Academic literature on the topic 'Kinematic ankle model'
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Journal articles on the topic "Kinematic ankle model"
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Chen, Lu Min, Zhi Zhong Zhu, Qi Lin, and Xin Jie Wang. "Design and Kinematics of a Cable-Driven Humanoid Ankle Joint." Applied Mechanics and Materials 541-542 (March 2014): 846–51. http://dx.doi.org/10.4028/www.scientific.net/amm.541-542.846.
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A 2DOF ankle joint mechanism with cross rotation axis was designed to imitate the human ankle joint structure. The kinematic model of the ankle joint mechanism was established by D-H method. The synergistic influences of the angle of ankle joint and subtalar joint on the foot motion of inversion/eversion, adduction/abduction, dorsiflexion/plantar flexion were analyzed by kinematics simulation. The simulation results show that the designed ankle joint has similar motion range and function to that of human ankle. This study provides a theoretical basis for the development of high performance ankle joint for humanoid robots.
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Dul, J., and G. E. Johnson. "A kinematic model of the human ankle." Journal of Biomedical Engineering 7, no. 2 (April 1985): 137–43. http://dx.doi.org/10.1016/0141-5425(85)90043-3.
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Rosenberg, Michael C., Bora S. Banjanin, Samuel A. Burden, and Katherine M. Steele. "Predicting walking response to ankle exoskeletons using data-driven models." Journal of The Royal Society Interface 17, no. 171 (October 2020): 20200487. http://dx.doi.org/10.1098/rsif.2020.0487.
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Despite recent innovations in exoskeleton design and control, predicting subject-specific impacts of exoskeletons on gait remains challenging. We evaluated the ability of three classes of subject-specific phase-varying (PV) models to predict kinematic and myoelectric responses to ankle exoskeletons during walking, without requiring prior knowledge of specific user characteristics. Each model—PV, linear PV (LPV) and nonlinear PV (NPV)—leveraged Floquet theory to predict deviations from a nominal gait cycle due to exoskeleton torque, though the models differed in complexity and expected prediction accuracy. For 12 unimpaired adults walking with bilateral passive ankle exoskeletons, we predicted kinematics and muscle activity in response to three exoskeleton torque conditions. The LPV model's predictions were more accurate than the PV model when predicting less than 12.5% of a stride in the future and explained 49–70% of the variance in hip, knee and ankle kinematic responses to torque. The LPV model also predicted kinematic responses with similar accuracy to the more-complex NPV model. Myoelectric responses were challenging to predict with all models, explaining at most 10% of the variance in responses. This work highlights the potential of data-driven PV models to predict complex subject-specific responses to ankle exoskeletons and inform device design and control.
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Speers, Rosemary A., Neil T. Shepard, and Arthur D. Kuo. "EquiTest modification with shank and hip angle measurements: differences with age among normal subjects." Journal of Vestibular Research 9, no. 6 (December 1, 1999): 435–44. http://dx.doi.org/10.3233/ves-1999-9605.
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The Sensory Organization Test protocol of the EquiTest system (NeuroCom International, Clackamas Oregon) tests utilization of visual, vestibular, and proprioceptive sensors by manipulating the accuracy of visual and/or somatosensory inputs during quiet stance. In the standard Sensory Organization Test, both manipulation of sensory input (sway-referencing) and assessment of postural sway are based on ground reaction forces measured from a forceplate. The purpose of our investigation was to examine the use of kinematic measurements to provide a more direct feedback signal for sway-referencing and for assessment of sway. We compared three methods of sway-referencing: the standard EquiTest method based on ground reaction torque, kinematic feedback based on servo-controlling to shank motion, and a more complex kinematic feedback based on servo-controlling to follow position of the center of mass (COM) as calculated from a two-link biomechanical model. Fifty-one normal subjects (ages 20–79) performed the randomized protocol. When using either shank or COM angle for sway-referencing feedback as compared to the standard EquiTest protocol, the Equilibrium Quotient and Strategy Score assessments were decreased for all age groups in the platform sway-referenced conditions (SOT 4, 5, 6). For all groups of subjects, there were significant differences in one or more of the kinematic sway measures of shank, hip, or COM angle when using either of the alternative sway-referencing parameters as compared to the standard EquiTest protocol. The increased sensitivities arising from use of kinematics had the effect of amplifying differences with age. For sway-referencing, the direct kinematic feedback may enhance ability to reduce proprioceptive information by servo-controlling more closely to actual ankle motion. For assessment, kinematics measurements can potentially increase sensitivity for detection of balance disorders, because it may be possible to discriminate between body sway and acceleration and to determine the phase relationship between ankle and hip motion.
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Wiese, Dylan, Jessica M. Fritz, Karl Canseco, Carolyn M. Meinerz, Katherine Konop, and Brian C. Law. "Multi-Segment Foot and Ankle Gait Kinematics Following Total Ankle Arthroplasty." Foot & Ankle Orthopaedics 5, no. 4 (October 1, 2020): 2473011420S0048. http://dx.doi.org/10.1177/2473011420s00489.
