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1
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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Chang, De Gong, Lu Sun, and Bin Zuo. "Kinematic Simulation of the Tripod Universal Joint with or without Gap." Key Engineering Materials 501 (January 2012): 306–10. http://dx.doi.org/10.4028/www.scientific.net/kem.501.306.
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In this paper, based on the structural features of twin tripod sliding universal joint, by using the CAD software Pro/E technology, the author first established the three-dimensional solid model of the twin tripod sliding universal joint, then compared the kinematics analysis under the following two circumstances ,that is, with or without a clearance of kinematic pairs and obtained the kinematical regularities of various components of the twin tripod sliding universal joint, which can provide a theoretical basis for the further research of the impact of the clearance on the tripod universal joint.
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Roda-Sales, Alba, Joaquín L. Sancho-Bru, and Margarita Vergara. "Studying kinematic linkage of finger joints: estimation of kinematics of distal interphalangeal joints during manipulation." PeerJ 10 (October 4, 2022): e14051. http://dx.doi.org/10.7717/peerj.14051.
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The recording of hand kinematics during product manipulation is challenging, and certain degrees of freedom such as distal interphalangeal (DIP) joints are difficult to record owing to limitations of the motion capture systems used. DIP joint kinematics could be estimated by taking advantage of its kinematic linkage with proximal interphalangeal (PIP) and metacarpophalangeal joints. This work analyses this linkage both in free motion conditions and during the performance of 26 activities of daily living. We have studied the appropriateness of different types of linear regressions (several combinations of independent variables and constant coefficients) and sets of data (free motion and manipulation data) to obtain equations to estimate DIP joints kinematics both in free motion and manipulation conditions. Errors that arise when estimating DIP joint angles assuming linear relationships using the equations obtained both from free motion data and from manipulation data are compared for each activity of daily living performed. Estimation using manipulation condition equations implies a lower mean absolute error per task (from 5.87° to 13.67°) than using the free motion ones (from 9° to 17.87°), but it fails to provide accurate estimations when passive extension of DIP joints occurs while PIP is flexed. This work provides evidence showing that estimating DIP joint angles is only recommended when studying free motion or grasps where both joints are highly flexed and when using linear relationships that consider only PIP joint angles.
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Tryba, Andrew K., and Roy E. Ritzmann. "Multi-Joint Coordination During Walking and Foothold Searching in the Blaberus Cockroach. I. Kinematics and Electromyograms." Journal of Neurophysiology 83, no. 6 (June 1, 2000): 3323–36. http://dx.doi.org/10.1152/jn.2000.83.6.3323.
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Cockroaches were induced to walk or search for a foothold while they were tethered above a glass plate made slick with microtome oil. We combined kinematic analysis of leg joint movements with electromyographic (EMG) recordings from leg extensor muscles during tethered walking and searching to characterize these behaviors. The tethered preparation provides technical advantages for multi-joint kinematic and neural analysis. However, the behavioral relevance of the tethered preparation is an important issue. To address this issue, we evaluated the effects of tethering the animals by comparing kinematic parameters of tethered walking with similar data collected previously from cockroaches walking freely on a treadmill at the same speeds. No significant differences between tethered and treadmill walking were found for most joint kinematic parameters. In contrast, comparison of tethered walking and searching showed that the two behaviors can be distinguished by analysis of kinematics and electrical data. We combined analysis of joint kinematics and electromyograms to examine the change in multi-joint coordination during walking and searching. During searching, middle leg joints extended during swing rather than stance (i.e., walking) and the coordination of movements and extensor motor neuron activity at the coxa-trochanteral and femur tibia joints differed significantly during walking and searching. We also found that the pattern of myographic activity in the middle leg during searching was similar to that in the front legs during walking.
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Grinyagin, I. V., E. V. Biryukova, and M. A. Maier. "Kinematic and Dynamic Synergies of Human Precision-Grip Movements." Journal of Neurophysiology 94, no. 4 (October 2005): 2284–94. http://dx.doi.org/10.1152/jn.01310.2004.
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We analyzed the adaptability of human thumb and index finger movement kinematics and dynamics to variations of precision grip aperture and movement velocity. Six subjects performed precision grip opening and closing movements under different conditions of movement velocity and movement aperture (thumb and index finger tip-to-tip distance). Angular motion of the thumb and index finger joints was recorded with a CyberGlove and a three-dimensional biomechanical model was used for solving the inverse dynamics problem during precision grip movements, i.e., for calculating joint torques from experimentally obtained angular variations. The time-varying joint angles and joint torques were analyzed by principal-component analysis to quantify the contributions of individual joints in kinematic and dynamic synergies. At the level of movement kinematics, we found subject-specific angular contributions. However, the adaptation to large aperture, achieved by an increase of the relative contribution of the proximal joints, was subject-invariant. At the level of movement dynamics, the adaptation of thumb-index finger movements to task constraints was similar among all subjects and required the linear scaling of joint torques, the synchronization of joint torques under high velocity conditions, and a flexible redistribution of joint torques between the proximal joint of the thumb and that of the index finger. This work represents one of the first attempts at calculating the joint torques during human precision-grip movements and indicates that the dynamic synergies seem to be remarkably simple compared with the synergies found for movement kinematics.
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Sahin, Sureyya, and Leila Notash. "KINEMATIC MODELLING AND ANALYSIS OF A WIRE-ACTUATED PARALLEL MANIPULATOR." Transactions of the Canadian Society for Mechanical Engineering 31, no. 4 (December 2007): 495–507. http://dx.doi.org/10.1139/tcsme-2007-0036.
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The kinematic modelling and analysis of a 4 degrees of freedom wire-actuated parallel manipulator with redundant actuation is investigated. The manipulator employs combinations of rigid links, joints and wires. Hybrid actuation of joints and wires, two actuated joints and three actuated wires, is used. Position and first and second order kinematics of the closed-loop manipulator are formulated based on matrix exponentials. The transfer of first and second order kinematic variables, i.e., wire/joint velocities and accelerations, among the manipulator task space coordinates, active and passive joint coordinates and wire lengths are provided.
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Qiu, Yinyuan, Wen-Bin Shangguan, and Yong Luo. "Kinematic analysis of the double roller tripod joint." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 234, no. 1 (October 17, 2019): 147–60. http://dx.doi.org/10.1177/1464419319881251.
