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Journal articles on the topic 'Whole-Body motion optimization'

Author: Grafiati

Published: 8 June 2024

Last updated: 31 July 2025

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1

Stein, Kevin, and Katja Mombaur. "Whole-Body Dynamic Analysis of Challenging Slackline Jumping." Applied Sciences 10, no. 3 (2020): 1094. http://dx.doi.org/10.3390/app10031094.

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Maintaining balance on a slackline is a challenging task in itself. Walking on a high line, jumping and performing twists or somersaults seems nearly impossible. Contact forces are essential to understanding how humans maintain balance in such challenging situations, but they cannot always be measured directly. Therefore, we propose a contact model for slackline balancing that includes the interaction forces and torques as well as the position of the Center of Pressure. We apply this model within an optimization framework to perform a fully dynamic motion reconstruction of a jump with a rotati

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KIM, JUNG-YUP, and YOUNG-SEOG KIM. "WHOLE-BODY MOTION GENERATION OF ANDROID ROBOT USING MOTION CAPTURE AND NONLINEAR CONSTRAINED OPTIMIZATION." International Journal of Humanoid Robotics 10, no. 02 (2013): 1350003. http://dx.doi.org/10.1142/s0219843613500035.

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This paper describes a whole-body motion generation scheme for an android robot using motion capture and an optimization method. Android robots basically require human-like motions due to their human-like appearances. However, they have various limitations on joint angle, and joint velocity as well as different numbers of joints and dimensions compared to humans. Because of these limitations and differences, one appropriate approach is to use an optimization technique for the motion capture data. Another important issue in whole-body motion generation is the gimbal lock problem, where a degree

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Liu, Yaliang, Xuechao Chen, Zhangguo Yu, Haoxiang Qi, and Chuanku Yi. "Single Sequential Trajectory Optimization with Centroidal Dynamics and Whole-Body Kinematics for Vertical Jump of Humanoid Robot." Biomimetics 9, no. 5 (2024): 274. http://dx.doi.org/10.3390/biomimetics9050274.

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High vertical jumping motion, which enables a humanoid robot to leap over obstacles, is a direct reflection of its extreme motion capabilities. This article proposes a single sequential kino-dynamic trajectory optimization method to solve the whole-body motion trajectory for high vertical jumping motion. The trajectory optimization process is decomposed into two sequential optimization parts: optimization computation of centroidal dynamics and coherent whole-body kinematics. Both optimization problems converge on the common variables (the center of mass, momentum, and foot position) using cost

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Bian, Yuxuan, Ailing Zeng, Xuan Ju, et al. "MotionCraft: Crafting Whole-Body Motion with Plug-and-Play Multimodal Controls." Proceedings of the AAAI Conference on Artificial Intelligence 39, no. 2 (2025): 1880–88. https://doi.org/10.1609/aaai.v39i2.32183.

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Whole-body multimodal motion generation, controlled by text, speech, or music, has numerous applications including video generation and character animation. However, employing a unified model to process different condition modalities presents two main challenges: motion distribution drifts across different tasks (e.g., co-speech gestures and text-driven daily actions) and the complex optimization of mixed conditions with varying granularities (e.g., text and audio). In this paper, we propose MotionCraft, a unified diffusion transformer that crafts whole-body motion with plug-and-play multimoda

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Trivedi, Urvish, Redwan Alqasemi, and Rajiv Dubey. "CARRT—Motion Capture Data for Robotic Human Upper Body Model." Sensors 23, no. 20 (2023): 8354. http://dx.doi.org/10.3390/s23208354.

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In recent years, researchers have focused on analyzing humans’ daily living activities to study various performance metrics that humans subconsciously optimize while performing a particular task. In order to recreate these motions in robotic structures based on the human model, researchers developed a framework for robot motion planning which is able to use various optimization methods to replicate similar motions demonstrated by humans. As part of this process, it will be necessary to record the motions data of the human body and the objects involved in order to provide all the essential info

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Li, Jun, Haibo Gao, Yuhui Wan, et al. "Whole-Body Control for a Torque-Controlled Legged Mobile Manipulator." Actuators 11, no. 11 (2022): 304. http://dx.doi.org/10.3390/act11110304.

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The task of performing locomotion and manipulation simultaneously poses several scientific challenges, such as how to deal with the coupling effects between them and how to cope with unknown disturbances introduced by manipulation. This paper presents an inverse dynamics-based whole-body controller for a torque-controlled quadrupedal manipulator capable of performing locomotion while executing manipulation tasks. Unlike existing methods that deal with locomotion and manipulation separately, the proposed controller can handle them uniformly, which can take into account the coupling effects betw

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Wallmeier, Ludwig, and Lutz Wiegrebe. "Self-motion facilitates echo-acoustic orientation in humans." Royal Society Open Science 1, no. 3 (2014): 140185. http://dx.doi.org/10.1098/rsos.140185.