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Category: Ankle Arthritis; Ankle. Introduction/Purpose: Ankle arthritis is a painful disease resulting in limited function, mobility, and quality of life.1 Total ankle arthroplasty (TAA) a widely accepted treatment to reduce pain while maintaining joint motion.2,3 There are two common types of implants: fixed bearing (FB) and mobile bearing (MB). Comparisons of these implants have shown similar patient and clinical outcomes;4 however, post-operative gait kinematics from a multi-segment foot and ankle model have not been compared. This study assessed multi-segmental foot and ankle gait kinematics between persons following TAA with MB and FB implants and compared them to control data of adult ambulators without lower extremity pathology. Methods: This was a prospective analysis of persons who had previously underwent TAA with a MB (n=6; average follow-up period of 2.5 years) implant. After consenting to the IRB-approved study, participants were fitted with reflective markers for the Milwaukee Foot Model (MFM).5 Participants walked barefoot along a 30-foot walkway at a comfortable, self-selected pace for a minimum of ten trials while twelve infrared motion capture cameras recorded data. Kinematic data from the MB group and historical data from a FB population who underwent the same protocol with the MFM (n=7; average follow-up period of 2 years) were compared to control data (n=37). Welch’s two-tailed t-tests were used to calculate statistical significance at an alpha level of 0.05. Deviation from control data was compared between both implant groups. Results: In the MB group, sagittal motion of the hindfoot, forefoot, and hallux were significantly different from control for the majority of stance. The only significant MB group swing phase differences were early swing sagittal kinematics in the tibia, forefoot, and hallux segments. The FB data differed significantly for the majority of stance phase for sagittal tibia motion, all hindfoot planes, sagittal and coronal forefoot motion, and all hallux planes. The FB group kinematics also significantly differed throughout most of swing phase across all planes and segments, except coronal hindfoot motion. All FB kinematic data deviated further from control than the MB data except stance phase coronal tibia and transverse forefoot motion, where the data overlapped (Figure 1). Conclusion: Multi-segment foot and ankle gait kinematics following TAA showed the MB implant better restores healthy ambulatory motion than the FB implant. Abnormal stance phase kinematics lead to altered joint loading. This can accelerate adjacent joint arthritis, which has been seen following ankle arthrodesis.6 Both populations showed diminished forefoot plantarflexion throughout gait, compensating for decreased hindfoot dorsiflexion. Because the joints are not heavily loaded during swing phase, the primary concerns of alterations are regarding ground clearance and foot position prior to the next step. The MB implant better restores normal gait, minimizing compensations and likely decreasing arthritis-inducing stress on adjacent joints.
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Koga, Hideyuki, Atsuo Nakamae, Yosuke Shima, Roald Bahr, and Tron Krosshaug. "Hip and Ankle Kinematics in Noncontact Anterior Cruciate Ligament Injury Situations: Video Analysis Using Model-Based Image Matching." American Journal of Sports Medicine 46, no. 2 (October 12, 2017): 333–40. http://dx.doi.org/10.1177/0363546517732750.
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Background: Detailed kinematic descriptions of real anterior cruciate ligament (ACL) injury situations are limited to the knee only. Purpose: To describe hip and ankle kinematics as well as foot position relative to the center of mass (COM) in ACL injury situations through use of a model-based image-matching (MBIM) technique. The distance between the projection of the COM on the ground and the base of support (BOS) (COM_BOS) normalized to the femur length was also evaluated. Study Design: Descriptive laboratory study. Methods: Ten ACL injury video sequences from women’s handball and basketball were analyzed. Hip and ankle joint kinematic values were obtained by use of MBIM. Results: The mean hip flexion angle was 51° (95% CI, 41° to 63°) at initial contact and remained constant over the next 40 milliseconds. The hip was internally rotated 29° (95% CI, 18° to 39°) at initial contact and remained unchanged for the next 40 milliseconds. All of the injured patients landed with a heel strike with a mean dorsiflexion angle of 2° (95% CI, –9° to 14°), before reaching a flatfooted position 20 milliseconds later. The foot position was anterior and lateral to the COM in all cases. However, none of the results showed larger COM_BOS than 1.2, which has been suggested as a criterion for ACL injury risk. Conclusions: Hip kinematic values were consistent among the 10 ACL injury situations analyzed; the hip joint remained unchanged in a flexed and internally rotated position in the phase leading up to injury, suggesting that limited energy absorption took place at the hip. In all cases, the foot contacted the ground with the heel strike. However, relatively small COM_BOS distances were found, indicating that the anterior and lateral foot placement in ACL injury situations was not different from what can be expected in noninjury game situations.
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Plaass, Christian, Leif Claassen, Christina Stukenborg-Colsman, Daiwei Yao, Kiriakos Daniilidis, Sarah Ettinger, and Andrej Nowakowski. "Three-dimensional Analysis of the Talocrural Joint Axis." Foot & Ankle Orthopaedics 2, no. 3 (September 1, 2017): 2473011417S0003. http://dx.doi.org/10.1177/2473011417s000331.