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To solve the shortcomings and structural defects of the tripod joint, a novel structure named ‘double roller tripod joint’ is designed in this paper with the following features: (1) gothic arc-shaped tracks, (2) outer rollers with semi-toroid outer surfaces, (3) cylindrical inner rollers and (4) spherical trunnions. Based on spatial Cartesian kinematics and vector method, a novel method for kinematic analysis of the double roller tripod joint is proposed. The proposed method is validated by bench tests. By comparing the kinematics between the double roller tripod joint and tripod joint, it can be concluded that the double roller tripod joint has prominent advantages such as 0° relative pitch angles between the rollers and tracks and better constant velocity property. In addition, compared with other tripod-type joints, the proposed double roller tripod joint also has advantages in performances, manufacturability and assembling ability.
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Jin, Lee, Lee, and Han. "Kinematic Model and Real-Time Path Generator for a Wire-Driven Surgical Robot Arm with Articulated Joint Structure." Applied Sciences 9, no. 19 (October 1, 2019): 4114. http://dx.doi.org/10.3390/app9194114.
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This paper presents a forward kinematic model of a wire-driven surgical robot arm with an articulated joint structure and path generation algorithms with solutions of inverse kinematics. The proposed methods were applied to a wire-driven surgical robot for single-port surgery. This robot has a snake-like robotic arm with double segments to fit the working space in a single port and a joint structure to secure stiffness. The accuracy of the model is highly important because small surgical robot arms are usually controlled by open-loop control. A curvature model is widely used to describe and control a continuum robotic body. However, the model is quite different from a continuum robotic arm with a joint structure and can lead to slack of the driving wires or decreased stiffness of the joints. An accurate forward kinematic model was derived to fit the actual hardware structure via the frame transformation method. An inverse kinematic model from the joint space to the wire-length space was determined from an asymmetric model for the joint structure as opposed to a symmetric curvature model. The path generation algorithm has to generate a command to send to each actuator in open-loop control. Two real-time path generation algorithms that solve for inverse kinematics from the task space to the joint space were designed and compared using simulations and experiments. One of the algorithms is an optimization method with sequential quadratic programming (SQP), and the other uses differential kinematics with a PID (Proportional-Integral-Derivative) control algorithm. The strengths and weaknesses of each algorithm are discussed.
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Ren, Bin, Jianwei Liu, Xurong Luo, and Jiayu Chen. "On the kinematic design of anthropomorphic lower limb exoskeletons and their matching movement." International Journal of Advanced Robotic Systems 16, no. 5 (September 1, 2019): 172988141987590. http://dx.doi.org/10.1177/1729881419875908.
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The lower limb exoskeleton is a wearable device for assisting medical rehabilitation. A classical lower limb exoskeleton structures cannot precisely match the kinematics of the wearer’s limbs and joints in movement, so a novel anthropomorphic lower limb exoskeleton based on series–parallel mechanism is proposed in this article. Then, the human lower limb movements are measured by an optical gait capture system. Comparing the simulation results of the series–parallel mechanism with the measured human data, the kinematics matching model at the hip joint is established. The results show that the kinematic matching errors in the X, Y, and Z directions are less than 2 mm. So, the proposed kinematics matching model is effective and the anthropomorphic series–parallel mechanism has a significant improvement in tracing the human positions at the hip joint.
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Zhang, Rui, Qiaoli Ji, Gang Luo, Shuliang Xue, Songsong Ma, Jianqiao Li, and Lei Ren. "Phalangeal joints kinematics during ostrich (Struthio camelus) locomotion." PeerJ 5 (January 12, 2017): e2857. http://dx.doi.org/10.7717/peerj.2857.
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The ostrich is a highly cursorial bipedal land animal with a permanently elevated metatarsophalangeal joint supported by only two toes. Although locomotor kinematics in walking and running ostriches have been examined, these studies have been largely limited to above the metatarsophalangeal joint. In this study, kinematic data of all major toe joints were collected from gaits with double support (slow walking) to running during stance period in a semi-natural setup with two selected cooperative ostriches. Statistical analyses were conducted to investigate the effect of locomotor gait on toe joint kinematics. The MTP3 and MTP4 joints exhibit the largest range of motion whereas the first phalangeal joint of the 4th toe shows the largest motion variability. The interphalangeal joints of the 3rd and 4th toes present very similar motion patterns over stance phases of slow walking and running. However, the motion patterns of the MTP3 and MTP4 joints and the vertical displacement of the metatarsophalangeal joint are significantly different during running and slow walking. Because of the biomechanical requirements, osctriches are likely to select the inverted pendulum gait at low speeds and the bouncing gait at high speeds to improve movement performance and energy economy. Interestingly, the motions of the MTP3 and MTP4 joints are highly synchronized from slow to fast locomotion. This strongly suggests that the 3rd and 4th toes really work as an “integrated system” with the 3rd toe as the main load bearing element whilst the 4th toe as the complementary load sharing element with a primary role to ensure the lateral stability of the permanently elevated metatarsophalangeal joint.
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Cui, Bing Yan, and Zhen Lin Jin. "Analysis of Workspace and Rotation Ability for a Novel Humanoid Robot Elbow Joint." Advanced Materials Research 69-70 (May 2009): 585–89. http://dx.doi.org/10.4028/www.scientific.net/amr.69-70.585.
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The workspace and the kinematic transmission play important role on the design and optimation of the eblow joint. In this paper, a novel humanoid robot elbow joint based on 2-DOF orthogonal spherical parallel mechanism is proposed. Position of elbow joint is analyzed using the vector method and projection theory. The kinematic balance equation of the eblow joint is established by analyzing the relationship of its input and output velocity. The kinematics transmission evaluation index and the global kinematic transmission evaluation index of the elbow are defined, and the distribution of the global kinematics transmission evaluation index in the workspace is drawn. And rotation ability of the elbow joint is analyzed. The analytical results indicate the elbow has advantages of big volume, smooth boundary, good kinematic transmission, strong rotation ability, which can provide theoretical base for the applications of the elbow.
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Red, W. Edward, and Shao-Wei Gongt. "Automated inverse-kinematics for robot off-line programming." Robotica 12, no. 1 (January 1994): 45–53. http://dx.doi.org/10.1017/s0263574700018178.
