Academic literature on the topic 'Fine motor kinematics'
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Journal articles on the topic "Fine motor kinematics"
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Fuchs, Susanne, and Pascal Perrier. "On the complex nature of speech kinematics." ZAS Papers in Linguistics 42 (January 1, 2005): 137–65. http://dx.doi.org/10.21248/zaspil.42.2005.276.
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Studying kinematic behavior in speech production is an indispensable and fruitful methodology in order to describe for instance phonemic contrasts, allophonic variations, prosodic effects in articulatory movements. More intriguingly, it is also interpreted with respect to its underlying control mechanisms. Several interpretations have been borrowed from motor control studies of arm, eye, and limb movements. They do either explain kinematics with respect to a fine tuned control by the Central Nervous System (CNS) or they take into account a combination of influences arising from motor control strategies at the CNS level and from the complex physical properties of the peripheral speech apparatus. We assume that the latter is more realistic and ecological. The aims of this article are: first, to show, via a literature review related to the so called '1/3 power law' in human arm motor control, that this debate is of first importance in human motor control research in general. Second, to study a number of speech specific examples offering a fruitful framework to address this issue. However, it is also suggested that speech motor control differs from general motor control principles in the sense that it uses specific physical properties such as vocal tract limitations, aerodynamics and biomechanics in order to produce the relevant sounds. Third, experimental and modelling results are described supporting the idea that the three properties are crucial in shaping speech kinematics for selected speech phenomena. Hence, caution should be taken when interpreting kinematic results based on experimental data alone.
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Tian, Jing, Amit Satpathy, Ee Sin Ng, Soh Guat Ong, Wei Cheng, Jean-Marc Burgunder, and Walter Hunziker. "Motion analytics of zebrafish using fine motor kinematics and multi-view trajectory." Multimedia Systems 22, no. 6 (December 18, 2014): 713–23. http://dx.doi.org/10.1007/s00530-014-0441-6.
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Taverna, Livia, Marta Tremolada, Barbara Tosetto, Liliana Dozza, and Zanin Scaratti Renata. "Impact of Psycho-Educational Activities on Visual-Motor Integration, Fine Motor Skills and Name Writing among First Graders: A Kinematic Pilot Study." Children 7, no. 4 (April 2, 2020): 27. http://dx.doi.org/10.3390/children7040027.
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This pilot study presents the effects on acquisition of pre-writing skills of educational activities targeting visual-motor integration and fine motor skills on a convenient sample of first graders. After a 10-week intervention program, visual perceptual skills and fine motor control were tested on 13 six-year-old aged children. Participants completed the Beery-Buktenica VMI and the manual dexterity scale of the Movement ABC-2 at baseline (T1), after the intervention program (T2), and one month after the end of the educational activities (T3). Children’s writing pressure, frequency, and automaticity were measured using a digitizer during the administration of name writing test at T1, T2, and T3. The purpose of the study was to investigate changes in visual-perceptual abilities and fine motor skills after the intervention program and examine correlational effects on children’s kinematic writing performances. Findings reveal that educational activities impacted positively on children’s visual motor coordination component of writing improving VMI scores. No statistically significant difference was detected across the three time points on students’ manual dexterity skills. Measurement of writing kinematics allows to report and document variations in children’s writing during intervention. This pilot study discusses these findings and their implications for the field on early childhood acquisition of foundational skills for handwriting. It also proposes potential topics for future research on this field.
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Pizzimenti, Marc A., Warren G. Darling, Diane L. Rotella, David W. McNeal, James L. Herrick, Jizhi Ge, Kimberly S. Stilwell-Morecraft, and Robert J. Morecraft. "Measurement of Reaching Kinematics and Prehensile Dexterity in Nonhuman Primates." Journal of Neurophysiology 98, no. 2 (August 2007): 1015–29. http://dx.doi.org/10.1152/jn.00354.2007.
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A modified “Klüver” or dexterity board was developed to assess fine control of hand and digit movements by nonhuman primates during the acquisition of small food pellets from wells of different diameter. The primary advantages of the new device over those used previously include standardized positioning of target food pellets and controlled testing of each hand without the need for restraints, thereby allowing the monkey to move freely about the cage. Three-dimensional video analysis of hand motion was used to provide measures of reaching accuracy and grip aperture, as well as temporal measures of reach duration and food-pellet manipulation. We also present a validated performance score based on these measures, which serves as an indicator of successful food-pellet retrieval. Tests in three monkeys show that the performance score is an effective measure with which to study fine motor control associated with learning and handedness. We also show that the device and performance scores are effective for differentiating the effects of localized injury to motor areas of the cerebral cortex.