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The ability of blind humans to navigate complex environments through echolocation has received rapidly increasing scientific interest. However, technical limitations have precluded a formal quantification of the interplay between echolocation and self-motion. Here, we use a novel virtual echo-acoustic space technique to formally quantify the influence of self-motion on echo-acoustic orientation. We show that both the vestibular and proprioceptive components of self-motion contribute significantly to successful echo-acoustic orientation in humans: specifically, our results show that vestibular

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Murooka, Masaki, Kei Okada, and Masayuki Inaba. "Optimization-Based Posture Generation for Whole-Body Contact Motion by Contact Point Search on the Body Surface." IEEE Robotics and Automation Letters 5, no. 2 (2020): 2905–12. http://dx.doi.org/10.1109/lra.2020.2974689.

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Kim, Joo H. "Optimization of throwing motion planning for whole-body humanoid mechanism: Sidearm and maximum distance." Mechanism and Machine Theory 46, no. 4 (2011): 438–53. http://dx.doi.org/10.1016/j.mechmachtheory.2010.11.019.

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Tian, Yuan, and Feng Gao. "Efficient motion generation for a six-legged robot walking on irregular terrain via integrated foothold selection and optimization-based whole-body planning." Robotica 36, no. 3 (2017): 333–52. http://dx.doi.org/10.1017/s0263574717000418.

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SUMMARYIn this paper, an efficient motion planning method is proposed for a six-legged robot walking on irregular terrain. The method provides the robot with fast-generated free-gait motions to traverse the terrain with medium irregularities. We first of all introduce our six-legged robot with legs in parallel mechanism. After that, we decompose the motion planning problem into two main steps: first is the foothold selection based on a local footstep cost map, in which both terrain features and the robot mobility are considered; second is a whole-body configuration planner which casts the prob

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Konno, Atsushi, Tomoya Myojin, Takaaki Matsumoto, Teppei Tsujita, and Masaru Uchiyama. "An impact dynamics model and sequential optimization to generate impact motions for a humanoid robot." International Journal of Robotics Research 30, no. 13 (2011): 1596–608. http://dx.doi.org/10.1177/0278364911405870.

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When a human needs to generate a large force, they will try to apply an impulsive force with dynamic cooperation of the whole body. In this paper we first discuss impact dynamics of humanoid robots and then propose a way to generate impact motions for a humanoid robot to exert a large force while keeping a balance. In the impact motion generation, Sequential Quadratic Programming (SQP) is used to solve a non-linear programming problem in which an objective function and constraints may be non-linear functions of the motion parameters. Impact motions are generated using SQP so that the impact fo

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Zuo, Weilong, Junyao Gao, Jingwei Cao, Xilong Xin, Mingyue Jin, and Xuechao Chen. "Whole-Body Dynamics-Based Aerial Fall Trajectory Optimization and Landing Control for Humanoid Robot." Biomimetics 8, no. 6 (2023): 460. http://dx.doi.org/10.3390/biomimetics8060460.

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When humanoid robots work in human environments, falls are inevitable due to the complexity of such environments. Current research on humanoid robot falls has mainly focused on falls on the ground, with little research on humanoid robots falling from the air. In this paper, we employ an extended state variable formulation that directly maps from the high-level motion strategy space to the full-body joint space to optimize the falling trajectory in order to protect the robot when falling from the air. In order to mitigate the impact force generated by the robot’s fall, during the aerial phase,

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Hopkins, Michael A., Alexander Leonessa, Brian Y. Lattimer, and Dennis W. Hong. "Optimization-Based Whole-Body Control of a Series Elastic Humanoid Robot." International Journal of Humanoid Robotics 13, no. 01 (2016): 1550034. http://dx.doi.org/10.1142/s0219843615500346.

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As whole-body control approaches begin to enter the mainstream of humanoid robotics research, there is a real need to address the challenges and pitfalls encountered in hardware implementations. This paper presents an optimization-based whole-body control framework enabling compliant locomotion on THOR, a 34 degree of freedom humanoid featuring force-controllable series elastic actuators (SEAs). Given desired momentum rates of change, end-effector accelerations, and joint accelerations from a high-level locomotion controller, joint torque setpoints are computed using an efficient quadratic pro

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Kwon, Hyun-Jung, Hyun-Joon Chung, and Yujiang Xiang. "Human Gait Prediction with a High DOF Upper Body: A Multi-Objective Optimization of Discomfort and Energy Cost." International Journal of Humanoid Robotics 14, no. 01 (2017): 1650025. http://dx.doi.org/10.1142/s0219843616500250.

