Relevant bibliographies by topics / Joint kinematics

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Joint kinematics'

Author: Grafiati
Published: 4 June 2021
Last updated: 26 January 2023

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Journal articles on the topic "Joint kinematics"

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Podrigalo, Mikhail, Volodymyr Peregon, Oleksandr Boboshko, Dmitrij Bogdan, and Oleksandr Koriak. "Kinematics of Hooke’s Joint." Vehicle and electronics. Innovative technologies, no. 21 (July 2, 2022): 48–56. http://dx.doi.org/10.30977/veit.2022.21.0.09.

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Problem. An analysis of the literature has shown that some issues of the kinematics and dynamics of the Hooke’s joint are not fully covered. In particular, this applies to the determination of the kinematic characteristics of the relative movements of the links in the movable joints of the crosspieces and cardan yokes, as well as the acceleration of the crosspiece in the study of the hinge. These kinematic characteristics are the basis for dynamic analysis of the cardan transmission; they are used at research of operation of the bearings of a cardan joint cross; they are necessary to determine the energy expended to overcome the forces of friction in these kinematic pairs; they form the basis for evaluating transmission efficiency. Goal. The goal of this work is to determine the kinematic characteristics of the cross in its absolute and relative motions. Methodology. The research is based on the graphical and analytical method of kinematic analysis of spherical motion of a rigid body. At the initial stage, the calculated dependences for determining the angular velocity of the cross in its absolute and relative motions were obtained. The relative angles of rotation of the links in the movable joints of the crosspiece and cardan yokes were determined by integrating the corresponding differential equations. To determine the angular acceleration of the crosspiece, the theorem on the addition of angular accelerations of a rigid body rotating around two non-parallel axes was used. Results. The study of the kinematics of the cardan joint made it possible to identify and eliminate ambiguities in determining the relative angular velocities of the elements of the kinematic pairs of the cross and cardan yokes. Functional dependences for determination of angular acceleration of a crosspiece in absolute and relative movements, and also relative angles of rotation of links in kinematic pairs of a crosspiece and cardan yokes were received. It was shown that the angular acceleration of the crosspiece is a periodic function of the angle of rotation of the input link. During the operation of the hinge, the crosspiece creates insignificant periodic dynamic loads, which should be taken into account in accurate calculations of high-speed cardan transmissions. Practical value. The work is devoted to the study of the kinematics of the asynchronous hinge, which is the foundation for its dynamic analysis and ultimately aimed at improving the output performance of the cardan transmission. The research method combines mathematical calculations with simplicity and clarity of graphic constructions, which contributes to a deeper understanding of the kinematic features of a hinge of uneven angular velocities. The obtained results can be used in the design and study of motor-transmission units, which include the Hooke’s joint.
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Vu, Hung Minh, Trung Quang Trinh, and Thang Quoc Vo. "Research on kinematic structure of a redundant serial industrial robot arm." Science and Technology Development Journal 19, no. 3 (September 30, 2016): 24–33. http://dx.doi.org/10.32508/stdj.v19i3.561.

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This paper proposes a new kinematic structure of a redundant serial robot arm and presents forward and inverse kinematic analysis. This is a new structure developed based on the robot IRB 2400 of ABB. The new structure consists of six revolute joints and two prismatic joints. The proposed robot arm has only seven degrees of freedom because the structure has a constraint between two revolute joints. Two prismatic joints help to expand workspaces of manipulator from small to very large. The paper describes in details about forward and inverse kinematics. Forward kinematics is derived based on DH Convention while inverse kinematics is calculated based on an objective function to minimize motions of a revolute joint and two prismatic joints. The simulation results on Matlab software indicated that the joint positions and velocities of a redundant serial robot arm matched well the trajectories in Cartesian Space.
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Laschowski, Brock, Naser Mehrabi, and John McPhee. "Inverse Dynamics Modeling of Paralympic Wheelchair Curling." Journal of Applied Biomechanics 33, no. 4 (August 2017): 294–99. http://dx.doi.org/10.1123/jab.2016-0143.

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Paralympic wheelchair curling is an adapted version of Olympic curling played by individuals with spinal cord injuries, cerebral palsy, multiple sclerosis, and lower extremity amputations. To the best of the authors’ knowledge, there has been no experimental or computational research published regarding the biomechanics of wheelchair curling. Accordingly, the objective of the present research was to quantify the angular joint kinematics and dynamics of a Paralympic wheelchair curler throughout the delivery. The angular joint kinematics of the upper extremity were experimentally measured using an inertial measurement unit system; the translational kinematics of the curling stone were additionally evaluated with optical motion capture. The experimental kinematics were mathematically optimized to satisfy the kinematic constraints of a subject-specific multibody biomechanical model. The optimized kinematics were subsequently used to compute the resultant joint moments via inverse dynamics analysis. The main biomechanical demands throughout the delivery (ie, in terms of both kinematic and dynamic variables) were about the hip and shoulder joints, followed sequentially by the elbow and wrist. The implications of these findings are discussed in relation to wheelchair curling delivery technique, musculoskeletal modeling, and forward dynamic simulations.
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Müller, Andreas. "Kinematic topology and constraints of multi-loop linkages." Robotica 36, no. 11 (August 2, 2018): 1641–63. http://dx.doi.org/10.1017/s0263574718000619.