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Category: Ankle Introduction/Purpose: The total ankle replacement (TAR) is increasingly used in cases of severe ankle arthritis. Although the knowledge about joint kinematics is crucial for designing and positioning of TAR there is no consensus about the talocrural joint axis. The aim of the present study was the determination of the kinematic rotational axis of the talocrural joint as an orientation for prosthesis positioning. Methods: We analyzed 96 CT-scans of full cadaver caucasien legs. With the software Mimic, 3-Matic (both Materialize) and GOM inspect we generated three-dimensional reconstruction models of the talus and a best fitting cone orientated to the talar articular surface. The kinematic rotational axis was defined to be the axis of this cone. Results: The determination of the kinematic rotational axis showed a high inter- and intrarater reliability. The kinematic rotational axis of the talocrural joint is orientated from lateral-distal to medial-proximal (84.9° ± 8.5 compared to mechanical tibial axis in frontal plane), from dorsal-proximal to anterior-distal (93.1° ± 42.3 compared to mechanical tibial axis in sagittal plane) and from dorsal-lateral to anterior-medial (169.0° ± 6.7 compared to mechanical tibial axis in axial plane). A high standard deviation especially in the sagittal plane was noteworthy. Conclusion: With the present study we present a new reproducable single-axis model of the talocrural joint. Our data showed relevant interindividual variations. The consideration of these variations might support the development of patient-specific TAR implantation techniques.
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Bramah, Christopher, Stephen J. Preece, Niamh Gill, and Lee Herrington. "Is There a Pathological Gait Associated With Common Soft Tissue Running Injuries?" American Journal of Sports Medicine 46, no. 12 (September 7, 2018): 3023–31. http://dx.doi.org/10.1177/0363546518793657.
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Background: Previous research has demonstrated clear associations between specific running injuries and patterns of lower limb kinematics. However, there has been minimal research investigating whether the same kinematic patterns could underlie multiple different soft tissue running injuries. If they do, such kinematic patterns could be considered global contributors to running injuries. Hypothesis: Injured runners will demonstrate differences in running kinematics when compared with injury-free controls. These kinematic patterns will be consistent among injured subgroups. Study Design: Controlled laboratory study. Methods: The authors studied 72 injured runners and 36 healthy controls. The injured group contained 4 subgroups of runners with either patellofemoral pain, iliotibial band syndrome, medial tibial stress syndrome, or Achilles tendinopathy (n = 18 each). Three-dimensional running kinematics were compared between injured and healthy runners and then between the 4 injured subgroups. A logistic regression model was used to determine which parameters could be used to identify injured runners. Results: The injured runners demonstrated greater contralateral pelvic drop (CPD) and forward trunk lean at midstance and a more extended knee and dorsiflexed ankle at initial contact. The subgroup analysis of variance found that these kinematic patterns were consistent across each of the 4 injured subgroups. CPD was found to be the most important variable predicting the classification of participants as healthy or injured. Importantly, for every 1° increase in pelvic drop, there was an 80% increase in the odds of being classified as injured. Conclusion: This study identified a number of global kinematic contributors to common running injuries. In particular, we found injured runners to run with greater peak CPD and trunk forward lean as well as an extended knee and dorsiflexed ankle at initial contact. CPD appears to be the variable most strongly associated with common running-related injuries. Clinical Relevance: The identified kinematic patterns may prove beneficial for clinicians when assessing for biomechanical contributors to running injuries.
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Farley, Claire T., Han H. P. Houdijk, Ciska Van Strien, and Micky Louie. "Mechanism of leg stiffness adjustment for hopping on surfaces of different stiffnesses." Journal of Applied Physiology 85, no. 3 (September 1, 1998): 1044–55. http://dx.doi.org/10.1152/jappl.1998.85.3.1044.
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When humans hop in place or run forward, leg stiffness is increased to offset reductions in surface stiffness, allowing the global kinematics and mechanics to remain the same on all surfaces. The purpose of the present study was to determine the mechanism for adjusting leg stiffness. Seven subjects hopped in place on surfaces of different stiffnesses (23–35,000 kN/m) while force platform, kinematic, and electromyographic data were collected. Leg stiffness approximately doubled between the most stiff surface and the least stiff surface. Over the same range of surfaces, ankle torsional stiffness increased 1.75-fold, and the knee became more extended at the time of touchdown (2.81 vs. 2.65 rad). We used a computer simulation to examine the sensitivity of leg stiffness to the observed changes in ankle stiffness and touchdown knee angle. Our model consisted of four segments (foot, shank, thigh, head-arms-trunk) interconnected by three torsional springs (ankle, knee, hip). In the model, an increase in ankle stiffness 1.75-fold caused leg stiffness to increase 1.7-fold. A change in touchdown knee angle as observed in the subjects caused leg stiffness to increase 1.3-fold. Thus both joint stiffness and limb geometry adjustments are important in adjusting leg stiffness to allow similar hopping on different surfaces.
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Kiemel, Tim, Alexander J. Elahi, and John J. Jeka. "Identification of the Plant for Upright Stance in Humans: Multiple Movement Patterns From a Single Neural Strategy." Journal of Neurophysiology 100, no. 6 (December 2008): 3394–406. http://dx.doi.org/10.1152/jn.01272.2007.
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We determined properties of the plant during human upright stance using a closed-loop system identification method originally applied to human postural control by another group. To identify the plant, which was operationally defined as the mapping from muscle activation (rectified EMG signals) to body segment angles, we rotated the visual scene about the axis through the subject's ankles using a sum-of-sines stimulus signal. Because EMG signals from ankle muscles and from hip and lower trunk muscles showed similar responses to the visual perturbation across frequency, we combined EMG signals from all recorded muscles into a single plant input. Body kinematics were described by the trunk and leg angles in the sagittal plane. The phase responses of both angles to visual scene angle were similar at low frequencies and approached a difference of ∼150° at higher frequencies. Therefore we considered leg and trunk angles as separate plant outputs. We modeled the plant with a two-joint (ankle and hip) model of the body, a second-order low-pass filter from EMG activity to active joint torques, and intrinsic stiffness and damping at both joints. The results indicated that the in-phase (ankle) pattern was neurally generated, whereas the out-of-phase pattern was caused by plant dynamics. Thus a single neural strategy leads to multiple kinematic patterns. Moreover, estimated intrinsic stiffness in the model was insufficient to stabilize the plant.
