Kinematics of Articulated Planar Linkages

This paper proposes a kinematics algorithm in screw coordinates for articulated linkages. As the screw consists of velocity and position variables of a joint, the solutions of the forward and inverse velocities are the functions of position coordinates and their time derivatives. The most prominent merit of this kinematic algorithm is that we only need the first order numerical differential interpolation for computing the acceleration. To calculate the displacement, we also only need the first order numerical integral of the velocity. This benefit stems from the screw the coordinates of which are velocity components. Both the forward and the inverse kinematics have the similar calculation process in this method. Through examples of planar open-chain linkage, single closed-chain linkage and multiple closed-chain linkage, the kinematics algorithm is validated. It is particularly fit for developing numerical programmers for forward and inverse kinematics in the same procedures, including the velocity, displacement and acceleration which provide the fundamental information for dynamics of the linkage.

Hamstring injury patterns in professional male football (soccer): a systematic video analysis of 52 cas

ObjectiveTo closely describe the injury inciting events of acute hamstring injuries in professional male football (soccer) using systematic video analysis.MethodsVideo footage from four seasons (2014–2019) of the two highest divisions in German male football was searched for moderate and severe (ie, time loss of >7 days) acute non-contact and indirect contact match hamstring injuries. Two raters independently categorised inciting events using a standardised procedure to determine specific injury patterns and kinematics.Results52 cases of hamstring injuries were included for specific pattern analysis. The pattern analysis revealed 25 sprint-related (48%) and 27 stretch-related hamstring injuries (52%). All sprint-related hamstring injuries occured during linear acceleration or high-speed running. Stretch-related hamstring injuries were connected with closed chain movements like braking or stopping with a lunging or landing action and open chain movements like kicking. The kinematic analysis of stretch-related injuries revealed a change of movement involving knee flexion to knee extension and a knee angle of <45° at the assumed injury frame in all open and closed chain movements. Biceps femoris was the most affected muscle (79%) of all included cases.ConclusionDespite the variety of inciting events, rapid movements with high eccentric demands of the posterior thigh are likely the main hamstring injury mechanism. This study provides important data about how hamstring injuries occur in professional male football and supports the need for demand-specific multicomponent risk reduction programmes.

Comparative Efficacy of Open-chain Kinematics and Closed-chain Kinematics on Walking Proficiency and Societal Integration in Post-stroke Individuals: a Pretest- Post-test Experimental Study

Background Post-stroke hemiplegic gait is a mixture of deviations and compensatory motion dictated by residual function. To improve stroke survivors' walking ability, it is necessary to evaluate different rehabilitation approaches and identify those that have a greater effect on locomotor recovery of stroke patients. Objectives This study was designed to compare the effect of open-chain kinematics (bicycle ergometry) and closed-chain kinematics (treadmill) on walking proficiency in post-stroke individuals and their societal integration. Methods This was a pretest- posttest- experimental study involving 35 ambulatory hemiplegic stroke survivors (18males and 17 females) with a mean age of 53.77±10.95 undergoing rehabilitation at the two Teaching Hospitals in Lagos. Patients went through a 10-week rehabilitation and were randomly assigned to two intervention groups. Spatio-temporal gait parameters were measured by the six-metre walkway and community integrated questionnaire was used to examine home integration, social integration and productive activities. Data were subjected to inferential and descriptive statistics. The level of significance was set at p<0.05. Results Results showed significant difference between baseline and post intervention scores for all the gait parameters in the bicycle ergometer group except for stride length (p = 0.078). There was also a significant difference in the mean change in cadence between the treadmill and bicycle ergometer group (p = 0.04). Conclusions Both open-chain and closed-chain kinematics are effective, but closed- chain is most effective in re-educating ambulation and re-gaining spatio-temporal gait parameters after stroke and should be structured into the patients’ treatment regimen to effectively improve functional capability in post-stroke individuals.

A Multibody System Approach for the Systematic Development of a Closed-Chain Kinematic Model for Two-Wheeled Vehicles