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SUMMARYModeling the instantaneous kinematics of lower pair linkages using joint screws and the finite kinematics with Lie group concepts is well established on a solid theoretical foundation. This allows for modeling the forward kinematics of mechanisms as well the loop closure constraints of kinematic loops. Yet there is no established approach to the modeling of complex mechanisms possessing multiple kinematic loops. For such mechanisms, it is crucial to incorporate the kinematic topology within the modeling in a consistent and systematic way. To this end, in this paper a kinematic model graph is introduced that gives rise to an ordering of the joints within a mechanism and thus allows to systematically apply established kinematics formulations. It naturally gives rise to topologically independent loops and thus to loop closure constraints. Geometric constraints as well as velocity and acceleration constraints are formulated in terms of joint screws. An extension to higher order loop constraints is presented. It is briefly discussed how the topology representation can be used to amend structural mobility criteria.
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Tang, Jianzhong, Yougong Zhang, Fanghao Huang, Jianpeng Li, Zheng Chen, Wei Song, Shiqiang Zhu, and Jason Gu. "Design and Kinematic Control of the Cable-Driven Hyper-Redundant Manipulator for Potential Underwater Applications." Applied Sciences 9, no. 6 (March 18, 2019): 1142. http://dx.doi.org/10.3390/app9061142.

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Underwater manipulators are important robotic tools in the exploration of the ocean environment. Up to now, most existing underwater manipulators are rigid and with fixed 5 or 7 degrees of freedom (DOF), which may not be very suitable for some complicated underwater scenarios (e.g., pipe networks, narrow deep cavities, etc.). The biomimetic concept of muscles and tendons is also considered as continuum manipulators, but load capacity and operation accuracy are their essential drawbacks and thus limit their practical applications. Recently, the cable-driven technique has been developed for manipulators, which can include numerous joints and hyper-redundant DOF to execute tasks with dexterity and adaptability and thus they have strong potential for these complex underwater applications. In this paper, the design of a novel cable-driven hyper-redundant manipulator (CDHRM) is introduced, which is driven by multiple cables passing through the tubular structure from the base to the end-effector, and the joint numbers can be extended and decided by the specific underwater task requirements. The kinematic analysis of the proposed CDHRM is given which includes two parts: the cable-joint kinematics and the joint-end kinematics. The geometric relationship between the cable length and the joint angles are derived via the established geometric model for the cable-joint kinematics, and the projection relationship between the joint angles and end-effector’s pose is established via the spatial coordinate transformation matrix for the joint-end kinematics. Thus, the complex mapping relationships among the cables, joints and end-effectors are clearly achieved. To implement precise control, the kinematic control scheme is developed for the CDHRM with series-parallel connections and hyper-redundancy to achieve good tracking performance. The experiment on a real CDHRM system with five joints is carried out and the results verify the accuracy of kinematics solution, and the effectiveness of the proposed control design. Particularly, three experiments are tested in the underwater environment, which verifies its good tracking performance, load carrying and grasping capacity.
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Fujie, Hiromichi, Kiyoshi Mabuchi, Savio L. Y. Woo, Glen A. Livesay, Shinji Arai, and Yukio Tsukamoto. "The Use of Robotics Technology to Study Human Joint Kinematics: A New Methodology." Journal of Biomechanical Engineering 115, no. 3 (August 1, 1993): 211–17. http://dx.doi.org/10.1115/1.2895477.

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Robotics technologies have been modified to control and measure both the force and position of synovial joints for the study of joint kinematics. One such system was developed to perform kinematic testing of a human joint. A 6-axis articulated robotic manipulator with 6 degrees of freedom (DOF) of motion was designed and constructed; a mathematical description for joint force and position was devised; and hardware and software to control forces applied to the joint, as well as position of the joint, were developed. The new methodology was utilized to simulate physiological loading conditions and to perform an anterior-posterior (A-P) translation test on a human cadaveric knee. Testing showed that this new system can simulate complex loading conditions and also measure the resulting joint kinematics.
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Kozanek, Michal, Harry E. Rubash, Guoan Li, and Richard J. de Asla. "Effect of Post-traumatic Tibiotalar Osteoarthritis on Kinematics of the Ankle Joint Complex." Foot & Ankle International 30, no. 8 (August 2009): 734–40. http://dx.doi.org/10.3113/fai.2009.0734.