Dissertations / Theses on the topic "Kinematic ankle model"
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Wiersdorf, Jason Matthew. "Preliminary Design Approach for Prosthetic Ankle Joints Using Compliant Mechanisms." BYU ScholarsArchive, 2005. https://scholarsarchive.byu.edu/etd/721.
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The objective of this thesis is to develop design approaches and models for prosthetic ankle joints using kinematic models of the human ankle and compliant mechanisms technology. Compliant mechanisms offer several potential design advantages over traditional rigid-body designs including high reliability and low cost. These design advantages are ideal for use in prosthetics. Some prosthetic ankle/foot systems currently on the market have multiple degrees of freedom yet are expensive. Additionally, even though these systems have multiple degrees of freedom, none of them are designed after the actual movements of the biological ankle. In this thesis a two, single degree-of-freedom hinge joint model, which is a kinematic model based on the biological ankle during walking, is used to develop compliant prosthetic ankle joints. The use of the model together with compliant mechanisms may provide the ability to develop highly functional prosthetic ankle joints at a lower cost than current high-performance prosthetic systems. Finally, a design approach for ankles may facilitate future development for knees, hips or other biological joints.
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Arca, Mehmet Serkan. "INVESTIGATION OF CENOZOIC CRUSTAL EXTENSION INFERRED FROM SEISMIC REFLECTION PROFILES AND FIELD RELATIONS, SE ARIZONA." Diss., The University of Arizona, 2009. http://hdl.handle.net/10150/195881.
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Mid-Tertiary metamorphic core complexes in the Basin and Range province of the western North American Cordillera are characterized by large-magnitude extensional deformation. Numerous models have been proposed for the kinematic evolution of these metamorphic core complexes. Such models generally invoke footwall isotatic rebound due to tectonic denudation, and the presence of a weak middle crust capable of flow at mid-crustal levels. In popular models of Cordilleran-style metamorphic core-complex development, initial extension occurs along a breakaway fault, which subsequently is deformed into a synform and abandoned in response to isostatic rebound, with new faults breaking forward in the dominant transport direction. In southeast Arizona, the Catalina and Pinaleño Mountains core complexes have been pointed to as type examples of this model. In this study, the “traditional” core-complex model is tested through analysis of field relations and geochronological age constraints, and by interpretation of seismic reflection profiles along a transect incorporating these core complexes. Elements of these linked core-complex systems, from southwest to northeast, include the Tucson Basin, the Santa Catalina-Rincon Mountains, the San Pedro trough, the Galiuro Mountains, the Sulphur Springs Valley, the Pinaleño Mountains, and the Safford Basin. A new digital compilation of geological data, across highly extended terranes, in conjunction with reprocessing and interpretation of a suite of industry 2-D seismic reflection profiles spanning nearly sub-parallel to regional extension, illuminate subsurface structural features related to Cenozoic crustal extension and provide new constraints on evolution of core complexes in southeast Arizona. The main objective is to develop a new kinematic model for mid-Tertiary extension and core complex evolution in southeast Arizona that incorporates new geological and geophysical observations. Geological and seismological data indicate that viable alternative models explain observations at least as well as previous core-complex models. In contrast to the “traditional” model often employed for these structures, our models suggest that the southwest- and northeast-dipping normal-fault systems on the flanks of the Galiuro Mountains extend to mid-crustal depths beneath the San Pedro trough and Sulphur-Springs Valley, respectively. In our interpretations and models, these oppositely vergent fault systems are not the breakaway faults for the Catalina and Pinaleño detachment systems.
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Hungenahalli, Shivanna Bharath. "Musculoskeletal Modeling of Ballet." Thesis, Linköpings universitet, Mekanik och hållfasthetslära, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-171924.
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This thesis work comprises the working and simulation procedures being involved in simulating motion capture data in AnyBody Modeling System. The motion capture data used in this thesis are ballet movements from dancers of Östgöta ballet and dance academy. The ballet movements taken into consideration are the arabesque on demi-pointe and pirouette. The arabesque on demi-pointe was performed by two dancers but the pirouette is performed by only one dancer. The method involved recording ballet movements by placing markers on the dancer's body and using this motion capture data as input to AnyBody Modeling System to create a musculoskeletal simulation. The musculoskeletal modeling involved creating a very own Qualisys marker protocol for the markers placed on the ballet dancers. Then implementing the marker protocol onto a human model in AnyBody Modeling System by making use of the AnyBody Managed Modeling Repository (TM) and obtain the kinematics from the motion capture. To best fit the human model to the dancer's anthropometry, scaling of the human model is done, environmental conditions such as the force plates are provided. An optimization algorithm is conducted for the marker positions to best fit the dancer's anthropometry by running parameter identification. From the kinematics of the motion capture data, we simulate the inverse dynamics in AnyBody Modeling System. The simulations explain a lot of parameters that describe the ballet dancers. Results such as the center of mass, the center of pressure, muscle activation, topple angle are presented and discussed. Moreover, we compare the models of the dancers and draw conclusions about body balance, effort level, and muscles activated during the ballet movements.