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Automated methods are developed to classify a robot's kinematic type and select an appropriate library inverse-kinematic solution based on this classification. These methods automatically generate DenavitHartenberg joint frame parameters, given any frame representation that can mathematically be represented as a homogeneous transformation.To reduce the number of closed-form inverse-kinematics solutions required for a broad class of serial robots, additional methods account for differences in robot zero state, base frame location, and joint polarity. Further generalization results from using joint frame decoupling to map lower degree-of-freedom robots into the inverse-kinematics solutions of higher degree-offreedom robots.
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Kim, S. Y., J. Y. Kim, K. Hayashi, and A. S. Kapatkin. "Skin movement during the kinematic analysis of the canine pelvic limb." Veterinary and Comparative Orthopaedics and Traumatology 24, no. 05 (2011): 326–32. http://dx.doi.org/10.3415/vcot-10-08-0123.
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Summary Objectives: To determine whether the canine pelvic limb can be considered a linkage of rigid bodies during kinematic analysis. Methods: The lengths of the femur and tibia based on skin markers were examined throughout gait cycles in six dogs trotting on a treadmill at 2 m/sec. The angular kinematics of the hip, stifle and tarsal joints were calculated based on a conventional stifle marker (CSM) and computed virtual stifle positions (VSP). Based on the CSM and VSP, the kinematic data from the joints were compared and the agreement among them determined. The difference between the CSM and VSP coordinates were illustrated. Result: The femoral and tibial lengths based on skin markers were not constant throughout a gait cycle and the lengths changed in repeatable patterns in each dog. There was close agreement between the joint angles based on the CSM and VSP in the tarsal joint but not in the hip and stifle joints, where the kinematics based on the CSM tended to calculate smaller angular excursion than the kinematics based on VSP. The pattern of displacement of the CSM was repeatable through a gait cycle. Clinical relevance: There was skin movement which causes considerable artifact during kinematic analysis of the canine pelvic limb. The skin movement has to be accounted for during canine kinematic analysis.The current study was presented at Veterinary Orthopedic Society Conference, Steamboat Springs, CO, USA, February 28 - March 7, 2009.
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Lenarčič, Jadran, and Nives Klopčar. "Positional kinematics of humanoid arms." Robotica 24, no. 1 (October 31, 2005): 105–12. http://dx.doi.org/10.1017/s0263574705001906.
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We present the positional abilities of a humanoid manipulator based on an improved kinematical model of the human arm. This was synthesized from electro-optical measurements of healthy female and male subjects. The model possesses three joints: inner shoulder joint, outer shoulder joint and elbow joint. The first functions as the human sternoclavicular joint, the second functions as the human glenohumeral joint, and the last replicates the human humeroulnar rotation. There are three links included, the forearm and the upper arm link which are of a constant length, and the shoulder link which is expandable. Mathematical interrelations between the joint coordinates are also taken into consideration. We determined the reachability of a humanoid arm, treated its orienting redundancy in the shoulder complex and the positional redundancy in the shoulder-elbow complexes, and discussed optimum configurations in executing different tasks. The results are important for the design and control of humanoid robots, in medicine and sports.
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Choi, Hyeon Ki, and Si Yeol Kim. "Computer-Graphics Based Analysis of Human Foot Kinematics during the Gait." Key Engineering Materials 321-323 (October 2006): 1115–18. http://dx.doi.org/10.4028/www.scientific.net/kem.321-323.1115.
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A computer-graphics based biomechanical model was constructed to investigate the kinematics of foot joints during the stance-phase of walking. In the model, all joints were assumed to act as monocentric, single degree of freedom hinge joints. To obtain the inputs to the model, the motion of foot segments was captured during the gait by a four-camera video system. The model fitted in an individual subject was simulated with these motion data. The ranges of motion of the first tarsometatarsal joint and the first metatarsophanlangeal joint were 8 ∼13 and -13 ∼ 48 respectively. The kinematic data of joints were similar to those of the previous studies. Our method based on the graphical computer model is considered useful for kinematic analysis of small joints including foot joints. Also, the results of this study will provide important information to the biomechanical studies which deal with human gait.
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Siegler, Sorin, Jie Chen, and C. D. Schneck. "The Three-Dimensional Kinematics and Flexibility Characteristics of the Human Ankle and Subtalar Joints—Part I: Kinematics." Journal of Biomechanical Engineering 110, no. 4 (November 1, 1988): 364–73. http://dx.doi.org/10.1115/1.3108455.
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The in-vitro, three dimensional kinematic characteristics of the human ankle and subtalar joint were investigated in this study. The main goals of this investigation were: 1) To determine the range of motion of the foot-shank complex and the associated range of motion of the ankle and subtalar joints; 2) To determine the kinematic coupling characteristics of the foot-shank complex, and 3) To identify the relationship between movements at the ankle and subtalar joints and the resulting motion produced between the foot and the shank. The tests were conducted on fifteen fresh amputated lower limbs and consisted of incrementally displacing the foot with respect to the shank while the motion of the articulating bones was measured through a three dimensional position data acquisition system. The kinematic analysis was based on the helical axis parameters describing the incremental displacements between any two of the three articulating bones and on a joint coordinate system used to describe the relative position between the bones. From the results of this investigation it was concluded that: 1) The range of motion of the foot-shank complex in any direction (dorsiflexion/plantarflexion, inversion/eversion and internal rotation/external rotation) is larger than that of either the ankle joint or the subtalar joint.; 2) Large kinematic coupling values are present at the foot-shank complex in inversion/eversion and in internal rotation/external rotation. However, only a slight amount of coupling was observed to occur in dorsiflexion/plantarflexion.; 3) Neither the ankle joint nor the subtalar joint are acting as ideal hinge joints with a fixed axis of rotation.; 4) Motion of the foot-shank complex in any direction is the result of rotations at both the ankle and the subtalar joints. However, the contribution of the ankle joint to dorsiflexion/plantarflexion of the foot-shank complex is larger than that of the subtalar joint and the contribution of the subtalar joint to inversion/eversion is larger than that of the ankle joint.; 5) The ankle and the subtalar joints have an approximately equal contribution to internal rotation/external rotation movements of the foot-shank complex.
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Millis, D. L., J. F. Headrick, and A. M. Durant. "Kinematics of stair ascent in healthy dogs." Veterinary and Comparative Orthopaedics and Traumatology 24, no. 02 (2011): 99–105. http://dx.doi.org/10.3415/vcot-10-03-0038.