In this investigation, a closed-chain kinematic model for two-wheeled vehicles is devised. The kinematic model developed in this work is general and, therefore, it is suitable for describing the complex geometry of the motion of both bicycles and motorcycles. Since the proposed kinematic model is systematically developed in the paper by employing a sound multibody system approach, which is grounded on the use of a straightforward closed-chain kinematic description, it allows for readily evaluating the effectiveness of two alternative methods to formulate the wheel-road contact constraints. The methods employed for this purpose are a technique based on the geometry of the vector cross-product and a strategy based on a simple surface parameterization of the front wheel. To this end, considering a kinematically driven vehicle system, a comparative analysis is performed to analyze the geometry of the contact between the front wheel of the vehicle and the ground, which represents a fundamental problem in the study of the motion of two-wheeled vehicles in general. Subsequently, an exhaustive and extensive numerical analysis, based on the systematic multibody approach mentioned before, is carried out in this work to study the system kinematics in detail. Furthermore, the orientation of the front assembly, which includes the frontal fork, the handlebars, and the front wheel in a seamless subsystem, is implicitly formulated through the definition of three successive rotations, and this approach is used to propose an explicit formulation of its inherent set of Euler angles. In general, the numerical results developed in the present work compare favorably with those found in the literature about vehicle kinematics and contact geometry.

The Kinematic and Dynamic Modeling and Numerical Calculation of Robots with Complex Mechanisms Based on Lie Group Theory

The kinematic and dynamic models of robots with complex mechanisms such as the closed-chain mechanism and the branch mechanism are often very complex and difficult to be calculated. Aiming at this issue, in this paper, the pose of the component in robots is represented by the Euclidean group and its subgroups with the proposed method. The component’s velocity is derived using the relationship between the Lie group and Lie algebra, and the acceleration and Jacobian matrix are then derived on this basis. The Lagrange equation is expressed by the obtained kinematic parameter expressions. Establishing the model with this method can obtain clear physical meaning and make the expressions uniform and easy to program, which is convenient for computer-aided calculation and parameterization. Calculating by the properties of the Lie group can reduce the calculation and model complexity, especially for calculating the velocity and acceleration, which reduces the calculation error and eases the calculation. Therefore, the proposed modeling and calculation method of kinematics and dynamics of robots is especially suitable for robots with complex mechanisms. As an example, the kinematic and dynamic model of the manipulator developed in our laboratory is established and a working process of it is numerically calculated. Then, the results of the numerical calculation are compared with the results of virtual prototype simulation in ADAMS to verify the correctness.

The Disproportionate Increase of the Intraoperative Flexion and Extension Gap Space after Posterior Cruciate Ligament Resection in Total Knee Arthroplasty

Purpose: Maintaining gap balance is critical for total knee arthroplasty (TKA). This study aimed to elucidate if the extension–flexion gaps would be changed with posterior cruciate ligament (PCL) intact (PI) and PCL resection (PR) during TKA. The flexion gaps were measured using two methods, open-(Fo) and closed-chain position (Fc), based on the definition of kinetic chain position, respectively. Methods: This retrospective study enrolled a total of 33 patients who underwent posterior-stabilized (PS) TKA for symptomatic advanced osteoarthritis of knees. After bone cuts were completed, the extension–flexion gaps before and after PCL resection during TKA were measured using a calibrated tensioning device set at a 100 Nm distraction force. To further differentiate the effect of thigh weight on the 90° flexion gap, two varied methods of examination, either in closed chain (Fc) or open chain (Fo) were performed. Results: The increases in the 90° knee flexion gap after PCL resection were measured by both methods, i.e., ΔFc (PR-Fc—PI-Fc): 2.04 ± 2.06 mm, p < 0.001; and mean ΔFo (PR-Fo—PI-Fo): 1.64 ± 1.36 mm, p < 0.001. However, there were no differences between ΔFc and ΔFo before and after PCL resection. A greater amount of flexion gap was identified in open chain than in closed chain after PCL resection, and the PR-Fo and PR-Fc were 14.36 ± 3.13 and 11.40 ± 3.47 (p < 0.001), respectively. Conclusions: The resection of PCL during TKA distinctly increased the flexion gap, but not the extension gap. This disproportionate increase of the gap will cause a gap balance mismatch. The tensioning maneuver in open-chain was more effective to detect the gap differences than in closed-chain before and after PCL resection during TKA.

A performance comparison of the full pose- and partial pose-based robot calibration for various types of robot manipulators

Robot kinematic calibration used to be carried out with the partial pose measurements (position only) of dimension 3 in industry, while full pose measurements (orientation and position) of dimension 6 sometimes could be considered to improve the calibration performance. This paper investigates the effects of measurement dimensions on robot calibration accuracy. It compares the resulting robot accuracies in both partial pose and full pose cases after calibrating three structural types of robot manipulators such as a serial manipulator (Hyundai HA-06 robot), a single closed-chain manipulator (Hyundai HX-165 robot), and a multiple closed-chain manipulator (Hyundai HP-160 robot). These comparative studies show when the full-pose based calibration need to be considered and how much it contributes the improvement of robot accuracy to the different structural type of robot manipulators.