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Lee, Seungjae, Hyejeong Lee, Jongshill Lee, Hokyoung Ryu, In Young Kim, and Jieun Kim. "Clip-On IMU System for Assessing Age-Related Changes in Hand Functions." Sensors 20, no. 21 (November 5, 2020): 6313. http://dx.doi.org/10.3390/s20216313.
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Hand functions affect the instrumental activities of daily living. While functional outcome measures, such as a targeted box and block test, have been widely used in clinical settings and provide a useful measure of overall performance, the advent of a wearable Inertial Measurement Unit(IMU)-based system enables the examination of the specific performance and kinematic parameters of hand movements. This study proposed a novel clip-on IMU system to facilitate the clinically fitted measurements of fine-motor finger and wrist joint movements. Clinical validation was conducted with the aim of characterising age-related changes in hand functions, namely grasping, transporting, and releasing blocks. Eighteen young (age 20–31) and sixteen healthy older adults (age 75–89) were evaluated during the box and block test. The results demonstrated that an older age was characterized by slower movements and higher variations and kinematic alterations in the hand functions, such as a larger range of motions at the fingers as well as kinematic trajectories. The proposed IMU system and subsequent validations highlight the value of the performance and kinematics parameters for a more comprehensive understanding of fine-motor finger and wrist movements that could shed light on further implementations in clinical and practical settings.
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Rong, Panying. "A Novel Hierarchical Framework for Measuring the Complexity and Irregularity of Multimodal Speech Signals and Its Application in the Assessment of Speech Impairment in Amyotrophic Lateral Sclerosis." Journal of Speech, Language, and Hearing Research 64, no. 8 (August 9, 2021): 2996–3014. http://dx.doi.org/10.1044/2021_jslhr-20-00743.
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Purpose The purposes of this study are to develop a novel multimodal framework for measuring variability at the muscular, kinematic, and acoustic levels of the motor speech hierarchy and evaluate the utility of this framework in detecting speech impairment in amyotrophic lateral sclerosis (ALS). Method The myoelectric activities of three bilateral jaw muscle pairs (masseter, anterior temporalis, and anterior belly of digastric), jaw kinematics, and speech acoustics were recorded in 13 individuals with ALS and 10 neurologically healthy controls during sentence reading. Thirteen novel measures (six muscular, three kinematic, four acoustic), which characterized two different but interrelated aspects of variability—complexity and irregularity—were derived using linear and nonlinear methods. Exploratory factor analysis was applied to identify the latent factors underlying these measures. Based on the latent factors, three supervised classifiers—support vector machine (SVM), random forest (RF), and logistic regression (Logit)—were used to differentiate between the speech samples for patients and controls. Results Four interpretable latent factors were identified, representing the complexity of jaw kinematics, the irregularity of jaw antagonists functioning, the irregularity of jaw agonists functioning, and the irregularity of subband acoustic signals, respectively. Based on these latent factors, the speech samples for patients and controls were classified with high accuracy (> 96% for SVM and RF; 88.64% for Logit), outperforming the unimodal measures. Two factors showed significant between-groups differences, as characterized by decreased complexity of jaw kinematics and increased irregularity of jaw antagonists functioning in patients versus controls. Conclusions Decreased complexity of jaw kinematics presumably reflects impaired fine control of jaw movement, while increased irregularity of jaw antagonists functioning could be attributed to reduced synchronization of motor unit firing in ALS. The findings provide preliminary evidence for the utility of the multimodal framework as a novel quantitative assessment tool for detecting speech impairment in ALS and (potentially) in other neuromotor disorders.
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Chen, Yuping, Sergio Garcia-Vergara, and Ayanna M. Howard. "Effect of a Home-Based Virtual Reality Intervention for Children with Cerebral Palsy Using Super Pop VR Evaluation Metrics: A Feasibility Study." Rehabilitation Research and Practice 2015 (2015): 1–9. http://dx.doi.org/10.1155/2015/812348.