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Daševič, Ladislav. "Simulace dějů v elektrických přístrojích." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2009. http://www.nusl.cz/ntk/nusl-217878.
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Aim of the thesis is to explain the issue of forces acting in circuit breaker caused by magnetic fields induced by short-circuit current. This thesis is focused on force affecting in concrete system of a circuit breaker. The given circuit breaker is made by OEZ Letohrad, the type Modeion BD250. In the thesis the way of creating 3-D model is shown for the purpose of creating numeric simulation by ANSYS 11. The next approach of the thesis is the description of applicating the results for DC and AC current calculations. The noted calculation is made in the programme MATLAB 6.5. The solutions are mentioned at calculations both in the graphic form and numeric specifications. Visualisation was made by using GIF graphic system animation. The individual pictures processing was done in the programme UNLEAD GIF ANIMATOR 5.
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"Injury mechanism of supination ankle sprain incidents in sports: kinematics analysis with a model-based image-matching technique." 2010. http://library.cuhk.edu.hk/record=b5894310.
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Mok, Kam Ming.Thesis (M.Phil.)--Chinese University of Hong Kong, 2010.
Includes bibliographical references (leaves 36-44).
Abstracts in English and Chinese.
Abstract --- p.ii
Chinese abstract --- p.iii
Acknowledgement --- p.iv
Table of contents --- p.V
List of figures --- p.vii
List of tables --- p.viii
Chapter Chapter 1: --- Introduction --- p.1
Chapter Chapter 2: --- Review of literature --- p.3
Chapter 2.1 --- Why prevent ankle ligamentous sprain? --- p.3
Chapter 2.2 --- A sequence of injury prevention --- p.4
Chapter 2.3 --- Biomechanical approaches in defining injury mechanism --- p.5
Chapter 2.4 --- Injury mechanism of ankle ligamentous sprain in sports --- p.6
Chapter 2.5 --- Model-Based Image-Matching motion analysis --- p.7
Chapter Chapter 3: --- Development of an ankle joint Model-Based Image-Matching motion analysis technique --- p.9
Chapter 3.1 --- Introduction --- p.9
Chapter 3.2 --- Materials and method --- p.10
Chapter 3.2.1 --- Cadaver test --- p.10
Chapter 3.2.2 --- Model-Based Image-Matching motion analysis --- p.12
Chapter 3.2.3 --- Statistical analysis --- p.14
Chapter 3.3 --- Results --- p.15
Chapter 3.3.1 --- Validity --- p.15
Chapter 3.3.2 --- Intra-rater reliability --- p.16
Chapter 3.3.3 --- Inter-rater reliability --- p.17
Chapter 3.4 --- Discussion --- p.17
Chapter 3.5 --- Conclusion --- p.21
Chapter Chapter 4: --- Biomechanical motion analysis on ankle ligamentous sprain injury cases --- p.22
Chapter 4.1 --- Introduction --- p.22
Chapter 4.2 --- Materials and method --- p.24
Chapter 4.2.1 --- Case screening --- p.24
Chapter 4.2.2 --- Model-Based Image-Matching motion analysis --- p.24
Chapter 4.3 --- Results --- p.28
Chapter 4.3.1 --- High Jump Injury --- p.28
Chapter 4.3.2 --- Field hockey Injury --- p.28
Chapter 4.3.3 --- Tennis Injury --- p.29
Chapter 4.4 --- Discussion --- p.30
Chapter 4.5 --- Conclusion --- p.34
Chapter Chapter 5: --- Summary and future development --- p.35
References --- p.36
List of publications --- p.42
List of presentations at international and local conference --- p.43
List of Awards --- p.44
Book chapters on the topic "Kinematic ankle model"
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Xie, Shane. "Kinematic and Computational Model of Human Ankle." In Springer Tracts in Advanced Robotics, 185–221. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-19896-5_7.
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"A Multisegment, 3D Kinematic Model of the Foot and Ankle." In Foot and Ankle Motion Analysis, 489–94. CRC Press, 2007. http://dx.doi.org/10.1201/9781420005745-32.
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"Validation of a Multisegment Foot and Ankle Kinematic Model for Pediatric Gait*." In Foot and Ankle Motion Analysis, 407–26. CRC Press, 2007. http://dx.doi.org/10.1201/9781420005745-28.
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Kitaoka, Harold, Kenton Kaufman, Duane Morrow, Brian Kotajarvi, and Diana Hansen. "A Multisegment, 3D Kinematic Model of the Foot and Ankle." In Biomedical Engineering, 465–70. CRC Press, 2007. http://dx.doi.org/10.1201/9781420005745.ch27.
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Marks, Richard, Mei Wang, Gerald Harris, and Kelly Myers. "Validation of a Multisegment Foot and Ankle Kinematic Model for Pediatric Gait." In Biomedical Engineering, 383–401. CRC Press, 2007. http://dx.doi.org/10.1201/9781420005745.ch23.
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"Measurement of Foot Kinematics and Plantar Pressure in Children Using the Oxford Foot Model." In Foot and Ankle Motion Analysis, 427–48. CRC Press, 2007. http://dx.doi.org/10.1201/9781420005745-29.