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Background: Knowledge of joint kinematics in the healthy and diseased joint may be useful if surgical techniques and joint replacement designs are to be improved. To date, little is known about the kinematics of the arthritic tibiotalar joint and its effect on the kinematics of the subtalar joint. Materials and Methods: Kinematics of the ankle joint complex (AJC) were measured in six patients with unilateral post-traumatic tibiotalar osteoarthritis in simulated heel strike, midstance and toe off weight bearing positions using magnetic resonance and dual fluoroscopic imaging techniques. The kinematic data obtained was compared to a normal cohort from a previous study. Results: From heel strike to midstance, the arthritic tibiotalar joint demonstrated 2.2 ± 5.0 degrees of dorsiflexion while in the healthy controls the tibiotalar joint plantarflexed 9.1 ± 5.3 degrees ( p < 0.01). From midstance to toe off, the subtalar joint in the arthritic group dorsiflexed 3.3 ± 4.1 degrees whereas in the control group the subtalar joint plantarflexed 8.5 ± 2.9 degrees ( p < 0.01). The subtalar joint in the arthritic group rotated externally 1.2 ± 1.0 degrees and everted 3.3 ± 6.1 degrees from midstance to toe off while in the control group 12.3 ± 8.3 degrees of internal rotation and 10.7 ± 3.8 degrees eversion ( p < 0.01 and p < 0.01, respectively) was measured. Conclusion: The current study suggests that during the stance phase of gait, subtalar joint motion in the sagittal, coronal, and transverse rotational planes tends to occur in an opposite direction in subjects with tibiotalar osteoarthritis when compared to normal ankle controls. This effectively represents a breakdown in the normal motion coupling seen in healthy ankle joints. Clinical Relevance: Knowledge of ankle kinematics of arthritic joints may be helpful when designing prostheses or in assessing the results of treatment interventions.
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Cui, Bing Yan, and Zhen Lin Jin. "Kinematics Analysis and Design of a Novel Robot Shoulder Joint." Advanced Materials Research 646 (January 2013): 139–43. http://dx.doi.org/10.4028/www.scientific.net/amr.646.139.

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Kinematics research of mechanism is very important, the dynamic analysis and the design are based on kinematical analysis. In this paper, a novel robot shoulder joint based on 3-RRR orthogonal spherical parallel mechanism is proposed, and the kinematics transmission equation of shoulder joint is derived by using the kinematics inverse solution, and Jacobin matrix is established. Then Jacobin matrix is introduced into the global performance index, and the velocity of global performance evaluation index is defined. Furthermore, the shoulder joint dimensions are changed, and the global performance index is analyzed, then a performance atlas is given at the work spaces of shoulder joint with different dimension. It is found that the Jacobin matrix has more important influence on the kinematics performance of the shoulder joint. Having a good kinematics performance, structure dimensions ranges of shoulder joint are gained, thus the evaluation of kinematics of shoulder joint is more comprehensive. Finally, a novel robot shoulder joint is designed with the kinematics performance evaluation index.
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Kozanek, Michal, Samuel K. Van de Velde, Thomas J. Gill, and Guoan Li. "The Contralateral Knee Joint in Cruciate Ligament Deficiency." American Journal of Sports Medicine 36, no. 11 (July 14, 2008): 2151–57. http://dx.doi.org/10.1177/0363546508319051.

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Background Patients with unilateral ligament deficiency are believed to have altered kinematics of the contralateral knee, increasing the risk of contralateral joint injury. Therefore, the contralateral knees might not be a reliable normal kinematic control. Purpose To compare the in vivo kinematics of the uninjured contralateral knees of patients with anterior or posterior cruciate ligament deficiency with knee kinematics of age-matched patients without joint injury. Study Design Controlled laboratory study. Methods Ten subjects with bilateral healthy knees, 10 patients with acute unilateral anterior cruciate ligament injury, and 10 with acute unilateral posterior cruciate ligament injury participated in this study. Kinematics were measured from 0° to 90° of flexion using imaging and 3-dimensional modeling. Results No significant differences were found across the groups in all rotations and translations during weightbearing flexion (P > .9). Conclusion Patients with unilateral cruciate ligament deficiency did not alter kinematics of the contralateral uninjured knee during weightbearing flexion. In addition, these findings suggest that the included patients with anterior cruciate ligament or posterior cruciate ligament deficiency did not have preexisting abnormal kinematics of the knee. Clinical Relevance As the contralateral joint kinematics of the injured patients were not affected by the ipsilateral ligament injury in the short term, physicians and researchers might use the contralateral knee as a reliable normal kinematic control.
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Khoramshahi, Mahdi, Agnes Roby-Brami, Ross Parry, and Nathanaël Jarrassé. "Identification of inverse kinematic parameters in redundant systems: Towards quantification of inter-joint coordination in the human upper extremity." PLOS ONE 17, no. 12 (December 16, 2022): e0278228. http://dx.doi.org/10.1371/journal.pone.0278228.

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Understanding and quantifying inter-joint coordination is valuable in several domains such as neurorehabilitation, robot-assisted therapy, robotic prosthetic arms, and control of supernumerary arms. Inter-joint coordination is often understood as a consistent spatiotemporal relation among kinematically redundant joints performing functional and goal-oriented movements. However, most approaches in the literature to investigate inter-joint coordination are limited to analysis of the end-point trajectory or correlation analysis of the joint rotations without considering the underlying task; e.g., creating a desirable hand movement toward a goal as in reaching motions. This work goes beyond this limitation by taking a model-based approach to quantifying inter-joint coordination. More specifically, we use the weighted pseudo-inverse of the Jacobian matrix and its associated null-space to explain the human kinematics in reaching tasks. We propose a novel algorithm to estimate such Inverse Kinematics weights from observed kinematic data. These estimated weights serve as a quantification for spatial inter-joint coordination; i.e., how costly a redundant joint is in its contribution to creating an end-effector velocity. We apply our estimation algorithm to datasets obtained from two different experiments. In the first experiment, the estimated Inverse Kinematics weights pinpoint how individuals change their Inverse Kinematics strategy when exposed to the viscous field wearing an exoskeleton. The second experiment shows how the resulting Inverse Kinematics weights can quantify a robotic prosthetic arm’s contribution (or the level of assistance).
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Dissertations / Theses on the topic "Joint kinematics"

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List, Renate Barbara. "Joint kinematics of unconstrained ankle arthroplasties /." [S.l.] : [s.n.], 2009. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=18404.