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Objective.The purpose of this pilot study was to determine whether Super Pop VR, a low-cost virtual reality (VR) system, was a feasible system for documenting improvement in children with cerebral palsy (CP) and whether a home-based VR intervention was effective.Methods.Three children with CP participated in this study and received an 8-week VR intervention (30 minutes × 5 sessions/week) using the commercial EyeToy Play VR system. Reaching kinematics measured by Super Pop VR and two fine motor tools (Bruininks-Oseretsky Test of Motor Proficiency second edition, BOT-2, and Pediatric Motor Activity Log, PMAL) were tested before, mid, and after intervention.Results.All children successfully completed the evaluations using the Super Pop VR system at home where 85% of the reaches collected were used to compute reaching kinematics, which is compatible with literature using expensive motion analysis systems. Only the child with hemiplegic CP and more impaired arm function improved the reaching kinematics and functional use of the affected hand after intervention.Conclusion.Super Pop VR proved to be a feasible evaluation tool in children with CP.
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Boulenger, Véronique, Alice C. Roy, Yves Paulignan, Viviane Deprez, Marc Jeannerod, and Tatjana A. Nazir. "Cross-talk between Language Processes and Overt Motor Behavior in the First 200 msec of Processing." Journal of Cognitive Neuroscience 18, no. 10 (October 2006): 1607–15. http://dx.doi.org/10.1162/jocn.2006.18.10.1607.
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A recently emerging view sees language understanding as closely linked to sensory and motor processes. The present study investigates this issue by examining the influence of processing action verbs and concrete nouns on the execution of a reaching movement. Fine-grained analyses of movement kinematics revealed that relative to nouns, processing action verbs significantly affects overt motor performance. Within 200 msec after onset, processing action verbs interferes with a concurrent reaching movement. By contrast, the same words assist reaching movement when processed before movement onset. The cross-talk between language processes and overt motor behavior provides unambiguous evidence that action words and motor action share common cortical representations and could thus suggest that cortical motor regions are indeed involved in action word retrieval.
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Oota, Satoshi, Yosuke Ikegami, Koh Ayusawa, Nobunori Kakusho, Hirotaka Imagawa, Hiroyuki Hishida, Hiromasa Suzuki, et al. "Fine-grained phenotypic analyses of motor functions for laboratory mice: The inverse kinematics of mouse gait patterns." Neuroscience Research 71 (September 2011): e244. http://dx.doi.org/10.1016/j.neures.2011.07.1067.
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Chen, Yu-Ping, Lin-Ju Kang, Tien-Yow Chuang, Ji-Liang Doong, Shwn-Jan Lee, Mei-Wun Tsai, Suh-Fang Jeng, and Wen-Hsu Sung. "Use of Virtual Reality to Improve Upper-Extremity Control in Children With Cerebral Palsy: A Single-Subject Design." Physical Therapy 87, no. 11 (November 1, 2007): 1441–57. http://dx.doi.org/10.2522/ptj.20060062.
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Background and Purpose Virtual reality (VR) creates an exercise environment in which the intensity of practice and positive feedback can be systematically manipulated in various contexts. The purpose of this study was to investigate the training effects of a VR intervention on reaching behaviors in children with cerebral palsy (CP). Participants Four children with spastic CP were recruited. Method A single-subject design (A-B with follow-up) was used. All children were evaluated with 3 baseline, 4 intervention, and 2 follow-up measures. A 4-week individualized VR training program (2 hours per week) with 2 VR systems was applied to all children. The outcome measures included 4 kinematic parameters (movement time, path length, peak velocity, and number of movement units) for mail-delivery activities in 3 directions (neutral, outward, and inward) and the Fine Motor Domain of the Peabody Developmental Motor Scales–Second Edition (PDMS-2). Visual inspection and the 2-standard-deviation–band method were used to compare the outcome measures. Results Three children who had normal cognition showed improvements in some aspects of reaching kinematics, and 2 children’s change scores on the PDMS-2 reached the minimal detectable change during the intervention. The improvements in kinematics were partially maintained during follow-up. Discussion and Conclusion A 4-week individualized VR training program appeared to improve the quality of reaching in children with CP, especially in children with normal cognition and good cooperation. The training effects were retained in some children after the intervention.