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To predict the 3D walking pattern of a human, a detailed upper body model that includes the spine, shoulders, and neck must be made, which is challenging because of the coupling relations of degrees of freedom (DOF) in these body sections. The objective of this study was to develop a discomfort function for including a high DOF upper body model during walking. A multi-objective optimization (MOO) method was formulated by minimizing dynamic effort (DE) and the discomfort function simultaneously. The discomfort function is defined as the sum of the squares of deviation of joint angles from their

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Wang, Yuquan, Christian Smith, Yiannis Karayiannidis, and Petter Ögren. "Whole Body Control of a Dual-Arm Mobile Robot Using a Virtual Kinematic Chain." International Journal of Humanoid Robotics 13, no. 01 (2016): 1550047. http://dx.doi.org/10.1142/s0219843615500474.

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Dual-arm manipulators have more advanced manipulation abilities compared to single-arm manipulators and manipulators mounted on a mobile base have additional mobility and a larger workspace. Combining these advantages, mobile dual-arm robots are expected to perform a variety of tasks in the future. Kinematically, the configuration of two arms that branches from the mobile base results in a serial-to-parallel kinematic structure. In order to respond to external disturbances, this serial-to-parallel kinematic structure makes inverse kinematic computations non-trivial, as the motion of the base h

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Zuo, Weilong, Junyao Gao, Jiongnan Liu, Taiping Wu, and Xilong Xin. "Whole-Body Dynamics for Humanoid Robot Fall Protection Trajectory Generation with Wall Support." Biomimetics 9, no. 4 (2024): 245. http://dx.doi.org/10.3390/biomimetics9040245.

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When humanoid robots work in human environments, they are prone to falling. However, when there are objects around that can be utilized, humanoid robots can leverage them to achieve balance. To address this issue, this paper established the state equation of a robot using a variable height-inverted pendulum model and implemented online trajectory optimization using model predictive control. For the arms’ optimal joint angles during movement, this paper took the distributed polygon method to calculate the arm postures. To ensure that the robot reached the target position smoothly and rapidly du

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Niu, Hao, Xin Zhao, Hongzhe Jin, and Xiuli Zhang. "A Whole-Body Coordinated Motion Control Method for Highly Redundant Degrees of Freedom Mobile Humanoid Robots." Biomimetics 9, no. 12 (2024): 766. https://doi.org/10.3390/biomimetics9120766.

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Humanoid robots are becoming a global research focus. Due to the limitations of bipedal walking technology, mobile humanoid robots equipped with a wheeled chassis and dual arms have emerged as the most suitable configuration for performing complex tasks in factory or home environments. To address the high redundancy issue arising from the wheeled chassis and dual-arm design of mobile humanoid robots, this study proposes a whole-body coordinated motion control algorithm based on arm potential energy optimization. By constructing a gravity potential energy model for the arms and a virtual torsio

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Guiraud, T., M. Labrunée, M. Granger, et al. "Whole-body strength training using Huber Motion Lab in coronary heart disease patients: Optimization and safety." Annals of Physical and Rehabilitation Medicine 57 (May 2014): e293. http://dx.doi.org/10.1016/j.rehab.2014.03.1064.

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Romualdi, Giulio, Stefano Dafarra, Yue Hu, et al. "A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots." International Journal of Humanoid Robotics 17, no. 01 (2020): 1950034. http://dx.doi.org/10.1142/s0219843619500348.

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This paper contributes toward the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory optimization, simplified model control, and whole-body quadratic programming (QP) control layer. While the first two layers use simplified robot models, the whole-body QP control layer uses a complete robot model to produce either desired positions, velocities, or torques inputs at the joint-level. This paper then compares two implementations of the simplified mode

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Cheng, Pengpeng, Jianping Wang, Xianyi Zeng, Pascal Bruniaux, Xuyuan Tao, and Daoling Chen. "Research on sensory comfort of tight-fitting sportswear based on intelligent models." Journal of Engineered Fibers and Fabrics 16 (January 2021): 155892502110680. http://dx.doi.org/10.1177/15589250211068035.