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Chang, Ryan 1978. "Lower limb joint kinematics of hockey skating." Thesis, McGill University, 2003. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=78336.

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The purpose of this study was to describe various kinematic variables of the skating stride. A data set for five collegiate hockey players was completed (mean +/- SD: age = 22.0 +/- 1.0 years, height = 1.77 +/- 0.06 m, weight = 80.0 +/- 8.5 kg). Three velocities were examined on the skating treadmill: slow (12 km/hr), medium (18 km/hr) and fast (24 km/hr). Electrogoniometers at the hip (H), knee (K) and ankle (ANK) were used to acquire angular displacement and velocity profiles. A trend for increasing range of motion and a significant (p < 0.05) increase in stride rate was observed with speed. Movement patterns between subjects were consistent for the H and K with some variations at the ANK. The study concluded that skating speed was controlled by stride rate while movement profiles remained unchanged.
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Peck, Christopher Charles. "An assessment of condylar kinematics." Connect to full text, 1995. http://hdl.handle.net/2123/4208.

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Thesis (M. Sc. Dent.)--University of Sydney, 1995.
Includes tables. Title from title screen (viewed Apr. 16, 2009) Submitted in fulfilment of the requirements for the degree of Master of Science in Dentistry, Faculty of Dentistry. Includes bibliography. Also available in print form.
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Powers, Marilyn Joy. "Human patellofemoral kinematics and related joint surface geometry." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape7/PQDD_0015/MQ48068.pdf.

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Chen, Elvis Chai-Shin. "Three-dimensional joint kinematics of total knee replacements." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape7/PQDD_0004/MQ42595.pdf.

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Peck, Christopher. "An assessment of condylar kinematics." University of Sydney, 1995. http://hdl.handle.net/2123/4208.

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Master of Science
Most studies of condylar movement are based on the movement of an arbitrary condylar point. As the condyle is a 3-dimensional body which undergoes complex rotations and translations in function, the movement of one point in the vicinity of the condyle may not accurately represent condylar movement. The aims of this investigation were to determine in human subjects, during open-close and excursive jaw movements, the movement patterns of arbitrary and anatomical condylar points; and whether the trajectory of a single selected point can accurately reflect the movement of the condyle. In 44 subjects, condylar point movements were recorded with an opto-electronic tracking system (JAWS3D), which recoded the position of three light-emitting diodes attached to each dental arch. The primary point, selected to represent movement of the condyle, was 15 mm medial to the palpated lateral condylar pole, parallel to the Frankfort horizontal plane. Additionally, four points were selected along orthogonal axes in the sagittal plane, and four in the horizontal plane: each was 5 mm from the primary point. In two subjects, the mandibular condyles were imaged by computerised tomography (CT) and the lateral and medial poles, most superior, anterior and posterior points of their condyles were selected. The trajectories of each point were compared for each subject for the mandibular movements listed above. Variability in both path form and dimension was noted between the subjects for all mandibular movements. For example, in an open-close mandibular movement the condylar point translation varied in the antero-posterior direction between 1.8-22.8 mm, and in the supero-inferior direction between 4.5-12.1 mm. For each subject, the pathway of each point was different in form and dimension from that subject’s other condylar points for the open-close, and ipsilateral lateral mandibular movements. For the open-close movement, in only four of the 44 subjects were the arbitrary point traces similar in form within a subject; and the tracings of each subject’s condylar points showed, on average, a 3.2 mm difference in maximal horizontal (i.e. antero-posterior) translation and 2.9 mm in maximal vertical (i.e. supereo-inferior) translation. For contralateral lateral mandibular movements, the path form and dimension in the sagittal plane of the condylar points were similar within a subject; however the lateral component showed variability in path length for the different points within a subject. The pathways of the condylar points for a protrusive movement displayed the most similarity within a subject, with an average of 0.4 mm variation in maximal horizontal or vertical displacement between each subject’s arbitrary condylar points’ tracings. The anatomical condylar points of the two subjects showed variability between and within each subject. For these two subjects the trajectories of the arbitrary condylar points moved in directions similar to the anatomical points of all movements except for the ipsilateral lateral mandibular movement, where in one subject, the arbitrary condylar points moved posteriorly, inferiorly and laterally whereas the anatomical points moved anteriorly, inferiorly and laterally. There is much variability in both form and dimension for mandibular condylar movement between human subjects. There is also considerable variability within subjects in the form and dimension of condylar point movement, whether arbitrary or anatomical, depending on the point selected. By inference therefore, a single condylar point cannot accurately reflect the movement of the mandibular condyle, except perhaps for a protrusive mandibular movement. Multiple mandibular points are therefore required to describe the motion of the condyle. In an ipsilateral lateral mandibular movement, for example, an arbitrary point may move in a completely different direction to the mandibular condyle, and so anatomically derived condylar points should be utilised to assess accurately condylar movement.
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Allen, Joshua Ryan. "Upper extremity kinematics and joint coordination of fly-casting." Thesis, Montana State University, 2006. http://etd.lib.montana.edu/etd/2006/allen/AllenJ0806.pdf.