Dissertations / Theses on the topic "Fine motor kinematics"
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Lavelle, Barbara M., and barbara lavelle@deakin edu au. "complexity, age and motor competence effects on fine motor kinematics." Deakin University. School of Health Sciences, 2002. http://tux.lib.deakin.edu.au./adt-VDU/public/adt-VDU20061207.122512.
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Prehension is a fundamental skill usually performed as part of a complex action sequence in everyday tasks. Using an information processing framework, these studies examined the effects of task complexity, defined by the number of component movement elements (MEs), on performance of prehension tasks. Of interest was how motor control and organisation might be influenced by age and/or motor competence. Three studies and two longitudinal case studies examined kinematic characteristics of prehension tasks involving one-, two- and three-MEs: reach and grasp (low-complexity); reach, grasp and object placement (moderate-complexity); and reach, grasp and double placement of object (high-complexity).
A pilot study established the suitability of tasks and procedures for children aged 5-, 8- and 11-years and showed that responses to task complexity and object size manipulations were sensitive to developmental changes, with increasing age associated with faster movements. Study 2 explored complexity and age effects further for children aged 6- and 11-years and adults. Increasing age was associated with shorter and less variable movement times (MTs) and proportional deceleration phases (%DTs) across all MEs. Task complexity had no effect on simple reaction time (SRT), suggesting that there may be little preprogramming of movements beyond the first ME. In addition, MT was longer and more on-line corrections were evident for the high- compared to the moderate-complexity task for ME1. Task complexity had a greater influence on movements in ME2 and ME3 than ME1. Adults, but not children, showed task specific adaptations in ME2.
Study 3 examined performance of children with different levels of motor competence aged between 5- and 10-years. Increasing age was associated with shorter SRTs, and MTs for ME1 only. A decrease in motor competence was associated with greater difficulty in planning and controlling movements as indicated by longer SRTs, higher %DTs and more on-line corrections, especially in ME2. Task complexity affected movements in all MEs, with a greater influence on ME1 compared to Study 2. Findings also indicated that performance in MEs following prehension may be especially sensitive to motor competence effects on movement characteristics. Case studies for two children at risk of Developmental Coordination Disorder (DCD) revealed two different patterns of performance change over a 16-17 month period, highlighting the heterogeneous nature of DCD. Overall, findings highlighted age-related differences, and the role of motor competence, in the ability to adapt movements to task specific requirements. Results are useful in guiding movement education programmes for children with both age-appropriate and lower levels of motor competence.
Book chapters on the topic "Fine motor kinematics"
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Scano, Alessandro, Marco Caimmi, Andrea Chiavenna, Matteo Malosio, and Lorenzo Molinari Tosatti. "A Kinect-Based Biomechanical Assessment of Neurological Patients' Motor Performances for Domestic Rehabilitation." In Advances in Medical Technologies and Clinical Practice, 252–79. IGI Global, 2016. http://dx.doi.org/10.4018/978-1-4666-9740-9.ch013.
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Stroke is one of the main causes of disability in Western countries. Damaged brain areas are not able to provide the fine-tuned muscular control typical of human upper-limbs, resulting in many symptoms that affect consistently patients' daily-life activities. Neurological rehabilitation is a multifactorial process that aims at partially restoring the functional properties of the impaired limbs, taking advantage of neuroplasticity, i.e. the capability of re-aggregating neural networks in order to repair and substitute the damaged neural circuits. Recently, many virtual reality-based, robotic and exoskeleton approaches have been developed to exploit neuroplasticity and help conventional therapies in clinic. The effectiveness of such methods is only partly demonstrated. Patients' performances and clinical courses are assessed via a variety of complex and expensive sensors and time-consuming techniques: motion capture systems, EMG, EEG, MRI, interaction forces with the devices, clinical scales. Evidences show that benefits are proportional to treatment duration and intensity. Clinics can provide intensive assistance just for a limited amount of time. Thus, in order to preserve the benefits and increase them in time, the rehabilitative process should be continued at home. Simplicity, easiness of use, affordability, reliability and capability of storing logs of the rehabilitative sessions are the most important requirements in developing devices to allow and facilitate domestic rehabilitation. Tracking systems are the primary sources of information to assess patients' motor performances. While expensive and sophisticated techniques can investigate neuroplasticity, neural activation (fMRI) and muscle stimulation patterns (EMG), the kinematic assessment is fundamental to provide basic but essential quantitative evaluations as range of motion, motor control quality and measurements of motion abilities. Microsoft Kinect and Kinect One are programmable and affordable tracking sensors enabling the measurement of the positions of human articular centers. They are widely used in rehabilitation, mainly for interacting with virtual environments and videogames, or training motor primitives and single joints. In this paper, the authors propose a novel use of the Kinect and Kinect One sensors in a medical protocol specifically developed to assess the motor control quality of neurologically impaired