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In order to study the influence of human body parts on the overall comfort under different sports conditions, this paper designed a series of actions such as standing, squatting, running, walking, and so on, and obtained the key parts that affected the overall comfort at every experimental stage (i.e. every motion state) through subjective evaluation. That is, to study and analyze the comfort evaluation of every part and the whole body under different motions conditions, as well as the main parts that affect the overall comfort. In this paper, Analytic Hierarchy Process-Entropy weight, Fuzzy-R

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Kohler, Amann-Vesti, Clarenbach, et al. "Periodic whole body acceleration: A novel therapy for cardiovascular disease." Vasa 36, no. 4 (2007): 261–66. http://dx.doi.org/10.1024/0301-1526.36.4.261.

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Background: Periodic whole body acceleration in the spinal axis (pGz) applied by a motion platform is a novel treatment modality that induced endothelial nitric oxide release into the circulation of animals, healthy subjects and patients with inflammatory diseases during single treatment sessions in previous studies. We hypothesized that patients with advanced arteriosclerotic diseases who are not candidates for a surgical intervention would clinically benefit from repeated pGz treatments over several weeks through improvement of endothelial function. Patients and methods: 11 patients, 5 men (

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Hishida, Toshiaki, Ana Leonor Silvestre, and Takéo Takahashi. "Optimal boundary control for steady motions of a self-propelled body in a Navier-Stokes liquid." ESAIM: Control, Optimisation and Calculus of Variations 26 (2020): 92. http://dx.doi.org/10.1051/cocv/2020073.

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Consider a rigid body 𝒮 ⊂ ℝ3 immersed in an infinitely extended Navier-Stokes liquid and the motion of the body-fluid interaction system described from a reference frame attached to 𝒮. We are interested in steady motions of this coupled system, where the region occupied by the fluid is the exterior domain Ω = ℝ3 \ 𝒮. This paper deals with the problem of using boundary controls v*, acting on the whole ∂Ω or just on a portion Γ of ∂Ω, to generate a self-propelled motion of 𝒮 with a target velocity V (x) := ξ + ω × x and to minimize the drag about 𝒮. Firstly, an appropriate drag functional is der

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Ullah, Mohib, Maqsood Mahmud, Habib Ullah, Kashif Ahmad, Ali Shariq Imran, and Faouzi Alaya Cheikh. "HEAD BASED TRACKING." Electronic Imaging 2020, no. 6 (2020): 74–1. http://dx.doi.org/10.2352/issn.2470-1173.2020.6.iriacv-072.

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For tracking multiple targets in a scene, the most common approach is to represent the target in a bounding box and track the whole box as a single entity. However, in the case of humans, the body goes through complex articulation and occlusion that severely deteriorate the tracking performance. In this paper, we argue that instead of tracking the whole body of a target, if we focus on a relatively rigid body organ, better tracking results can be achieved. Based on this assumption, we followed the tracking-by-detection paradigm and generated the target hypothesis of only the spatial locations

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Shi, Xuanyang, Junyao Gao, Yizhou Lu, Dingkui Tian, and Yi Liu. "Biped Walking Based on Stiffness Optimization and Hierarchical Quadratic Programming." Sensors 21, no. 5 (2021): 1696. http://dx.doi.org/10.3390/s21051696.

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The spring-loaded inverted pendulum model is similar to human walking in terms of the center of mass (CoM) trajectory and the ground reaction force. It is thus widely used in humanoid robot motion planning. A method that uses a velocity feedback controller to adjust the landing point of a robot leg is inaccurate in the presence of disturbances and a nonlinear optimization method with multiple variables is complicated and thus unsuitable for real-time control. In this paper, to achieve real-time optimization, a CoM-velocity feedback controller is used to calculate the virtual landing point. We

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Du, Wenqian, Mohamed Fnadi, and Faiz Benamar. "Whole-Body Motion Tracking for a Quadruped-on-Wheel Robot via a Compact-Form Controller With Improved Prioritized Optimization." IEEE Robotics and Automation Letters 5, no. 2 (2020): 516–23. http://dx.doi.org/10.1109/lra.2019.2963822.

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Shi, Xuanyang, Junyao Gao, Yizhou Lu, Dingkui Tian, and Yi Liu. "Simulation of Disturbance Recovery Based on MPC and Whole-Body Dynamics Control of Biped Walking." Sensors 20, no. 10 (2020): 2971. http://dx.doi.org/10.3390/s20102971.

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Biped robots are similar to human beings and have broad application prospects in the fields of family service, disaster rescue and military affairs. However, simplified models and fixed center of mass (COM) used in previous research ignore the large-scale stability control ability implied by whole-body motion. The present paper proposed a two-level controller based on a simplified model and whole-body dynamics. In high level, a model predictive control (MPC) controller is implemented to improve zero moment point (ZMP) control performance. In low level, a quadratic programming optimization meth

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Kudo, Naoki, Kyuheong Choi, Takahiro Kagawa, and Yoji Uno. "Whole-Body Reaching Movements Formulated by Minimum Muscle-Tension Change Criterion." Neural Computation 28, no. 5 (2016): 950–69. http://dx.doi.org/10.1162/neco_a_00830.

