

AbstractThe creation of synthetic polymer nanoobjects with well-defined hierarchical structures is important for a wide range of applications such as nanomaterial synthesis, catalysis, and therapeutics. Inspired by the programmability and precise three-dimensional architectures of biomolecules, here we demonstrate the strategy of fabricating controlled hierarchical structures through self-assembly of folded synthetic polymers. Linear poly(2-hydroxyethyl methacrylate) of different lengths are folded into cyclic polymers and their self-assembly into hierarchical structures is elucidated by various experimental techniques and molecular dynamics simulations. Based on their structural similarity, macrocyclic brush polymers with amphiphilic block side chains are synthesized, which can self-assemble into wormlike and higher-ordered structures. Our work points out the vital role of polymer folding in macromolecular self-assembly and establishes a versatile approach for constructing biomimetic hierarchical assemblies.

scholarly journals A developmentally descriptive method for quantifying shape in gastropod shells

2020 ◽  
Vol 17 (163) ◽  
pp. 20190721
Author(s):  
J. Larsson ◽  
A. M. Westram ◽  
S. Bengmark ◽  
T. Lundh ◽  
R. K. Butlin
Keyword(s):  
Empirical Studies ◽  
Three Dimensional ◽  
Shell Shape ◽  
Large Set ◽  
Littorina Saxatilis ◽  
Shape Variation ◽  
Gastropod Shell ◽  
Geometric Morphometric ◽  
Wide Range ◽  
Descriptive Method

The growth of snail shells can be described by simple mathematical rules. Variation in a few parameters can explain much of the diversity of shell shapes seen in nature. However, empirical studies of gastropod shell shape variation typically use geometric morphometric approaches, which do not capture this growth pattern. We have developed a way to infer a set of developmentally descriptive shape parameters based on three-dimensional logarithmic helicospiral growth and using landmarks from two-dimensional shell images as input. We demonstrate the utility of this approach, and compare it to the geometric morphometric approach, using a large set of Littorina saxatilis shells in which locally adapted populations differ in shape. Our method can be modified easily to make it applicable to a wide range of shell forms, which would allow for investigations of the similarities and differences between and within many different species of gastropods.

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