people. It is based on the evaluation of clinically meaningful synthetic performance indexes, derived from previously developed experiences in upper-limb robotic treatments. The protocol provides evaluations taking into account kinematics (articular clinical angles, velocities, accelerations), dynamics (shoulder torque and shoulder effort index), motor and postural control quantities (normalized jerk of the wrist, coefficient of periodicity, center of mass displacement). The Kinect-based platform performance evaluation was off-line compared with the measurements obtained with a marker-based motion tracking system during the execution of reaching tasks against gravity. Preliminary results based on the Kinect sensor suggest its efficacy in clustering healthy subjects and patients according to their motor performances, despite the less sensibility in respect to the marker-based system used for comparison. A software library to evaluate motor performances has been developed by the authors, implemented in different programming languages and is available for on-line use during training/evaluation sessions (Figure 1). The Kinect sensor coupled with the developed computational library is proposed as an assessment technology during domestic rehabilitation therapies with on-line feedback, enabled by an application featuring tracking, graphical representation and data logging. An experimental campaign is under development on post-stroke patients with the Kinect-One sensor. Preliminary results on patients with different residual functioning and level of impairment indicate the capability of the whole system in discriminating motor performances.
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Scano, Alessandro, Marco Caimmi, Andrea Chiavenna, Matteo Malosio, and Lorenzo Molinari Tosatti. "A Kinect-Based Biomechanical Assessment of Neurological Patients' Motor Performances for Domestic Rehabilitation." In Robotic Systems, 811–37. IGI Global, 2020. http://dx.doi.org/10.4018/978-1-7998-1754-3.ch042.
Full textAbstract:
Stroke is one of the main causes of disability in Western countries. Damaged brain areas are not able to provide the fine-tuned muscular control typical of human upper-limbs, resulting in many symptoms that affect consistently patients' daily-life activities. Neurological rehabilitation is a multifactorial process that aims at partially restoring the functional properties of the impaired limbs, taking advantage of neuroplasticity, i.e. the capability of re-aggregating neural networks in order to repair and substitute the damaged neural circuits. Recently, many virtual reality-based, robotic and exoskeleton approaches have been developed to exploit neuroplasticity and help conventional therapies in clinic. The effectiveness of such methods is only partly demonstrated. Patients' performances and clinical courses are assessed via a variety of complex and expensive sensors and time-consuming techniques: motion capture systems, EMG, EEG, MRI, interaction forces with the devices, clinical scales. Evidences show that benefits are proportional to treatment duration and intensity. Clinics can provide intensive assistance just for a limited amount of time. Thus, in order to preserve the benefits and increase them in time, the rehabilitative process should be continued at home. Simplicity, easiness of use, affordability, reliability and capability of storing logs of the rehabilitative sessions are the most important requirements in developing devices to allow and facilitate domestic rehabilitation. Tracking systems are the primary sources of information to assess patients' motor performances. While expensive and sophisticated techniques can investigate neuroplasticity, neural activation (fMRI) and muscle stimulation patterns (EMG), the kinematic assessment is fundamental to provide basic but essential quantitative evaluations as range of motion, motor control quality and measurements of motion abilities. Microsoft Kinect and Kinect One are programmable and affordable tracking sensors enabling the measurement of the positions of human articular centers. They are widely used in rehabilitation, mainly for interacting with virtual environments and videogames, or training motor primitives and single joints. In this paper, the authors propose a novel use of the Kinect and Kinect One sensors in a medical protocol specifically developed to assess the motor control quality of neurologically impaired people. It is based on the evaluation of clinically meaningful synthetic performance indexes, derived from previously developed experiences in upper-limb robotic treatments. The protocol provides evaluations taking into account kinematics (articular clinical angles, velocities, accelerations), dynamics (shoulder torque and shoulder effort index), motor and postural control quantities (normalized jerk of the wrist, coefficient of periodicity, center of mass displacement). The Kinect-based platform performance evaluation was off-line compared with the measurements obtained with a marker-based motion tracking system during the execution of reaching tasks against gravity. Preliminary results based on the Kinect sensor suggest its efficacy in clustering healthy subjects and patients according to their motor performances, despite the less sensibility in respect to the marker-based system used for comparison. A software library to evaluate motor performances has been developed by the authors, implemented in different programming languages and is available for on-line use during training/evaluation sessions (Figure 1). The Kinect sensor coupled with the developed computational library is proposed as an assessment technology during domestic rehabilitation therapies with on-line feedback, enabled by an application featuring tracking, graphical representation and data logging. An experimental campaign is under development on post-stroke patients with the Kinect-One sensor. Preliminary results on patients with different residual functioning and level of impairment indicate the capability of the whole system in discriminating motor performances.