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It is well known that planar reaching movements of the human shoulder and elbow joints have invariant features: roughly straight hand paths and bell-shaped velocity profiles. The optimal control models with the criteria of smoothness or precision, which determine a unique movement pattern, predict such features of hand trajectories. In this letter on expanding the research on simple arm reaching movements, we examine whether the smoothness criteria can be applied to whole-body reaching movements with many degrees of freedom. Determining a suitable joint trajectory in the whole-body reaching mo

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Leylavi Shoushtari, Ali. "What Strategy Central Nervous System Uses to Perform a Movement Balanced? Biomechatronical Simulation of Human Lifting." Applied Bionics and Biomechanics 10, no. 2-3 (2013): 113–24. http://dx.doi.org/10.1155/2013/120707.

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How does the central nervous system control the body posture during various tasks despite a redundancy? It's a well-known question existed in such fields of study as biomechanics and bioengineering. Some techniques based on muscle and torques synergies are presented to study the function which Central Nervous System uses to addresses the kinetic redundancy in musculoskeletal system. The human body with its whole numerous joints considered as a hyper redundant structure which caused to be seemed that it is impossible for CNS to control and signal such system. To solve the kinematic redundancy i

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Li, Yueru. "Dance Motion Capture Based on Data Fusion Algorithm and Wearable Sensor Network." Complexity 2021 (June 23, 2021): 1–11. http://dx.doi.org/10.1155/2021/2656275.

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In this paper, through an in-depth study and analysis of dance motion capture algorithms in wearable sensor networks, the extended Kalman filter algorithm and the quaternion method are selected after analysing a variety of commonly used data fusion algorithms and pose solving algorithms. In this paper, a sensor-body coordinate system calibration algorithm based on hand-eye calibration is proposed, which only requires three calibration poses to complete the calibration of the whole-body sensor-body coordinate system. In this paper, joint parameter estimation algorithm based on human joint const

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Wu, Yuqiang, Edoardo Lamon, Fei Zhao, Wansoo Kim, and Arash Ajoudani. "Unified Approach for Hybrid Motion Control of MOCA Based on Weighted Whole-Body Cartesian Impedance Formulation." IEEE Robotics and Automation Letters 6, no. 2 (2021): 3505–12. http://dx.doi.org/10.1109/lra.2021.3062316.

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WENSING, PATRICK M., GHASSAN BIN HAMMAM, BEHZAD DARIUSH, and DAVID E. ORIN. "OPTIMIZING FOOT CENTERS OF PRESSURE THROUGH FORCE DISTRIBUTION IN A HUMANOID ROBOT." International Journal of Humanoid Robotics 10, no. 03 (2013): 1350027. http://dx.doi.org/10.1142/s0219843613500278.

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The force distribution problem (FDP) in robotics requires the determination of multiple contact forces to match a desired net contact wrench. For the double support case encountered in humanoids, this problem is underspecified, and provides the opportunity to optimize desired foot centers of pressure (CoPs) and forces. In different contexts, we may seek CoPs and contact forces that optimize actuator effort or decrease the tendency for foot roll. In this work, we present two formulations of the FDP for humanoids in double support, and propose objective functions within a general framework to ad

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FOISSOTTE, TOREA, OLIVIER STASSE, PIERRE-BRICE WIEBER, ADRIEN ESCANDE, and ABDERRAHMANE KHEDDAR. "AUTONOMOUS 3D OBJECT MODELING BY A HUMANOID USING AN OPTIMIZATION-DRIVEN NEXT-BEST-VIEW FORMULATION." International Journal of Humanoid Robotics 07, no. 03 (2010): 407–28. http://dx.doi.org/10.1142/s0219843610002246.

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An original method to build a visual model for unknown objects by a humanoid robot is proposed. The algorithm ensures successful autonomous realization of this goal by addressing the problem as an active coupling between computer vision and whole-body posture generation. The visual model is built through the repeated execution of two processes. The first one considers the current knowledge about the visual aspects and the shape of the object to deduce a preferred viewpoint with the aim of reducing the uncertainty of the shape and appearance of the object. This is done while considering the con

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Ju, Fengjia, Hongzhe Jin, Binluan Wang, and Jie Zhao. "A Predictable Obstacle Avoidance Model Based on Geometric Configuration of Redundant Manipulators for Motion Planning." Sensors 23, no. 10 (2023): 4642. http://dx.doi.org/10.3390/s23104642.