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Cui, Ze, Saishuai Huang, Zenghao Chen, Hongxin Yang, and Danjie Zhu. "Design, Simulation and Verification of a 7-DOF Joint Motion Simulation Platform." In Machine Learning and Artificial Intelligence. IOS Press, 2020. http://dx.doi.org/10.3233/faia200798.
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The human body has many joints, and joint injuries frequently occur in various sports. To explore the biomechanical state of ligaments or muscles in human joints before and after damage, and to help doctors judge the damage and repair of joints, this article proposes a seven-degree-of-freedom platform based on three rotations spherical parallel mechanism for simulating human joint motion. Taking the knee joint as an example, this article simplified its model, and performed kinematics simulation by ADAMS to verify the feasibility of this mechanism. And based on the TRIO motion controller, we established the physical testing system. The correctness is finally verified by experiment in kind, which proves the feasibility of the joint motion simulation platform. And in terms of accuracy, it also performances very well. For example, when it needs to rotate 30∘ around the Y-axis, its actual rotation angle is 29.6∘, the error is less than 2%, and its translation error is also within 3%.
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A. Baker, Kyle. "Sinusoidal Trajectory Generation Methods for Spacecraft Feedforward Control." In Deterministic Artificial Intelligence. IntechOpen, 2020. http://dx.doi.org/10.5772/intechopen.87013.
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The following is a brief walkthrough of material related to the modeling of spacecraft dynamics with feedforward control as the self-awareness declaration for deterministic artificial intelligence. Specifically, the focus will be on the analysis of various sinusoidal trajectory methods. The methods utilized are the basic MATLAB sine generation function, a Taylor series implementation, and two alternate algorithms for higher speed, lower precision and lower speed, higher precision implementations. The chapter features a brief summary of previous work investigating the impact of step size on Euler and Body angles. This is followed by a high level overview of Euler angle theory, quaternions, direction cosine matrices, kinematics, and dynamics to form a mathematical basis for the core material. With the numerical basis for the modeling efforts outlined, the results of running a SIMULINK model of spacecraft dynamics with feedforward control will be briefly analyzed and explored. The analysis will cover the impacts of varying step size with various sinusoidal trajectory generation methodologies.
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Badler, Norman I., Cary B. Phillips, and Bonnie Lynn Webber. "Behavioral Control." In Simulating Humans. Oxford University Press, 1993. http://dx.doi.org/10.1093/oso/9780195073591.003.0007.
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The behaviors constitute a powerful vocabulary for postural control. The manipulation commands provide the stimuli; the behaviors determine the response. The rationale for using behavioral animation is its economy of description: a simple input from the user can generate very complex and realistic motion. By defining a simple set of rules for how objects behave, the user can control the objects through a much more intuitive and efficient language because much of the motion is generated automatically. Several systems have used the notion of behaviors to describe and generate motion [Zel91]. The most prominent of this work is by Craig Reynolds, who used the notion of behavior models to generate animations of flocks of birds and schools of fish [Rey87]. The individual birds and fish operate using a simple set of rules which tell them how to react to the movement of the neighboring animals and the features of the environment. Some global parameters also guide the movement of the entire flock. William Reeves used the same basic idea but applied it very small inanimate objects, and he dubbed the result particle systems [Ree83]. Behaviors have also been applied to articulated figures. McKenna and Zeltzer [MPZ90] describe a computational environment for simulating virtual actors, principally designed to simulate an insect (a cockroach in particular) for animation purposes. Most of the action of the roach is in walking, and a gait controller generates the walking motion. Reflexes can modify the basic gait patterns. The stepping reflex triggers a leg to step if its upper body rotates beyond a certain angle. The load bearing reflex inhibits stepping if the leg is supporting the body. The over-reach reflex triggers a leg to move if it becomes over-extended. The system uses inverse kinematics to position the legs. Jack controls bipedal locomotion in a similar fashion (Section 5), but for now we focus on simpler though dramatically important postural behaviors. The human figure in its natural state has constraints on its toes, heels, knees, pelvis, center of mass, hands, elbows, head and eyes. They correspond loosely to the columns of the staff in Labanotation, which designate the different parts of the body.
Conference papers on the topic "Kinematic ankle model"
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Varma, D. S. Mohan, and S. Sujatha. "Minimal Kinematic Model for Inverse Dynamic Analysis of Gait." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-39942.
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The objective of this work is to develop an inverse dynamics model that uses minimal kinematic inputs to estimate the ground reaction force (GRF). The human body is modeled with 14 rigid segments and a circular ankle-foot-roll-over shape (AFROS) for the foot-ground interaction. The input kinematic data and body segment parameter estimates are obtained from literature. Optimization is used to ensure that the kinematic data satisfy the constraint that the swing leg clears the ground in the single support (SS) phase. For the SS phase, using the segment angles as the generalized degrees of freedom (DOF), the kinematic component of the GRF is expressed analytically as the summation of weighted kinematics of individual segments. The weighting functions are constants that are functions of the segment masses and center of mass distances. Using this form of the equation for GRF, it is seen that the kinematics of the upper body segments do not contribute to the vertical component GRFy in SS phase enabling the reduction of a 16-DOF 14-segment model to a 10-DOF 7-segment model. It is seen that the model can be further reduced to a 3-DOF model for GRFy estimation in the SS phase of gait. The horizontal component GRFx is computed assuming that the net GRF vector passes through the center of mass (CoM). The GRF in double support phase is assumed to change linearly from one foot to the other. The sagittal plane internal joint forces and moments acting at the ankle, knee and hip are computed using the 3-DOF model and the 10-DOF model and compared with the results from literature. An AFROS and measurements of the stance shank and thigh rotations in the sagittal plane, and of the lower trunk (or pelvis) in the frontal plane provide sufficient kinematics in an inverse dynamics model to estimate the GRF and joint reaction forces and moments. Such a model has the potential to simplify gait analysis.