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Giallanza, Antonio, Ferdinando Morace, and Giuseppe Marannano. "Design of a Close Power Loop Test Bench for Contra-Rotating Propellers." In Progress in Marine Science and Technology. IOS Press, 2020. http://dx.doi.org/10.3233/pmst200042.
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The aim of the research is to develop an azimuthing contra-rotating propeller for commercial applications with a power of 2000 kW. The thruster system is designed especially to be installed on high speed crafts (HSCs) for passenger transport with a cruising speed of about 35–40 knots. The topic is very useful because the azimuth thruster solutions currently do not find commercial applications in naval units for passenger transport. The latter are heavy, not very efficient from a hydrodynamic point of view and suitable for maximum cruising speed of about 18–20 knots. The study is interesting because among the advantages that these solutions provide are the possibility of transmitting very high torques and to guarantee a much longer life cycle. In more detail, the propulsion is realized by using a C-drive configuration, with a first mechanical transmission realized by using bevel gears mounted in a frame inside the hull, and a second transmission realized by bevel gears housed in a profiled hull at the lower end of a support structure. In the profiled hull will be installed the shafts of the propellers, in a contra-rotating configuration. In order to optimize the system before its industrial use, a close power loop test bench has been studied and designed to test high power transmissions. The test configuration allows to implement a back-to-back connection between two identical azimuthing contra-rotating propellers. Moreover, the particular test bench allows to size the electric motor simply based on the dissipated power by the kinematic mechanisms. Since the efficiency of these systems are very high, it is not necessary to use large electric motors, thus managing to contain the operating costs of the testing phase. The most significant disadvantage is the need to have two identical transmissions with consequent increase in installation costs. Through the back-to-back test bench it was possible to study the increase in efficiency compared to traditional systems.
Conference papers on the topic "Fine motor kinematics"
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Wood, Eric, Carl A. Nelson, and Alyssa Koch. "Improved PID Control Using an Adaptive Two-Input Single-Output Coarse/Fine Approach." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47881.
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In robotic manufacturing, the qualities of responsiveness (speed) and accuracy are both desirable, but these two goals tend to oppose each other. A theoretical model of an adaptive PID controller for robotic and other actuated mechanical systems is presented here in pursuit of these combined objectives. Emphasis is placed on rotational velocity control using multiple inputs to produce a single desired output. Shared control of the system between two motors is proposed such that dominance of each motor controller shifts smoothly as a function of error signal based on the kinematic combination of the motor inputs (continuously sliding modes). Performance and stability analyses are provided to illustrate the behavior of the system based on operating parameters.
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Jian, Shengqi, Cheng Yin, Luc Rolland, and Lesley James. "Five Bar Planar Manipulator Simulation and Analysis by Bond Graph." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-37602.
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This work focuses on the bond graph modelling method and its application on multi-body system, especially on the five-bar parallel robot. Five-bar parallel robot is comprised of four arms, two revolute actuators and five revolute joints. This paper adopts five-bar parallel robot in symmetric configuration as simulation object. As it will be used as a pickup and placing machine, its workspace is fixed on Cartesian coordinate. The relationship between the two rotating angles and end effector’s desire position is built by inverse kinematics. Bond graph is used to describe moment, torque, velocity, angle relationships. In this project, the dynamic performances between arms, motors at robot basement and end effector will be researched. In this paper, an investigation about how to use bond graph to model DC (direct current) servo motor and an integrated motion control system is carried out. During a typical end effector point-point displacement, the torque change between arms is plotted. Finally, 3-D animation experiment is conducted. Experiment results show that bond graph can simulate robot dynamics performance without having to make a large number of equations. It is able to simulate and solve five-bar kinematics problem in the process.