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Summary Objective: The purpose of the study was to evaluate the kinematic characteristics of pelvic limb joints in orthopaedically normal dogs during stair ascent. Design: Prospective study. Procedure: Eight hound-type dogs were fitted with reflective spheres at palpable landmarks, including the tuber ischium, greater trochanter, cranial dorsal iliac spine, lateral epicondyle of the femur, lateral malleolus, and the base of the fifth metatarsal bone. Each dog was walked up a set of custom made stairs consisting of four steps and then trotted across a level test space. Data were recorded for the right and left pelvic limbs during ascent. Maximum and minimum joint angles and total joint motion were calculated for all joints and evaluated statistically. Results: Pelvic limb joints had a greater total joint excursion during stair ascent. There was greater extension of the coxofemoral and tibiotarsal joints during ascent, whereas the stifle joint had less extension. Maximum flexion of the stifle and tarsal joints was significantly greater in stair ascent. There was not any significant difference between the right and left limbs. Conclusions: All joints of the pelvic limb undergo a greater joint motion to ascend stairs.
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Darvekar, Sanjay K., S. Shankar Ganesh, and A. B. Koteswara Rao. "Design Optimization of 3-DOF Hybrid Manipulator." ECS Transactions 107, no. 1 (April 24, 2022): 663–71. http://dx.doi.org/10.1149/10701.0663ecst.
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Studies related to reachable workspace, inverse kinematics, and best dimensions of 3-DOF Hybrid Manipulator (HM) are presented in this paper. This mechanism possesses both serial and parallel links. A third revolute joint is added in the five-linkage structure having two actuated revolute joints. The third revolute joint is added in such a way that its axis should pass through the axes of the two actuated revolute joints. This produces a structure called a hybrid mechanism consisting of parallel and serial links. The inverse kinematics analysis is implemented for obtaining the joint positions of the HM. The reachable workspace of the manipulator is found using inverse kinematic equations, and finally, the Global Conditioning Index (GCI) is used for optimization to find the optimal dimensions of the HM. The corresponding dimensions obtained based on the optimization by considering maximum GCI as an objective gives the best dimensions that are free from singularities. Here optimization is carried using Genetic Algorithms (GAs).
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Zhang, Min Qing, Jian Ming Zhan, Li Yong Hu, and Xiao Ling Su. "Direct Pulse Signal Interpolation for Robot Movement Control Programming in INFORM III Language." Applied Mechanics and Materials 201-202 (October 2012): 630–34. http://dx.doi.org/10.4028/www.scientific.net/amm.201-202.630.
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First it sets up a kinematical model for a kind of industrial robots by D-H notation, and inverse kinematics solutions of its end effector are deduced according to its motion trail. By transforming the rotation angles of the robot’s joints into impulse signals, pulse signals could be used to interpolate its motion trail. Finally, it uses Matlab software to join various curve of each joint impulse signal, and formulation a mathematical model about various curve of each joint impulse signal. In this way, it could simplify program in INFORM Ⅲ language. Simulation shows that direct pulse signal interpolation improves the accuracy of trajectory positioning.
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Lin, Cheng-Chung, Hsuan-Lun Lu, Tung-Wu Lu, Chia-Yang Wang, Jia-Da Li, Mei-Ying Kuo, and Horng-Chuang Hsu. "Reconstruction of Three-Dimensional Tibiofemoral Kinematics Using Single-Plane Fluoroscopy and a Personalized Kinematic Model." Applied Sciences 11, no. 20 (October 11, 2021): 9415. http://dx.doi.org/10.3390/app11209415.
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Model-based 3D/2D image registration using single-plane fluoroscopy is a common setup to determine knee joint kinematics, owing to its markerless aspect. However, the approach was subjected to lower accuracies in the determination of out-of-plane motion components. Introducing additional kinematic constraints with an appropriate anatomical representation may help ameliorate the reduced accuracy of single-plane image registration. Therefore, this study aimed to develop and evaluate a multibody model-based tracking (MbMBT) scheme, embedding a personalized kinematic model of the tibiofemoral joint for the measurement of tibiofemoral kinematics. The kinematic model was consisted of three ligaments and an articular contact mechanism. The knee joint activities in six volunteers during isolated knee flexion, lunging, and sit-to-stand motions were recorded with a biplane X-ray imaging system. The tibiofemoral kinematics determined with the MbMBT and mediolateral view fluoroscopic images were compared against those determined using biplane fluoroscopic images. The MbMBT was demonstrated to yield tibiofemoral kinematics with precision values in the range from 0.1 mm to 1.1 mm for translations and from 0.2° to 1.3° for rotations. The constraints provided by the kinematic model were shown to effectively amend the nonphysiological tibiofemoral motion and not compromise the image registration accuracy with the proposed MbMBT scheme.
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Dalvand, M. M., and B. Shirinzadeh. "Forward kinematics analysis of offset 6-RRCRR parallel manipulators." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 225, no. 12 (September 14, 2011): 3011–18. http://dx.doi.org/10.1177/0954406211411249.
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A methodology for the numerical solution of the forward kinematics problem of 6-RRCRR parallel manipulators with orthogonal non-intersecting RR-joint configuration is presented in this article. The inverse and forward kinematics solutions of such robots compared with that of parallel robots with orthogonal intersecting RR-joint or universal joint configurations are much more complicated due to the existence of dependent joint variables. The constraints of RR-joints are analysed and the numerical algorithm for the forward kinematics solution is assessed. Numerical results for the solution of the forward kinematics of 6-RRCRR parallel robot under study are provided to confirm the accuracy and efficiency of the procedure.
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Kono, Yoshifumi, Masataka Deie, Naoto Fujita, Kazuhiko Hirata, Noboru Shimada, Naoya Orita, Daisuke Iwaki, et al. "The Relationship between Knee Biomechanics and Clinical Assessments in ACl Deficient Patients." International Journal of Sports Medicine 40, no. 07 (June 12, 2019): 477–83. http://dx.doi.org/10.1055/a-0809-5366.