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Woodburn, James. "Kinematics at the ankle joint complex in rheumatoid arthritis." Thesis, University of Leeds, 2000. http://etheses.whiterose.ac.uk/753/.

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This thesis investigates the three-dimensional kinematics at the ankle joint complex in rheumatoid arthritis. Previous studies have identified the rearfoot as a common site for inflammatory activity in rheumatoid arthritis resulting in painful and disabling deformity for which there are no proven interventions. A generic electromagnetic tracking system was developed to undertake three-dimensional kinematics at the ankle joint complex in the bare and shod foot during gait. A joint simulator was designed, manufactured and commissioned in house to test the accuracy of the system. The results indicated errors of less than 1° in rotation and 1 mm in position measurements. Clinical testing of the measurement system was undertaken in both normal healthy adults and rheumatoid arthritis subjects. The technique was able to measure the characteristic three-dimensional kinematics for the ankle joint complex in the normal subjects and detected accurately abnormal angular rotations in the rheumatoid arthritis group. In both cohorts the within day repeatability of the measurements were good, and over a longer period data were stable in the rheumatoid arthritis group allowing the technique to be used in longitudinal studies. Finally, skin movement artefact where the electromagnetic sensor is attached on the heel was investigated using a magnetic resonance imaging technique and found to be less than 1° across the range of motion for the joint complex. Kinematic measurements were undertaken in two cohorts of rheumatoid arthritis subjects randomised to receive or not custom manufactured foot orthoses to correct early valgus heel deformity. The orthoses were constructed in rigid carbon graphite and modified to offer the correct degree of movement control for each patient. Kinematic data were compared between the rheumatoid arthritis groups and that measured from an age- and sex-matched healthy adult population. In both rheumatoid arthritis groups abnormal kinematics were easily detected with significant alteration of inversion/eversion and internal/external rotation. With foot orthoses the inversion/eversion angular rotations were almost fully restored to normal, but little effect was observed for internal/external rotation. The rheumatoid arthritis patients underwent repeat kinematic measurement over a period of 30-months. In the control group the angular rotations improved slightly from baseline, although in comparison with normal healthy population remained abnormal. In the intervention group the orthotic control of inversion/eversion was sustainable for 30 months. Furthermore, coupling between inversion/eversion and internal/external rotation was partially restored towards the end of the study. In barefoot walking the intervention group demonstrated a substantial correction of the deformity in the frontal plane. It was attempted to explain the results in terms of soft-tissue laxity and adaptation following correction of joint deformity. Three-dimensional kinematic measurements were also conducted at the knee and calcaneotalonavicular joint complex. Abnormal rotations and orthotic response were demonstrable at these joints but with less satisfactory results because of technical limitations of the measurement technique. Plantar pressure distribution was also studied using an in-shoe measurement technique. Custom designed orthoses were found to alter the pressure and force distribution at the interface with the foot. The largest effects were observed at the heel and midfoot regions and these were sustainable and significantly different from the non-intervention control group. The clinical effectiveness of the foot orthoses was also evaluated. A pragmatic randomised controlled trial was undertaken and serial measurements of foot pain and disability, using the Foot Function Index conducted at baseline and 3,6 12,18,24 and 30-months. The results revealed an immediate and significant reduction in foot pain and disability with foot orthoses. Minor adverse reactions were reported but overall comfort levels and compliance were high. The overall reduction in foot pain and disability was sustained up to 30 months.
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Wilson, David Robert. "Three-dimensional kinematics of the knee." Thesis, University of Oxford, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.320163.

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Massimini, Daniel Frank. "Technique and application for quantifying dynamic shoulder joint kinematics and glenohumeral joint contact patterns." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/87979.

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Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014.
Cataloged from PDF version of thesis.
Includes bibliographical references.
The shoulder (glenohumeral) joint has the greatest range of motion of all human joints; as a result, it is particularly vulnerable to dislocation and injury. The ability to accurately measure dynamic in-vivo joint kinematics in 6-Degrees-of-Freedom (6-DOF) (translations and rotations) and subsequently quantify articular cartilage contact patterns of that joint has been and remains a difficult biomechanics problem. As a result, little is known about normal in-vivo glenohumeral joint contact patterns or the consequences of surgery on: shoulder joint kinematics, the soft tissue anatomy around the shoulder, and glenohumeral joint contact patterns. Additionally, the effect of quantifying glenohumeral joint contact patterns by means of proximity mapping, both with and without cartilage data is unknown. Therefore, the objectives of this thesis are to (1) describe and validate a noninvasive Dual Fluoroscopic Imaging System (DFIS) to measure dynamic shoulder joint motion; (2) describe a technique to quantify in-vivo glenohumeral joint contact patterns from the measured shoulder motion; (3) quantify normal glenohumeral joint contact patterns in the young healthy adult; (4) compare glenohumeral joint contact patterns determined both with and without articular cartilage data; and (5) demonstrate that the DFIS technique can evaluate the dynamic suprascapular nerve (a soft tissue around the shoulder) anatomy in 6-DOF in a proof of concept cadaveric model. Our results show that for the shoulder motion tested, glenohumeral joint contact was located on the anterior-inferior glenoid surface, and that the inclusion of articular cartilage data when quantifying in-vivo glenohumeral joint contact patterns has significant effects on the contact centroid location, the contact centroid range of travel, and the total contact path length. As a result, our technique offers an advantage over glenohumeral joint contact pattern measurement techniques that neglect articular cartilage data. Likewise, this technique may be more sensitive than traditional 6-DOF joint kinematics for the assessment of overall glenohumeral joint health. Lastly, in the proof of concept cadaveric model, we demonstrated that the DFIS technique can evaluate the dynamic suprascapular nerve anatomy in 6-DOF and that the anatomical course of the nerve may be altered by a rotator cuff tendon tear and subsequent to surgical intervention.
by Daniel Frank Massimini.
Ph. D.
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Books on the topic "Joint kinematics"