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Kidder, Harris, Wynarsky, Johnson, Alexander, DeLozier, and Abuzzahab. "A Four-segment Kinematic Model For Clinical Description Of Foot And Ankle Motion." In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE, 1992. http://dx.doi.org/10.1109/iembs.1992.589306.
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Kidder, S. M., G. F. Harris, G. T. Wynarsky, J. E. Johnson, I. Alexander, G. DeLozier, and F. Abuzzahab. "A four-segment kinematic model for clinical description of foot and ankle motion." In 1992 14th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE, 1992. http://dx.doi.org/10.1109/iembs.1992.5760852.
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Baldisserri, Benedetta, and Vincenzo Parenti Castelli. "A New 3D Kinematic Model for the Passive Motion of the Tibia-Fibula-Ankle Complex." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28500.
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A great number of kinematic, kinetostatic and dynamic models of human diarthrodial joints, such as the hip, the knee and the ankle, have been presented in the literature. On the contrary, comprehensive models of the lower limb are lacking and often oversimplify its anatomical structures by considering only 2D motion. This paper will focus on the 3D kinematic model of the articulation that involves four bones: the tibia, fibula, talus and calcaneus. In particular, a new spatial equivalent mechanism with one degree of freedom is proposed for the passive motion simulation of this anatomical complex. The geometry of the mechanism is based on the main anatomical structures of the complex, namely the talus, the tibia and the fibula bones at their interface, on the main ligaments of the ankle joint, and on the interosseus membrane of the leg. An iterative refinement process is presented, that provides the optimal geometry of the mechanism which allows the best fitting of simulation versus measurement data. Simulation results show the efficiency of the proposed mechanism that is believed to play an important role for future developments of models of the whole human lower limb.
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Salinas, Jose Mario, and Dumitru I. Caruntu. "2-D Inverse Dynamics Knee Model: Aligning Anatomical Knee Model With Knee Extension Kinematic Data Using Ligament Forces." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85386.
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This paper deals with aligning knee geometrical anatomical data with kinematic data from experimental work in order to develop a two-dimensional inverse dynamics anatomical model of human knee. Motion capture cameras were used to collect the experimental data for a knee extension exercise. Reflective markers were placed on the subjects’ skin during the experiment. In this model, joints such as hip, knee, and ankle are represented by axes of rotation. These axes are determined by calculating the relative instantaneous center of rotation of one body segment with respect to an adjacent body segment. Body-fixed coordinate systems were defined using three reflective markers attached to the subject. The origin of each body fixed-coordinate system was located between the three markers on that body segment, the body-fixed x-axis was pointing towards the marker on the lateral side of the body segment, and the body-fixed y-axis fell on the same plane as the three reflective markers on the body segment. Moreover, the axis of rotation that represents the hip was determined by calculating the instantaneous center of rotation of reflective markers located on the pelvis with respect to a body fixed coordinate system on the thigh. The axis of rotation on the knee was determined by calculating the instantaneous center of rotation of reflective markers on the shin (tibia) with respect to the body-fixed coordinate system on the thigh (femur). The axis of rotation on the ankle was determined by calculating the instantaneous center of rotation of reflective markers on the shin with respect to a body-fixed coordinate system on the foot. Bone anatomical geometries of femur and tibia were represented mathematically as polynomials and superimposed over the experimental data. This was done by matching the center of rotation from experimental data with the geometric center of the femoral condyle. This is necessary for estimating the insertions/origins of knee ligaments. These ligaments are modeled as nonlinear elastic springs. Furthermore, ligaments were divided into separate fiber bundles. Both the posterior and anterior cruciate ligaments were divided into an anterior and posterior fiber bundle. The cruciate ligament forces for both exercises are discussed in this paper.
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Salinas, Jose Mario, and Dumitru I. Caruntu. "2-D Inverse Dynamics Knee Model: Aligning Anatomical Knee Model With Squatting Kinematic Data Using Ligament Forces." In ASME 2018 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/imece2018-88123.
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A 2-dimensional anatomical knee model was developed for aligning knee joint related bone structures with experimental kinematic data. The experimental data was collected using motion capture cameras, which recorded the position of reflective markers placed on the human subject. Velocities were calculated by numerically differentiating the marker position with respect to time. Joints, such as the hip, knee, and ankle, were represented by axes of rotation. These axes were determined by calculating the relative instantaneous center of rotation of a body segment with respect to the adjacent body segment. Body-fixed coordinate systems were set for both thigh and shin. Anatomical bone structures were obtained from an x-ray and represented mathematically as polynomials. The femoral bone surface was aligned with the experimental data by superimposing the center of rotation of the shin with respect to thigh with the geometric center of the femoral condyle. The tibial surface was aligned with the experimental data by aligning the bones at minimum flexion and then superimposing the tibia with a shared point between femur and tibia. Ligaments were modeled as non-linear elastic springs. Cruciate ligaments were divided into a posterior and anterior ligament fiber bundle. Cruciate ligament forces were calculated for the squatting exercise for five different femoral geometric centers. Geometric centers were determined using a nonlinear least squares optimization technique. Cruciate ligament forces are discussed in this paper.