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AbstractThe purpose of this study was to clarify the relationship between knee biomechanics and clinical assessments in ACL deficient patients. Subjects included 22 patients with unilateral ACL rupture and 22 healthy controls. Knee kinematics and kinetics during walking and running were examined using a 3-dimensional motion analysis system. The passive knee joint laxity, range of motion of knee joint, and knee muscle strength were also measured. Correlations between the knee kinematic and kinetic data and clinical assessments were evaluated. In the ACL deficient patients, there were no significant relationships between tibial translation during walking and running and passive knee joint laxity. The correlations between knee kinematics and kinetics and range of motion of knee joint were also not significant. Additionally, there were no significant correlations between knee kinematics during walking and knee muscle strength. However, there were several significant correlations between knee kinematics during running and knee muscle strength. The results demonstrate the importance of knee muscle strength for knee kinematics and kinetics during running in ACL deficient patients. Patients with stronger knee muscle strength may demonstrate more nearly normal knee joint movement during dynamic activities such as running.
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AGUIAR, LILIANA, CARLOS ANDRADE, MARCO BRANCO, RITA SANTOS-ROCHA, FILOMENA VIEIRA, and ANTÓNIO VELOSO. "GLOBAL OPTIMIZATION METHOD APPLIED TO THE KINEMATICS OF GAIT IN PREGNANT WOMEN." Journal of Mechanics in Medicine and Biology 16, no. 06 (September 2016): 1650084. http://dx.doi.org/10.1142/s0219519416500846.
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Morphological changes are associated to pregnancy, such as weight gain and increased volume of the trunk. The soft tissue artifact can also increase with these characteristics and affect the real joint kinematics. The main objective of this study was to understand the effect of using three different constraining sets in the lower limb joints, in the amount of soft tissue artifact (STA) of pregnant women, in order to obtain the most appropriated joint set to be used in gait and in this population. The ankle, knee and hip joints were modeled respectively with the following characteristics: (1) Universal–revolute–spherical (URS), (2) spherical–revolute–spherical (SRS) and (3) spherical–spherical–spherical (SSS). The six degrees of freedom (6DOF) model was used as the basis for comparison and considered the one with the highest error associated to the STA. In pregnant women, the URS model seems to affect more the kinematic variables when compared with the 6DOF model. Assuming that the kinematic error associated with pregnant women is increased due to the STA, the URS model may be affecting more the angular kinematics of the knee joint. SSS model seems to be more appropriated to analyze gait in second trimester pregnant women.
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Zhao, Rongbo, Zhiping Shi, Yong Guan, Zhenzhou Shao, Qianying Zhang, and Guohui Wang. "Inverse kinematic solution of 6R robot manipulators based on screw theory and the Paden–Kahan subproblem." International Journal of Advanced Robotic Systems 15, no. 6 (November 1, 2018): 172988141881829. http://dx.doi.org/10.1177/1729881418818297.
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The traditional Denavit–Hatenberg method is a relatively mature method for modeling the kinematics of robots. However, it has an obvious drawback, in that the parameters of the Denavit–Hatenberg model are discontinuous, resulting in singularity when the adjacent joint axes are parallel or close to parallel. As a result, this model is not suitable for kinematic calibration. In this article, to avoid the problem of singularity, the product of exponentials method based on screw theory is employed for kinematics modeling. In addition, the inverse kinematics of the 6R robot manipulator is solved by adopting analytical, geometric, and algebraic methods combined with the Paden–Kahan subproblem as well as matrix theory. Moreover, the kinematic parameters of the Denavit–Hatenberg and the product of exponentials-based models are analyzed, and the singularity of the two models is illustrated. Finally, eight solutions of inverse kinematics are obtained, and the correctness and high level of accuracy of the algorithm proposed in this article are verified. This algorithm provides a reference for the inverse kinematics of robots with three adjacent parallel joints.
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Furuya, Shinichi, Martha Flanders, and John F. Soechting. "Hand kinematics of piano playing." Journal of Neurophysiology 106, no. 6 (December 2011): 2849–64. http://dx.doi.org/10.1152/jn.00378.2011.
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Dexterous use of the hand represents a sophisticated sensorimotor function. In behaviors such as playing the piano, it can involve strong temporal and spatial constraints. The purpose of this study was to determine fundamental patterns of covariation of motion across joints and digits of the human hand. Joint motion was recorded while 5 expert pianists played 30 excerpts from musical pieces, which featured ∼50 different tone sequences and fingering. Principal component analysis and cluster analysis using an expectation-maximization algorithm revealed that joint velocities could be categorized into several patterns, which help to simplify the description of the movements of the multiple degrees of freedom of the hand. For the thumb keystroke, two distinct patterns of joint movement covariation emerged and they depended on the spatiotemporal patterns of the task. For example, the thumb-under maneuver was clearly separated into two clusters based on the direction of hand translation along the keyboard. While the pattern of the thumb joint velocities differed between these clusters, the motions at the metacarpo-phalangeal and proximal-phalangeal joints of the four fingers were more consistent. For a keystroke executed with one of the fingers, there were three distinct patterns of joint rotations, across which motion at the striking finger was fairly consistent, but motion of the other fingers was more variable. Furthermore, the amount of movement spillover of the striking finger to the adjacent fingers was small irrespective of the finger used for the keystroke. These findings describe an unparalleled amount of independent motion of the fingers.
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Jatsun, S. F., and Yan Naing Soe. "KINEMATIC AND JACOBIAN ANALYSIS APPROACH FOR THE FOUR-LEGGED ROBOT." Proceedings of the Southwest State University 22, no. 4 (August 28, 2018): 32–41. http://dx.doi.org/10.21869/2223-1560-2018-22-4-32-41.
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This paper presents forward kinematics, inverse kinematics and Jacobian analysis of four-legged robot research. The kinematics analysis is the main problem of the legged robot. The four-legged robots are very complex more than wheeled robots. In this study,the four-legged robot of each leg calculates Denavit-Hartenberg (D-H) method,that is used for forward kinematics and the inverse is used the geometrical and mathematical methods.The Kinematic divided into two categories Forward Kinematic and Inverse Kinematics. The forward kinematic is calculated we knew the leg of endpoint position for the angles (θ1,θ2 and θ3 ). . Inverse kinematics is used to compute the joint angles which will achieve a desired position and orientation of the end-effector relative to the base frame. The Jacobian is one of the most important analyses for controlling smooth trajectory planning and execution in the derivation of the dynamic equation of robot motion.For calculation is used MATLAB software and robot modeling is used Simulink toolbox in MATLAB software. A program is obtained that calculate joint of angular velocity and angles to move from the desired position to target position. In this study are given different angular velocity and angle of the endpoint of the leg. The work mainly focuses on mechanical design, calculation of kinematic analysis, Jacobian function and experiment data of four-legged robots in MATLAB simulation.