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Grenier, Martin, and Cle´ment Gosselin. "Kinematic Optimization of a Robotic Joint With Continuously Variable Transmission Ratio." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48443.
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The range of possible tasks achievable by robots highly depends on the selection of motors and transmissions. For example, variable ratio transmissions surpass single ratio transmissions because they can modify the torque-speed parameters of the actuator and, therefore, maintain the optimal power output state from the motor. Consequently, the use of variable ratio transmissions may expand a robot’s achievable tasks. A robotic joint with continuously variable transmission ratio is presented in this paper. This new type of transmission joint may be used in serial or parallel robots. The transmission consists of a doubly actuated two-degree-of-freedom five-bar parallel mechanism. The main actuator is located at the input revolute joint. The variation of the ratio is achieved with the adjustment actuator located at a second revolute joint. Such a transmission, based on a linkage, may have unde-sired ratio variations for a constant adjustement joint position. Therefore, two different optimization methods are presented to determine the best geometric parameters in order to minimize the undesired ratio variation while maximizing the possible transmission ratio range. The performance indices are either optimal for the entire range or only for the maximum and minimum ratios available. A simulation is presented with the best parameters obtained with the optimization based on the maximum and minimum ratios. Results show a transmission ratio ranging from 0.9:1 to 4.5:1 with a minimal amplification of 3.9:1. The transmission ratio may vary continuously within the working boundaries. The output range of motion may be adapted to a serial robot joint.
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He, Dong, Zhihong Sun, and W. J. Zhang. "A Note on Inverse Kinematics of Hybrid Actuation Robots for Path Design Problems." In ASME 2011 International Mechanical Engineering Congress and Exposition. ASMEDC, 2011. http://dx.doi.org/10.1115/imece2011-65109.
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Hybrid actuation robotic systems are mechanical systems that contain both servomotors and constant-velocity (CV) motors. Due to this nature of hybrid actuation, design of hybrid actuation robots is governed by both mechanism and robot design theories and methodologies. For instance, the path generation problem in mechanism design may take advantage of the effect of the servomotor for its real-time adjusting function, for which inverse kinematics needs to be established on the servomotor. In this paper, we first generalize four types of path design problems. We then present a general formulation of inverse kinematics for a five-bar hybrid actuation robot and compare two specific approaches to inverse kinematics in the literature in terms of of their computation and suitability to the path design of hybrid actuation robots. Finally, we extend the result for the five-bar hybrid actuation robot to a general hybrid actuation robot.
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Refaat, Sameh, Jacques M. Herve, Saeid Nahavandi, and Hieu Trinh. "High-Precision Five-Axis Machine for High-Speed Material Processing Using Linear Motors and Parallel-Serial Kinematics." In 2006 IEEE Conference on Emerging Technologies and Factory Automation. IEEE, 2006. http://dx.doi.org/10.1109/etfa.2006.355381.
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Shafiei, Somayeh B., Lora Cavuoto, and Khurshid A. Guru. "Motor Skill Evaluation During Robot-Assisted Surgery." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67607.
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Remote manipulation during robot-assisted surgery requires proficiency in perception, cognition, and motor skills. We aim to understand human motor control in remote manipulation of robotic surgical instrument and attempt to measure motor skills. Three features, smoothness, normalized jerk score, and two-thirds power law coefficient, estimating the motor skills of surgeons were analyzed. These features were calculated through segments, extracted from continuous end-effector trajectories during suturing, knot-tying, and needle-passing surgical tasks, performed by 8 right-handed subjects on bench-top models using da vinci surgical kit control system. Each subject repeated each task five times. Totally 1567 segments were extracted, 413, 437, and 717 segments performed by experts, intermediates, and novice subjects, respectively. Dynamic change of kinematic properties was analyzed to evaluate the relationship between considered features and motor skill level. Results show smoothness is significantly correlated with normalized jerk score and both features are significant measures of expertise levels. Also, results show the power law is violated by many end-effector trajectories and there is no relationship between obeying two-thirds power law, smoothness and jerk. We conclude trajectory is improved from non-smooth and jerky in novices to smooth in expert surgeons. This property may be used for motor skill evaluation. It is unlikely that obeying two-thirds power law be a valid property of all end-effector trajectories. However, power law coefficient may be a discriminant feature for levels of expertise. The results are also applicable in a home-based monitoring platform, to monitor motor functioning improvement of stroke patients during rehabilitation process.