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When a manipulator works in dynamic environments, it may be affected by obstacles and may cause danger to people around. This requires the manipulator to be able to plan the obstacle avoidance motion in real time. Therefore, the problem solved in this paper is dynamic obstacle avoidance with the whole body of the redundant manipulator. The difficulty of this problem is how to model the manipulator to reflect the motion relationship between the manipulator and the obstacle. In order to describe accurately the occurrence conditions of the collision, we propose the triangular collision plane, a p

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Hong, Seongil, Gyuhyun Park, Youngwoo Lee, et al. "Development of a Tele-Operated Rescue Robot for a Disaster Response." International Journal of Humanoid Robotics 15, no. 04 (2018): 1850008. http://dx.doi.org/10.1142/s0219843618500081.

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This paper proposes practical hardware design strategies and control methods for a rescue robot to save patients in disastrous environments. None of the existing humanoid robots have not shown the capability to efficiently execute rescue tasks for transferring a human to a safe place in a highly unstructured world. To resolve this problem a new form of powerful dual arm mechanism and hybrid tracked-legged mobile platform is developed and the motion is synthesized with dynamics based optimization and a modified hierarchical control scheme. These new design and control policies enable us to simu

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Bae, Jong-Jin, and Namcheol Kang. "Development of a Five-Degree-of-Freedom Seated Human Model and Parametric Studies for Its Vibrational Characteristics." Shock and Vibration 2018 (October 23, 2018): 1–15. http://dx.doi.org/10.1155/2018/1649180.

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This study focuses on the biodynamic responses of a seated human model to whole-body vibrations in a vehicle. Five-degree-of-freedom nonlinear equations of motion for a human model were derived, and human parameters such as spring constants and damping coefficients were extracted using a three-step optimization processes that applied the experimental data to the mathematical human model. The natural frequencies and mode shapes of the linearized model were also calculated. In order to examine the effects of the human parameters, parametric studies involving initial segment angles and stiffness

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Yunusov, Rustem F., Abdulla E. Parmanov, Ilxom N. Karimov, Muzaffar N. Rajabov, Bobur B. Tuxtayev, and Shaxobiddin S. Raxmonov. "Methodology for calculating the characteristics of linear induction motors for low-speed process equipment." IOP Conference Series: Earth and Environmental Science 1231, no. 1 (2023): 012059. http://dx.doi.org/10.1088/1755-1315/1231/1/012059.

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Abstract An analysis of the drive characteristics of technological machines and mechanisms of agricultural production showed that their working bodies in 56.3% of cases have rotational motion, and in 43.7% they have translational motion. Special electromechanical and electromagnetic converters - an electric drive with a linear asynchronous motor - are very promising for driving the working bodies of technological equipment that perform translational and oscillatory motion, as well as rotational motion with a rotation speed of up to 500 min−1. A linear asynchronous electric drive makes it possi

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Andreoni, Giuseppe, Marco Mazzola, Tiziana Atzori, et al. "Digital Human Models for Automated Ultrasound User Interface Design." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 60, no. 1 (2016): 561–65. http://dx.doi.org/10.1177/1541931213601129.

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The purpose of this theoretical paper is to describe the development of a new technology for the automated analysis and design definition of Ultrasound (US) system User Interfaces (UI) and US transducers. US examination is a real-time multi-factor approach, which involves the whole sonographer’s body; its automated evaluation, analysis and design must take into account many different factors and aspects which need to be evaluated and implemented. The proposed technology, based on Digital Human Modeling (DHM) systems, would get input from multi-factor technologies such as Motion Analysis, Eye T

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Henze, M., J. Doll, R. Lucht, et al. "Diagnostic Evaluation of the Breast Using PET: Optimization of Data Acquisition and Postprocessing." Nuklearmedizin 39, no. 03 (2000): 62–66. http://dx.doi.org/10.1055/s-0038-1632246.

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Summary Purpose: Development and evaluation of an optimized protocol for PET examinations of the female breast with 2-F-l8-fluoro-2-deoxyglucose (F-18-FDG). Methods: All PET measurements were performed with a whole-body PET system (ECAT EXACT HR+). In order to examine the women with the breasts freely pendant, a special extension for the patient table made of carbon layer composite was designed. After data acquisition in the 3D modus, emission data were sorted into 2D sinograms using the Fourier rebinning algorithm and reconstructed by means of an ultra-fast iterative 2D algorithm (HOSP). The

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Liang, Ruijun, Wenlong Hao, Wenfeng Ran, and Wenhua Ye. "Analysis of the Creeping Phenomenon of Linear Feed System Based on the Rigid-Flexible Coupling Model." Shock and Vibration 2021 (July 2, 2021): 1–11. http://dx.doi.org/10.1155/2021/9928733.