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JOÃO, FILIPA, ANTÓNIO VELOSO, SANDRA AMADO, PAULO ARMADA-DA-SILVA, and ANA C. MAURÍCIO. "CAN GLOBAL OPTIMIZATION TECHNIQUE COMPENSATE FOR MARKER SKIN MOVEMENT IN RAT KINEMATICS?" Journal of Mechanics in Medicine and Biology 14, no. 05 (August 2014): 1450065. http://dx.doi.org/10.1142/s0219519414500651.
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The motion of the skeletal estimated from skin attached marker-based motion capture(MOCAP) systems is known to be affected by significant bias caused by anatomical landmarks mislocation but especially by soft tissue artifacts (such as skin deformation and sliding, inertial effects and muscle contraction). As a consequence, the error associated with this bias can propagate to joint kinematics and kinetics data, particularly in small rodents. The purpose of this study was to perform a segmental kinematic analysis of the rat hindlimb during locomotion, using both global optimization as well as segmental optimization methods. Eight rats were evaluated for natural overground walking and motion of the right hindlimb was captured with an optoeletronic system while the animals walked in the track. Three-dimensional (3D) biomechanical analyses were carried out and hip, knee and ankle joint angular displacements and velocities were calculated. Comparison between both methods demonstrated that the magnitude of the kinematic error due to skin movement increases in the segmental optimization when compared with the global optimization method. The kinematic results assessed with the global optimization method matches more closely to the joint angles and ranges of motion calculated from bone-derived kinematics, being the knee and hip joints with more significant differences.
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Pau, Massimiliano, Paolo Capodaglio, Bruno Leban, Micaela Porta, Manuela Galli, and Veronica Cimolin. "Kinematics Adaptation and Inter-Limb Symmetry during Gait in Obese Adults." Sensors 21, no. 17 (September 6, 2021): 5980. http://dx.doi.org/10.3390/s21175980.
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The main purpose of this study is to characterize lower limb joint kinematics during gait in obese individuals by analyzing inter-limb symmetry and angular trends of lower limb joints during walking. To this purpose, 26 obese individuals (mean age 28.5 years) and 26 normal-weight age- and sex-matched were tested using 3D gait analysis. Raw kinematic data were processed to derive joint-specific angle trends and angle-angle diagrams (synchronized cyclograms) which were characterized in terms of area, orientation and trend symmetry parameters. The results show that obese individuals exhibit a kinematic pattern which significantly differs from those of normal weight especially in the stance phase. In terms of inter-limb symmetry, higher values were found in obese individuals for all the considered parameters, even though the statistical significance was detected only in the case of trend symmetry index at ankle joint. The described alterations of gait kinematics in the obese individuals and especially the results on gait asymmetry are important, because the cyclic uneven movement repeated for hours daily can involve asymmetrical spine loading and cause lumbar pain and could be dangerous for overweight individuals.
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Li, Pengbo, Can Wang, Bailin He, Jiaqing Liu, and Xinyu Wu. "Kinematics analysis and gait planning for a hemiplegic exoskeleton robot." Cobot 1 (January 12, 2022): 1. http://dx.doi.org/10.12688/cobot.17434.1.
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Background: As the world's aging population increases, the number of hemiplegic patients is increasing year by year. At present, in many countries with low medical level, there are not enough rehabilitation specialists. Due to the different condition of patients, the current rehabilitation training system cannot be applied to all patients. so that patients with hemiplegia cannot get effective rehabilitation training. Methods: Through a motion capture experiment, the mechanical design of the hip joint, knee joint and ankle joint was rationally optimized based on the movement data. Through the kinematic analysis of each joint of the hemiplegic exoskeleton robot, the kinematic relationship of each joint mechanism was obtained, and the kinematics analysis of the exoskeleton robot was performed using the Denavit-Hartenberg (D-H) method. The kinematics simulation of the robot was carried out in automatic dynamic analysis of mechanical systems (ADAMS), and the theoretical calculation results were compared with the simulation results to verify the correctness of the kinematics relationship. According to the exoskeleton kinematics model, a mirror teaching method of gait planning was proposed, allowing the affected leg to imitate the movement of the healthy leg with the help of an exoskeleton robot. Conclusions: A new hemiplegic exoskeleton robot designed by Shenzhen Institute of Advanced Technology (SIAT-H) is proposed, which is lightweight, modular and anthropomorphic. The kinematics of the robot have been analyzed, and a mirror training gait is proposed to enable the patient to form a natural walking posture. Finally, the wearable walking experiment further proves the feasibility of the structure and gait planning of the hemiplegic exoskeleton robot.
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Wu, Jianhua, Julia Looper, Dale A. Ulrich, and Rosa M. Angulo-Barroso. "Effects of Various Treadmill Interventions on the Development of Joint Kinematics in Infants With Down Syndrome." Physical Therapy 90, no. 9 (September 1, 2010): 1265–76. http://dx.doi.org/10.2522/ptj.20090281.
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Background Infants with Down syndrome (DS) have delayed walking and produce less-coordinated walking patterns. Objective The aim of this study was to investigate whether 2 treadmill interventions would have different influences on the development of joint kinematic patterns in infants with DS. Design Thirty infants with DS were randomly assigned to a lower-intensity, generalized (LG) treadmill training group (LG group) or a higher-intensity, individualized (HI) treadmill training group (HI group) and trained until walking onset. Twenty-six participants (13 in each group) completed a 1-year gait follow-up assessment. Methods During the gait follow-up assessment, reflective markers were placed bilaterally on the participants to measure the kinematic patterns of the hip, knee, and ankle joints. Both the timing and the magnitude of peak extension and flexion at the hip, knee, and ankle joints, as well as peak adduction and abduction at the hip joint, in the 2 groups were compared. Results Both the LG group and the HI group showed significantly advanced development of joint kinematics at the gait follow-up. In the HI group, peak ankle plantar flexion occurred at or before toe-off, and the duration of the forward thigh swing after toe-off increased. Limitations Joint kinematics in the lower extremities were evaluated in this study. It would be interesting to investigate the effect of treadmill interventions on kinematic patterns in the trunk and arm movement. Conclusions The timing of peak ankle plantar flexion (before toe-off) in the HI group implies further benefits from the HI intervention; that is, the HI group may use mechanical energy transfer better at the end of stance and may show decreased hip muscle forces and moments during walking. It was concluded that the HI intervention can accelerate the development of joint kinematic patterns in infants with DS within 1 year after walking onset.