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Mutambara, Arthur G. O. A framework for a supervisory expert system for robotic manipulators with joint-position limits and joint-rate limits. [Cleveland, Ohio]: National Aeronautics and Space Administration, Lewis Research Center, 1998.

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1972-, Flores Paulo, ed. Kinematics and dynamics of multibody systems with imperfect joints: Models and case studies. Berlin: Springer, 2008.

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National Aeronautics and Space Administration (NASA) Staff. Kinematics of Hooke Universal Joint Robot Wrists. Independently Published, 2018.

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Center, Langley Research, ed. Kinematics of Hooke universal joint robot wrists. Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1988.

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Kerr, Thomas. Relationship between knee joint kinematics and the soleus H reflex during walking. 1998.

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The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis. Hampton, VA: National Aeronautics and Space Administration, Langley Research Center, 1992.

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Staff, Red Dot Publications. TMJ and TMJD : The Temporomandibular Joint: Anatomy, Kinematics, Dysfunction, and Disorders. Independently Published, 2017.

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National Aeronautics and Space Administration (NASA) Staff. Double Universal Joint Wrist on a Manipulator: Solution of Inverse Position Kinematics and Singularity Analysis. Independently Published, 2018.

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Shellock, Frank G., and Christopher Powers. Kinematic MRI of the Joints. Taylor & Francis Group, 2019.

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G, Shellock Frank, and Powers Christopher M. 1962-, eds. Kinematic MRI of the joints: Functional anatomy, kinesiology, and clinical applications. Boca Raton: CRC Press, 2001.

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Book chapters on the topic "Joint kinematics"

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Wittenburg, Jens. "Two-Joint Chains." In Kinematics, 257–76. Berlin, Heidelberg: Springer Berlin Heidelberg, 2016. http://dx.doi.org/10.1007/978-3-662-48487-6_7.

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Carpes, Felipe P., Rodrigo R. Bini, and Jose Ignacio Priego Quesada. "Joint Kinematics." In Biomechanics of Cycling, 33–42. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-05539-8_4.

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Lopomo, Nicola, Simone Bignozzi, Cecilia Signorelli, Francesca Colle, Giulio Maria Marcheggiani Muccioli, Tommaso Bonanzinga, Alberto Grassi, Stefano Zaffagnini, and Maurilio Marcacci. "Tibiofemoral Joint Kinematics." In Knee Surgery using Computer Assisted Surgery and Robotics, 173–86. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-31430-8_17.

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Akhadkar, Narendra, Vincent Acary, and Bernard Brogliato. "3D Revolute Joint with Clearance in Multibody Systems." In Computational Kinematics, 11–18. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-60867-9_2.

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Sasaki, Shinobu, and Yoshikuni Shinohara. "Joint Solutions Derived via Optimization Technique under Formal Separation of Joint Variables." In Advances in Robot Kinematics, 352–61. Vienna: Springer Vienna, 1991. http://dx.doi.org/10.1007/978-3-7091-4433-6_40.

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Van Eijden, T. M. G. J., E. Kouwenhoven, W. A. Weijs, J. Verbürg, and W. De Boer. "Kinematics of the Patellofemoral Joint." In Biomechanics: Current Interdisciplinary Research, 415–20. Dordrecht: Springer Netherlands, 1985. http://dx.doi.org/10.1007/978-94-011-7432-9_59.

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Wang, Delun, Zhi Wang, Huimin Dong, and Shudong Yu. "A Novel Mechanism with Redundant Elastic Constraints for an Actual Revolute Joint." In Computational Kinematics, 229–37. Dordrecht: Springer Netherlands, 2013. http://dx.doi.org/10.1007/978-94-007-7214-4_26.

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Wada, Makoto, Shinichi Imura, and Hisatoshi Baba. "Clinical Results and In Vivo Kinematics Analysis of Osteonics Total Knee Arthroplasty." In Joint Arthroplasty, 255–68. Tokyo: Springer Japan, 1999. http://dx.doi.org/10.1007/978-4-431-68529-6_22.

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Huiskes, R., R. Dijk, A. Lange, H. J. Woltring, and Th J. G. Rens. "Kinematics of the Human Knee Joint." In Biomechanics of Normal and Pathological Human Articulating Joints, 165–87. Dordrecht: Springer Netherlands, 1985. http://dx.doi.org/10.1007/978-94-009-5117-4_9.