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A mathematical model of the creeping phenomenon based on the mechanical model of the linear feed system was established. The dynamic characteristic parameters of each fixed joint were obtained by Yoshimura’s integral. Using the method, only the dynamic characteristic parameters of the joint surface per unit area with simple structure need to be studied, and then, the dynamic characteristic parameters of the whole joint surface can be obtained by integration. Based on the principle of the half-power bandwidth method and the frequency response function identification, the dynamic parameters of e

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Shi, Yapeng, Xiaolong He, Wenpeng Zou, et al. "Multi-Objective Optimal Torque Control with Simultaneous Motion and Force Tracking for Hydraulic Quadruped Robots." Machines 10, no. 3 (2022): 170. http://dx.doi.org/10.3390/machines10030170.

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Model-based force control for motion and force tracking faces significant challenges on real quadruped platforms due to the apparent model inaccuracies. In this paper, we present a multi-objective optimal torque control for hydraulic quadruped robots under significant model errors, such as non-modelable hydraulic components, linearization, disturbances, etc. More specifically, the centroidal dynamics are first modeled to project the dynamics of the floating-based whole-body behaviors to the centroidal frame. Model error compensation mechanisms are subsequently developed to track the reference

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Zheng, Zhaolong, Hao Ma, Weichao Yan, Haoyang Liu, and Zaiyue Yang. "Training Data Selection and Optimal Sensor Placement for Deep-Learning-Based Sparse Inertial Sensor Human Posture Reconstruction." Entropy 23, no. 5 (2021): 588. http://dx.doi.org/10.3390/e23050588.

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Although commercial motion-capture systems have been widely used in various applications, the complex setup limits their application scenarios for ordinary consumers. To overcome the drawbacks of wearability, human posture reconstruction based on a few wearable sensors have been actively studied in recent years. In this paper, we propose a deep-learning-based sparse inertial sensor human posture reconstruction method. This method uses bidirectional recurrent neural network (Bi-RNN) to build an a priori model from a large motion dataset to build human motion, thereby the low-dimensional motion

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Boyraz, Pinar, Svenja Tappe, Tobias Ortmaier, and Annika Raatz. "Design of a low-cost tactile robotic sleeve for autonomous endoscopes and catheters." Measurement and Control 53, no. 3-4 (2020): 613–26. http://dx.doi.org/10.1177/0020294019895303.

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Recent developments in medical robotics have been significant, supporting the minimally invasive operation requirements, such as smaller devices and more feedback available to surgeons. Nevertheless, the tactile feedback from a catheter or endoscopic type robotic device has been restricted mostly on the tip of the device and was not aimed to support the autonomous movement of the medical device during operation. In this work, we design a robotic sheath/sleeve with a novel and more comprehensive approach, which can function for whole body or segment-based feedback control as well as diagnostic

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Li, H. B., Y. Gao, D. Liu, et al. "Study on the dynamic characteristics of the revolver cannon under high-speed impact." Journal of Physics: Conference Series 2891, no. 7 (2024): 072032. https://doi.org/10.1088/1742-6596/2891/7/072032.

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Abstract Aiming at the problems of discontinuous mechanism action, excessive energy consumption and poor matching with the chainless feeding system under the harsh working conditions of high-speed strong impact, a certain revolver cannon has the problems of discontinuous mechanism action, excessive energy consumption and poor matching with the chainless feeding system. In order to further study the dynamic characteristics of the gas-operated revolver cannon under high-speed impact load, solve the matching problem between the revolver cannon and the chainless feeding system, and improve the fir

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Ueno, Ryo, Alessandro Navacchia, Nathan D. Schilaty, Gregory D. Myer, Timothy E. Hewett, and Nathaniel A. Bates. "Anterior Cruciate Ligament Loading Increases With Pivot-Shift Mechanism During Asymmetrical Drop Vertical Jump in Female Athletes." Orthopaedic Journal of Sports Medicine 9, no. 3 (2021): 232596712198909. http://dx.doi.org/10.1177/2325967121989095.