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Kong, Ying, Ruiyang Zhang, Yunliang Jiang, and Xiaoyun Xia. "A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application." Complexity 2019 (July 31, 2019): 1–16. http://dx.doi.org/10.1155/2019/8642027.
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For repeatable motion of redundant mobile manipulators, the flexible base platform and the redundant manipulator have to be returned to the desired initial position simultaneously after completing the given tasks. To remedy deviations between initial position and desired position of each kinematic joint angle, a special kind of repeatable optimization for kinematic energy minimization based on terminal-time Zhang neural network (TTZNN) with finite-time convergence is proposed for inverse kinematics of mobile manipulators. It takes the advantages that each joint of the manipulator is required to return to the desired initial position not considering the initial orientation of itself for realizing repeatable kinematics control. Unlike the existed training methods, such an optimization of kinematic energy scheme based on TTZNN can not only reduce the convergent position error of each joint to zero in finite time, but also improve the convergent precision. Theoretical analysis and verifications show that the proposed optimal kinematic energy scheme accelerates the convergent rate, which is tended to be applied in practical robot kinematics. Simulation results on the manipulator with three mobile wheels substantiate the timeliness and repetitiveness of the proposed optimization scheme.
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Hu, Jiayu, Zhenxian Chen, Hua Xin, Qida Zhang, and Zhongmin Jin. "Musculoskeletal multibody dynamics simulation of the contact mechanics and kinematics of a natural knee joint during a walking cycle." Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 232, no. 5 (April 11, 2018): 508–19. http://dx.doi.org/10.1177/0954411918767695.
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Detailed knowledge of the in vivo loading and kinematics in the knee joint is essential to understand its normal functions and the aetiology of osteoarthritis. Computer models provide a viable non-invasive solution for estimating joint loading and kinematics during different physiological activities. However, the joint loading and kinematics of the tibiofemoral and patellofemoral joints during a gait cycle were not typically investigated concurrently in previous computational simulations. In this study, a natural knee architecture was incorporated into a lower extremity musculoskeletal multibody dynamics model based on a force-dependent kinematics approach to investigate the contact mechanics and kinematics of a natural knee joint during a walking cycle. Specifically, the contact forces between the femoral/tibial articular cartilages and menisci and between the femoral and tibial/patellar articular cartilages were quantified. The contact forces and kinematics of the tibiofemoral and patellofemoral joints and the muscle activations and ligament forces were predicted simultaneously with a reasonable level of accuracy. The developed musculoskeletal multibody dynamics model with a natural knee architecture can serve as a potential platform for assisting clinical decision-making and postoperative rehabilitation planning.
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Hall, Gregory W., Jeff R. Crandall, Gregory S. Klopp, and Walter D. Pilkey. "Angular Rate Sensor Joint Kinematics Applications." Shock and Vibration 4, no. 4 (1997): 223–29. http://dx.doi.org/10.1155/1997/243513.
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High speed rotary motion of complex joints were quantified with triaxial angular rate sensors. Angular rate sensors were mounted to rigid links on either side of a joint to measure angular velocities about three orthogonal sensor axes. After collecting the data, the angular velocity vector of each sensor was transformed to local link axes and integrated to obtain the incremental change in angular position for each time step. Using the angular position time histories, a transformation matrix between the reference frame of each link was calculated. Incremental Eulerian rotations from the transformation matrix were calculated using an axis system defined for the joint. Summation of the incremental Eulerian rotations produced the angular position of the joint in terms of the standard axes. This procedure is illustrated by applying it to joint motion of the ankle, the spine, and the neck of crash dummies during impact tests. The methodology exhibited an accuracy of less than 5% error, improved flexibility over photographic techniques, and the ability to examine 3-dimensional motion.
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Galli, Manuela, Veronica Cimolin, Giorgio Cesare Santambrogio, Marcello Crivellini, and Giorgio Albertini. "Gait Analysis before and after Gastrocnemius Fascia Lengthening for Spastic Equinus Foot Deformity in a 10-Year-Old Diplegic Child." Case Reports in Medicine 2010 (2010): 1–9. http://dx.doi.org/10.1155/2010/417806.
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Purpose. This case study quantified kinematic and kinetic effects of gastrocnemius lengthening on gait in a Cerebral Palsy child with equinus foot.Methods. A 10-year-old diplegic child with Cerebral Palsy was evaluated with Gait Analysis (GA) before and after gastrocnemius fascia lengthening, investigating the lower limb joints kinematics and kinetics.Results. Kinematics improved at the level of distal joints, which are directly associated to gastrocnemius, and also at the proximal joint (like hip); improvements were found in ankle kinetics, too.Conclusions. This case study highlighted that GA was effective not only to quantify the results of the treatment but also to help preoperative decision making in dealing with CP child.
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Saiyar, Masoumeh, Ian D. Moore, and W. Andrew Take. "Kinematics of jointed pipes and design estimates of joint rotation under differential ground movements." Canadian Geotechnical Journal 52, no. 11 (November 2015): 1714–24. http://dx.doi.org/10.1139/cgj-2014-0347.
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Centrifuge testing of reduced-scale models has been used to examine the kinematics of jointed pipelines crossing normal ground faults. The model pipeline was fabricated at 1/30th scale using segments of a semicircular cross section cut from an aluminum rod. Threaded rods were used to connect those segments and model a variety of joints having longitudinal bending stiffnesses from 3% to 47% of the bending stiffness of the pipe segments. The semicircular segments were placed against a glass sidewall of the test box and buried in sand. During testing under 30g, differential ground movements of up to 70% of the pipe diameter were imposed, and the pipe movements were monitored using particle image velocimetry. It is shown that maximum rotations occur at the joints when the shear zone generated by the ground fault passes across the joint rather than the pipe segment, and that joint stiffness has little impact on the pipe kinematics. A simplified kinematic model is introduced that permits straightforward, safe estimates of maximum joint rotation.