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Zhang, Ke. "Dynamics Design of a Planar Controllable Five Bar Mechanism Based on Genetic Algorithm." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-34168.
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A hybrid five bar mechanism is a typical planar parallel robot. It is a configuration that combines the motions of two characteristically different motors by means of a five bar mechanism to produce programmable output. Hybrid five bar mechanism is the most representative one of hybrid mechanism. In this paper, considering the bond graph can provide a compact and versatile representation for kinematics and dynamics of hybrid mechanism, the dynamics analysis for a hybrid five-bar mechanism based on power bond graph theory is introduced. Then an optimization design of hybrid mechanism is performed with reference to dynamic objective function. By the use of the properties of global search of genetic algorithm (GA), an improved GA algorithm is proposed based on real-code. Optimum dimensions are obtained assuming there are no dimensional tolerances or clearances. Finally, a numerical example is carried out, and the simulation result shows that the optimization method is feasible and satisfactory in the design of hybrid mechanism.
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Warnix, Trevor, Ayse Tekes, Kevin McFall, and Coskun Tekes. "Dynamic Characterization and Modeling of Flexure Based Planar Mechanism." In ASME 2019 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/imece2019-10291.
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Abstract This paper investigates design, modeling and fabrication of a flexible five bar mechanism, which incorporates large deflecting flexure hinges attached to rigid links. This 3D printed flexible robotic mechanism is actuated by two servo motors and machine vision is used to obtain its tip position information. Detection of parts accomplished using color thresholding of a dynamic region of interest, while the position of detected elements is measured using the pinhole camera model. Under the assumption of non-small length flexures, where low aspect ratio is not satisfied, we adopt an initially curved pseudo rigid body approach to model each flexure as two rigid links that are pinned on top of each other using torsional springs, which capture the load-deflection behavior of the compliant flexures. Kinematic and dynamical equations are derived using both vector closure loop equations and Euler’s Laws of Motion. Adams simulation is performed by exporting the CAD model as a parasolid file, defining revolute joints and input motions and converting the rigid body to flexible. Mathematical model is validated using both the experimental data and Adams simulations.
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Tsai, L. W., G. Schultz, and N. Higuchi. "A Novel Parallel Hybrid Transmission." In ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2000. http://dx.doi.org/10.1115/detc2000/mech-14173.
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Abstract This paper presents a novel transmission mechanism for use in a parallel hybrid vehicle. A parallel hybrid vehicle typically employs two or more power sources to drive a vehicle. For such a vehicle to function properly, a non-conventional transmission mechanism and a microprocessor-based controller are needed to manage the power flow among the various power sources. The transmission mechanism described in this paper can provide a parallel hybrid with thirteen clutching conditions that can be grouped into five major modes of operation, namely, electric motor mode, power mode, CVT/charging mode, engine mode, and regenerative braking mode. The kinematics, statics, and power flow of each mode of operation are analyzed. A numerical example is used to illustrate the principle of operation. Furthermore, a clutching sequence control logic is developed.
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Fernandez-Prats, R., and F. J. Huera-Huarte. "Hydrodynamic Forces and DPIV on a Towed Pitching Foil." In ASME 2014 4th Joint US-European Fluids Engineering Division Summer Meeting collocated with the ASME 2014 12th International Conference on Nanochannels, Microchannels, and Minichannels. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/fedsm2014-21465.
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More than 90% of the thrust generated by thunniform swimmers is known to be produced by the oscillation of their caudal fin, and the rest by their caudal peduncle. We have designed an experiment in which we can mimic, in a simplified manner, the kinematics of swimmers that mainly use their caudal fin for propulsion. The set-up consists of a rectangular foil attached to a shaft that is controlled by a stepper motor, and the whole assembly can be towed in still water at different controllable speeds. With this system we can study the effect of different types of pitching on the hydrodynamic loads and the performance of the propulsion system. By changing the type of foil, the effects of the flexibility in the propulsion can also be analysed. Hydrodynamic loads were measured with a 6-axes balance, and the flow structures were investigated using a Digital Particle Image Velocimetry (DPIV). Loads and DPIV velocity fields were acquired synchronously.