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Lundberg, A. "Kinematics of the Normal Ankle Joint." In Current Status of Ankle Arthroplasty, 3–7. Berlin, Heidelberg: Springer Berlin Heidelberg, 1998. http://dx.doi.org/10.1007/978-3-642-72255-4_1.

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Conference papers on the topic "Joint kinematics"

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Fischer, I. S., and M. C. Liu. "Effect of Bearing Clearance on Cardan-Joint Kinematics." In ASME 1989 Design Technical Conferences. American Society of Mechanical Engineers, 1989. http://dx.doi.org/10.1115/detc1989-0150.

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Abstract The effect of radial bearing clearance at the intermediate joints of a Cardan-type universal joint has been investigated. It is found that errors in displacement at the output and also intermediate joints occur, and that their amplitudes have a linear relationship to the magnitudes of the radial bearing clearances.
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McNeal, David, Bassem elHassan, Farid Amirouche, and Mark Gonzalez. "Analysis of Finger Joint Kinematics Before and After MCP Joint Arthroplasty." In ASME 2003 International Mechanical Engineering Congress and Exposition. ASMEDC, 2003. http://dx.doi.org/10.1115/imece2003-42990.

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The purpose of this study is to assess the kinematical changes in the flexion of the finger joints after MCP arthroplasty. Angular joint position in relation to its corresponding excursion was used to quantify the kinematics of the finger. The assessment used real time data acquisition and fresh-frozen cadaver hands. Several important benchmarks were considered in analyzing the data. First of all, the initiation of the digit was considered. When a tendon is pulled, motion is normally observed in the DIP first, followed by the PIP, and finally the MCP. This order should be maintained after the arthroplasty. For our kinematics study, it is also important to note any significant increase or decrease in the time of the initiation. Other benchmarks we considered include the starting and ending angle of the joints. The start and ending angle is important when studying the overall range of motion of the digit. The overall range of motion affects basic hand function and is one measure of successful arthroplasty. Excursion was also considered as an overall measure of how well the prosthesis mimics the original joint. Large changes in excursion could indicate that the original center of rotation has not been maintained.
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Miyata, N., M. Kouch, M. Mochimaru, and T. Kurihara. "Finger joint kinematics from MR images." In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2005. http://dx.doi.org/10.1109/iros.2005.1545611.

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Collins, Curtis L. "Forward Kinematics of 3-GPR Planar Parallel Manipulators With Circular Rolling Contact Joints." In ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2003. http://dx.doi.org/10.1115/detc2003/dac-48844.

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In this work, we investigate the geometry and position kinematics of planar parallel manipulators composed of three GPR serial sub-chains, where G denotes a rolling contact, or geared joint, P denotes a prismatic joint, and R denotes a revolute joint. The rolling contact joints provide a passive one degree-of-freedom relative motion between the base and the prismatic links. It is shown, both theoretically and numerically, that when all the G-joints have equal circular contact profiles, there are at most 48 real forward kinematic solutions when the P joints are actuated. The solution procedure is general and can be used to predict and solve for the kinematics solutions of 3-GPR manipulators with any combination of rational contact ratios.
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Williams, Robert L., and Brett H. Shelley. "Inverse Kinematics for Planar Parallel Manipulators." In ASME 1997 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1997. http://dx.doi.org/10.1115/detc97/dac-3851.

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Abstract This paper presents algebraic inverse position and velocity kinematics solutions for a broad class of three degree-of-freedom planar in-parallel-actuated manipulators. Given an end-effector pose and rate, all active and passive joint values and rates are calculated independently for each serial chain connecting the ground link to the end-effector link. The solutions are independent of joint actuation. Seven serial chains consisting of revolute and prismatic joints are identified and their inverse solutions presented. To reduce computations, inverse Jacobian matrices for overall manipulators are derived to give only actuated joint rates. This matrix yields conditions for invalid actuation schemes. Simulation examples are given.
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Udupa, Jayaram K., Bruce E. Hirsch, Supun Samarasekera, and Roberto J. Goncalves. "Joint kinematics via three-dimensional MR imaging." In Visualization in Biomedical Computing, edited by Richard A. Robb. SPIE, 1992. http://dx.doi.org/10.1117/12.131118.

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Cohen, Zohara A., and Gerard A. Ateshian. "The Influence of Cartilage Thickness in the Multibody Modeling of Patellofemoral Joint Kinematics and Contact Stresses." In ASME 1999 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/imece1999-0449.

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Abstract Three dimensional multibody computer models have been recently used to analyze the kinematics of the patellofemoral joint (PFJ) of patients with osteoarthritis (OA) (Cohen, et al., 1998). By employing cartilage specific magnetic resonance images (MRI) to acquire the model geometry, detailed topographies of the cartilage surfaces were obtained to model the contact between the opposing surfaces of the patella and femur. Contact stresses due to compression of the cartilage layers were approximated by a linear function of the compressive strain estimated from the relative change in cartilage thickness within the contact region. In our earlier studies, a uniform cartilage layer thickness was assumed in the analysis of joint contact, and a validation of this model was performed by comparing its kinematic predictions to the measured kinematics of five cadaver joints (Kwak, et al., 1996).
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Arikawa, Keisuke. "Kinematic Modeling and Inverse Kinematics of Serial 6R Fragment of Molecule." In ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/detc2021-70853.