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Lou, Ya’nan, Pengkun Quan, Haoyu Lin, Dongbo Wei, and Shichun Di. "A Closed-Form Solution for the Inverse Kinematics of the 2n-DOF Hyper-Redundant Manipulator Based on General Spherical Joint." Applied Sciences 11, no. 3 (January 30, 2021): 1277. http://dx.doi.org/10.3390/app11031277.
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This paper presents a closed-form inverse kinematics solution for the 2n-degree of freedom (DOF) hyper-redundant serial manipulator with n identical universal joints (UJs). The proposed algorithm is based on a novel concept named as general spherical joint (GSJ). In this work, these universal joints are modeled as general spherical joints through introducing a virtual revolution between two adjacent universal joints. This virtual revolution acts as the third revolute DOF of the general spherical joint. Remarkably, the proposed general spherical joint can also realize the decoupling of position and orientation just as the spherical wrist. Further, based on this, the universal joint angles can be solved if all of the positions of the general spherical joints are known. The position of a general spherical joint can be determined by using three distances between this unknown general spherical joint and another three known ones. Finally, a closed-form solution for the whole manipulator is solved by applying the inverse kinematics of single general spherical joint section using these positions. Simulations are developed to verify the validity of the proposed closed-form inverse kinematics model.
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DeCamp, C. E., T. D. Braden, Michelle Balms, and K. Allen. "Kinematic Gait Analysis of the Trot in Healthy Mixed Breed Dogs." Veterinary and Comparative Orthopaedics and Traumatology 07, no. 04 (1994): 148–53. http://dx.doi.org/10.1055/s-0038-1633088.
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SummaryComputer aided kinematic and synchronized force plate gait analysis were used to characterize joint movement in 14 large mixed breed dogs at a trot. A curvilinear relationship of joint angle to time was described, for three forelimb and three hindlimb joints. Two peaks of maximum extension, one preceding the onset and at the end of stance phase were observed for the femorotibial, tarsus and cubital joints. The carpus, scapulohumeral and coxofemoral joint exhibited one peak of maximum extension. The variance in joint angle measurement was calculated for repeated trials for a given dog and for differences between dogs using a 2-factor repeated measures ANOVA. The mean variance for all joints except the carpal joint for trial repetition was 12.6 (degrees)2 (range, 2.6-23.9) and for differences between dogs 6.2 (degrees)2 (range, 1.0-11.3). The carpal joint exhibited greater variation with a mean variance, attributable to trial repetition, of 42.5 (degrees)2 (range, 39.4-44.3) and a variance between dogs of 52.4 (degrees)2 (range, 18.5-89.4).The results obtained would suggest that computer assisted kinematics is an accurate means of assessing joint angle movement in large mixed breed dogs with a low level of variance attributable to trial repetition and to differences between dogs, with the exception of the carpal joint. The sample of mixed breed dogs in this study is similar to dogs that would be seen in a clinical sample population. Our results suggest that computer assisted kinematics could be an important tool in providing objective information on gait, in clinical and research studies, using mixed breed dogs.This study describes the trot in 14 large mixed breed dogs using computer aided kinematic and force plate gait analysis techniques. Variances in fore and hindlimb joint angle measurements were deter-mined, for a given dog, by repeated trials and for differences between dogs. The measured variances were low in all joints except the corpus, despite diverse dog conformation in the study.
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Wang, Kun, Wei Wang, and Hou Xiang Zhang. "Development and Experiment of Wall-Climbing Caterpillar Robot." Advanced Materials Research 308-310 (August 2011): 2031–36. http://dx.doi.org/10.4028/www.scientific.net/amr.308-310.2031.
Full textAbstract:
In order to demonstrate the validity and the benefit of the closed-chain kinematics of four-link motional method for the gait of wall-climbing caterpillar robot, the mathematical model and the relation of kinematical parameters were built. The caterpillar robot can climb on vertical wall by coordinated rotation of one active joint and three passive joints. To testify the availability of the closed-chain kinematics of four-link method, a prototype of wall-climbing caterpillar robot with three kinds of adhesion modules was designed. A successful wall-climbing experiment confirms the principles of the closed-chain kinematics. The results show that the basis for selecting driving joints was reasonable and that the adhesion module can produce powerful adsorption force with small weight and volume to ensure the safety and reliability of wall-climbing.
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Uzmay, I., and S. Yildirim. "Geometric and algebraic approach to the inverse kinematics of four-link manipulators." Robotica 12, no. 1 (January 1994): 59–64. http://dx.doi.org/10.1017/s0263574700018191.
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This paper presents an example of the application of geometric and algebraic approaches to the inverse kinematics problem of four-link robot manipulators. A special arm configuration of the robot manipulator is employed for solving the inverse kinematics problem by using the geometric approach. The obtained joint variables as angular positions are defined in the form of cubic polynomials. The other kinematic parameters of the joints, such as angular velocities and angular accelerations, are the time derivatives of these polynomials. It is evident that there is no definite difference between the results of the two approaches. Consequently, if an appropriate arm configuration for the geometric approach can be established, the inverse kinematics can be solved in a simpler and shorter way.
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de Oliveira, Andre Schneider, Edson Roberto De Pieri, and Ubirajara Franco Moreno. "A new method of applying differential kinematics through dual quaternions." Robotica 35, no. 4 (November 24, 2015): 907–21. http://dx.doi.org/10.1017/s0263574715000880.
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SUMMARYDifferential kinematics is a traditional approach to linearize the mapping between the workspace and joint space. However, a Jacobian matrix cannot be inverted directly in redundant systems or in configurations where kinematic singularities occur. This work presents a novel approach to the solution of differential kinematics through the use of dual quaternions. The main advantage of this approach is to reduce “drift” error in differential kinematics and to ignore the kinematic singularities. An analytical dual-quaternionic Jacobian is defined, which allows for the application of this approach in any robotic system.
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Tao, Ke, Yuan Yuan Zhang, Zhi Jun Wang, and Ping Ping Song. "The Mechanism Analysis and Trajectory Simulation of 5R Joint Manipulator." Applied Mechanics and Materials 220-223 (November 2012): 1744–47. http://dx.doi.org/10.4028/www.scientific.net/amm.220-223.1744.
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5R joint manipulator kinematics model of position module is established, and according to the D-H method kinematical analyse of manipulator is processed, the space pose transformation matrix between adjacent rods of manipulator is established. The position equations of the manipulator is obtained and the Forward & Inverse solution of kinematics are got. The correctness of the forward & inverse solution are also verified through a engineering examples.