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Sinatra, Francy L., Stephanie L. Carey, and Rajiv Dubey. "Biomechanical Model Representing Energy Storing Prosthetic Feet." In ASME 2010 International Mechanical Engineering Congress and Exposition. ASMEDC, 2010. http://dx.doi.org/10.1115/imece2010-38707.
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Previous studies have been conducted to develop a biomechanical model for a human’s lower limb. Amongst them, there have been several studies trying to quantify the kinetics and kinematics of lower-limb amputees through motion analysis [5, 10, 11]. Currently, there are various designs for lower-limb prosthetic feet such as the Solid Ankle Cushion Heel (SACH) from Otto Bock (Minneapolis) or the Flex Foot from Ossur (California). The latter is a prosthetic foot that allows for flexibility while walking and running. Special interest has been placed in recording the capabilities of these energy-storing prosthetic feet. This has been done through the creation of biomechanical models with motion analysis. In these previous studies the foot has been modeled as a single rigid-body segment, creating difficulties when trying to calculate the power dissipated by the foot [5, 20, 21]. This project studies prosthetic feet with energy-storing capabilities. The purpose is to develop an effective way of calculating power by using a biomechanical model. This was accomplished by collecting biomechanical data using an eight camera VICON (Colorado) motion analysis system including two AMTI (BP-400600, Massachusetts) force plates. The marker set that was used, models the foot using several segments, hence mimicking the motion the foot undergoes and potentially leading to greater accuracy. By developing this new marker set, it will be possible to combine the kinematic and kinetic profile gathered from it with previous studies that determined metabolic information. This information will allow for the better quantification and comparison of the energy storage and return (ES AR) feet and perhaps the development of new designs.
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Charles, Steven. "Using K’NEX to Understand and Teach Concepts in Movement Biomechanics." In ASME 2010 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2010. http://dx.doi.org/10.1115/sbc2010-19590.
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In order to analyze the kinematics or model the dynamics of human motion, one must be able to abstract from the intricate anatomy of the body the mechanical linkages and kinematic constraints which best approximate the joints of the body. Given the number and complexity of joints in the human body, this abstraction can be a challenging task, especially for students. While rotations about a single degree of freedom are easy to grasp, rotations about multiple DOF, which occur commonly throughout the body (e.g. shoulder, wrist, ankle, etc.) are anything but trivial. Likewise, the kinematics or dynamics of mechanical linkages such as the upper or lower limb quickly become unwieldy. To deal with these challenges, students learn to use tools from mechanics and robotics (body- and space-fixed reference frames, transformations, generalized coordinates, etc.), but these concepts can themselves be challenging and certainly take time to learn.
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Kantareddy, Sai Nithin Reddy, Rebecca A. Fielding, Michael J. Robinson, and Reuben H. Kraft. "A Computational Study of Fracture in the Calcaneus Under Variable Impact Conditions." In ASME 2015 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/imece2015-51984.
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This preliminary study aims to computationally model and study the fracture patterns in the human calcaneus during variable impact loading conditions. A finite element model of the foot and ankle is used to understand the effect of loading rates and orientation of the foot on fracture patterns. Simulations are carried out by applying varying impact velocities of steel plate to the foot & ankle model in accordance with data regarding underbody blasts. These impact velocities are applied to reach a peak in 1.5 ms. Fracture of bone is represented using the plastic kinematic constitutive model with element erosion method, where elements are removed from the simulation after an inelastic failure strain is exceeded. The simulations last for 5 ms to observe the extent of fracture in the calcaneus. Following simulations, the resulting fracture patterns are compared to available images from experimental impact tests to qualitatively assess the simufutions. A mesh convergence study is performed to determine the level of refinement of mesh necessary to represent this problem. The mesh appears to converge at the refinement level of the medium coarse mesh. The effect of impact velocities on fracture is studied on unjlexed and flexed foot models. At lower velocities, fracture is observed in the form of a single continuous crack, and a pronounced branched type of network is observed at higher velocities. Finally, variation in fracture networks due to variability in strength of the bone is studied. For lower values of failure strain, significantly larger and branched networks of fracture are observed.
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Peng, William Z., Hyunjong Song, and Joo H. Kim. "Stability Region-Based Analysis of Walking and Push Recovery Control." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22720.
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Abstract Push recovery is a vital aspect of balance stability control in biped robots. In this work, the response of a biped system to unexpected external perturbations is analyzed for different tasks and controllers using stability criteria based on balanced and steppable regions. The steppable region for a given step length and the balanced regions for single and double support contacts are constructed for a biped robot using optimization with its system dynamics, kinematic limits, actuation limits, and contact interactions with the environment. The regions are compared with those of a human subject to demonstrate that human gait exhibits unbalanced (but steppable) phases largely absent in robotic gait. These regions are also applied to a comparative analysis against capturability, where the computed steppable region is significantly larger than the capture region of an equivalent reduced-order model. The stability regions are also used to compare the performance of controllers during a double support balancing task. The implemented hip, knee, and ankle strategy-based controller led to improved stabilization — i.e., decreased foot tipping and time required to balance — relative to an existing hip and ankle controller and a gyro feedback controller. The proposed approaches are applicable to the analysis of any bipedal task and stability controller in general.