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Background: Frontal plane trunk lean with a side-to-side difference in lower extremity kinematics during landing increases unilateral knee abduction moment and consequently anterior cruciate ligament (ACL) injury risk. However, the biomechanical features of landing with higher ACL loading are still unknown. Validated musculoskeletal modeling offers the potential to quantify ACL strain and force during a landing task. Purpose: To investigate ACL loading during a landing and assess the association between ACL loading and biomechanical factors of individual landing strategies. Study Design: Descr

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Gupta, Dhruv, Cyril J. Donnelly, Jody L. Jensen, and Jeffrey A. Reinbolt. "Goal-Oriented Optimization of Dynamic Simulations to Find a Balance between Performance Enhancement and Injury Prevention during Volleyball Spiking." Life 11, no. 7 (2021): 598. http://dx.doi.org/10.3390/life11070598.

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Performance enhancement and injury prevention are often perceived as opposite sides of a coin, where focusing on improvements of one leads to detriment of the other. In this study, we used physics-based simulations with novel optimization methods to find participant-specific, whole-body mechanics of volleyball spiking that enhances performance (the peak height of the hitting hand and its forward velocity) while minimizing injury risk. For the volleyball spiking motion, the shoulder is the most common injury site because of the high mechanical loads that are most pronounced during the follow-th

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Nie, Zichen. "Research on sports planning and stability control of humanoid robot table tennis." International Journal of Advanced Robotic Systems 17, no. 1 (2020): 172988142090596. http://dx.doi.org/10.1177/1729881420905960.

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The humanoid robot has the human shape and has great advantages in assisting human life and work. The ability to work, especially in a dynamic, unstructured environment, is an important prerequisite for humanoid robots to assist humans in their mission. Table tennis hitting involves a variety of key technologies such as visual inspection, trajectory planning, and artificial intelligence. It is an important research example that can reflect the ability of humanoid robots. First, according to the requirements of humanoid robots in the human living environment and the requirements of coordinating

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Cruz, Jazmin, and James Yang. "Improved heat coefficients for joint-space metabolic energy expenditure model during level, uphill, and downhill walking." PLOS ONE 17, no. 4 (2022): e0267120. http://dx.doi.org/10.1371/journal.pone.0267120.

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A previously developed joint-space metabolic energy expenditure (MEE) model includes subject-specific parameters and was validated using level walking gait data. In this work, we determine how well this joint-space model performs during various walking grades (-8%, 0%, and 8%) at 0.8 m·s ⁻1 and 1.3 m·s ⁻1 using published gait data in the literature. In response to those results, we formulate an optimization problem and solve it through the particle swam method plus fmincon function in MATLAB to identify a new optimal weighting parameter set for each grade that produces more accurate predicted

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Kang, Ru, Fei Meng, Lei Wang, et al. "Bio-Inspired Take-Off Maneuver and Control in Vertical Jumping for Quadruped Robot with Manipulator." Micromachines 12, no. 10 (2021): 1189. http://dx.doi.org/10.3390/mi12101189.

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The jumping motion of legged robots is an effective way to overcome obstacles in the rugged microgravity planetary exploration environment. At the same time, a quadruped robot with a manipulator can achieve operational tasks during movement, which is more practical. However, the additional manipulator will restrict the jumping ability of the quadruped robot due to the increase in the weight of the system, and more active degrees of freedom will increase the control complexity. To improve the jumping height of a quadruped robot with a manipulator, a bio-inspired take-off maneuver based on the c

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Broniszewski, Jakub, and Janusz Ryszard Piechna. "Fluid-Structure Interaction Analysis of a Competitive Car during Brake-in-Turn Manoeuvre." Energies 15, no. 8 (2022): 2917. http://dx.doi.org/10.3390/en15082917.

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The relationship between the presented work and energy conservation is direct and indirect. Most of the literature related to energy-saving focuses on reducing the aerodynamic drag of cars, which typically leads to the appearance of vehicle motion instabilities at high speeds. Typically, this instability is compensated for by moving aerodynamic body components activated above a certain speed and left in that position until the vehicle speed drops. This change in vehicle configuration results in a significant increase in drag at high velocities. The presented study shows a fully coupled approac

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Mühling, M., S. Sandriesser, and P. Augat. "A PROTOCOL TO EVALUATE AND VALIDATE IMPLANT INTERNAL FORCES AND MOMENTS." Orthopaedic Proceedings 105-B, SUPP_7 (2023): 139. http://dx.doi.org/10.1302/1358-992x.2023.7.139.

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Implant manufacturers develop new products to improve existing fracture fixation methods or to approach new fracture challenges. New implants are commonly tested and approved with respect to their corresponding predecessor products, because the knowledge about the internal forces and moments acting on implants in the human body is unclear. The aim of this study was to evaluate and validate implant internal forces and moments of a complex physiological loading case and translate this to a standard medical device approval test.A finite elements model for a transverse femur shaft fracture (AO/OTA

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