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Abstract Depending on their mobilities around bond axes, molecules (e.g., proteins, DNA, and RNA) can be modeled as robotic manipulators. We focus on the serial 6R fragments, or the fragments containing six revolute joints connected in series, extracted from these molecules. We solved the inverse kinematics problems of the fragments. We obtained multiple conformations that maintained the relative position and orientation between both ends. Raghavan and Roth’s solution effectively conveys all real solutions. However, the solution is not directly applicable when some link lengths are zeros. To cope with the problem, in addition to the known method based on the modified elimination, we introduced the small-length link strategy. Here, by setting sufficiently small values for the zero-length links, we solved the inverse kinematics problems based on Raghavan and Roth’s solution combined with the symbolic formulation. Moreover, we formulated a method to systematically build manipulator models from structural data of molecules. We systematically identified the Danavit-Hartenberg parameters (link length, offset, and twist angle) and joint angles at the conformation in the structural data from the seven pairs of positions of atoms. Finally, using the structural data of a protein stored in the protein data bank, we demonstrated an application example of kinematic modeling and inverse kinematics calculation.
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Dong, Hui, Taosha Fan, Zhijiang Du, and Gregory Chirikjian. "Inverse Kinematics of Discretely Actuated Ball-Joint Manipulators Using Workspace Density." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46803.

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We present a workspace-density-based (WSDB) method to solve the inverse kinematics of discretely actuated ball-joint manipulators. Intuitively speaking, workspace density measures the flexibility of a robotic manipulator when the end-effector is fixed at a certain pose or position. We use the SE(3) Fourier transform to derive the workspace density for ball-joint manipulators and show that the workspace density has a concise and elegant form. Then we show that the state for each joint is determined by maximizing the workspace density of subsequent sub-manipulators. We demonstrate our method with several numerical examples. In particular, we show that our method can provide a solution that approximately minimizes the deviation of the end-effector and its computational complexity is linear with respect to the number of joints. Hence our method is very efficient in solving the inverse kinematics of redundant discretely actuated ball-joint manipulators. In addition, we prove that the solution space of our method is reduced from the rotation group SO(3) to a one-dimensional interval.
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Moore, Susan M., Mary T. Gabriel, Maribeth Thomas, Jennifer Zeminski, Savio L. Y. Woo, and Richard E. Debski. "The Effect of the Accuracy of Various Measuring Devices on Recorded Joint Kinematics." In ASME 2004 International Mechanical Engineering Congress and Exposition. ASMEDC, 2004. http://dx.doi.org/10.1115/imece2004-61551.

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Knowledge of joint kinematics contributes to the understanding of the function of soft tissue restraints, injury mechanisms, and can be used to evaluate surgical repair techniques. (Tibone, McMahon et al. 1998; Karduna, McClure et al. 2001; Abramowitch, Papageorgiou et al. 2003) Previous studies have measured joint kinematics using a variety of non-invasive methods that include: optical tracking, magnetic tracking, and mechanical linkage systems. (Rudins, Laskowski et al. 1997; Apreleva, Hasselman et al. 1998; Gabriel, Wong et al. 2004) These measurement devices report kinematics of rigid bodies with respect their own global coordinate system. However, it is often useful to understand these kinematics in terms of a coordinate system whose axes coincide with the degrees of freedom of each specific joint (anatomical coordinate systems). Once the kinematics are obtained with respect to the global coordinate system of the measurement device, the joint kinematics can be calculated with respect to anatomical coordinate systems if the relationship between the measurement device and the anatomical coordinate systems are known. Although the accuracy of these kinematic measurement devices is provided by the manufacturer, the effect of their accuracy on joint kinematics reported with respect to anatomical coordinate systems must be determined. (Panjabi, Goel et al. 1982; Crisco, Chen et al. 1994) For example, small errors in orientation of the measurement system could lead to large errors in position for an anatomical coordinate system located at some distance away. As researchers report joint kinematics with respect to the anatomical coordinate systems, understanding the errors produced by one’s measurement device with respect to the anatomical coordinate systems is necessary. Further, a great deal of interest exists for studying knee joint kinematics. (Sakane, Livesay et al. 1999; Lephart, Ferris et al. 2002; Ford, Myer et al. 2003) Within our research center our goal is to collect knee joint kinematics of a cadaver and reproduce them with respect to the anatomical coordinate systems using robotic technology. Therefore, the objective of this study was to determine the effect of the accuracy of three measurement devices (optical tracking device-OptoTrak® 3020, magnetic tracking device-Flock of Birds®, instrumented spatial linkage-EnduraTec Corp.) on knee joint kinematics reported with respect to an anatomical coordinate system.
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Reports on the topic "Joint kinematics"

1

Zhao, Jianmin, and Norman I. Badler. Real Time Inverse Kinematics with Joint Limits and Spatial Constraints. Fort Belvoir, VA: Defense Technical Information Center, January 1989. http://dx.doi.org/10.21236/ada220462.

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Unseren, M. A. New insights into input relegation control for inverse kinematics of a redundant manipulator. Part 2, The optimization of a secondary criteria involving self motion of the joints. Office of Scientific and Technical Information (OSTI), July 1995. http://dx.doi.org/10.2172/89523.

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