Dissertations / Theses on the topic 'Human Kinematics'
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1
Dickson, Ruth. "The kinematics of human tool use." Thesis, Bangor University, 2018. https://research.bangor.ac.uk/portal/en/theses/the-kinematics-of-human-tool-use(ae098f00-5385-4e16-9d01-60c0d173452c).html.
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The aim of this thesis was to use kinematic analysis to further our understanding of tool Use. We wanted to investigate whether there were similarities in how people picked up objects with their hand and with a tool, and whether these remained when we manipulated the ratio and motor equivalence of the tool. This allowed us to investigate the concepts of end-effector control and internal tool models. Participants compensated for the ratio of the red 1.4:1 tool to the same extent when only cued with tool colour as when having all of the information. This shows that information about the tool must have been stored in memory, supporting the idea of internal tool models. Participants produced qualitatively similar movements with our tools and the hand, showing no difference in the peak velocity and altering peak end-effector aperture based on tool ratio. Further to this, participants displayed similar adaptive mechanisms in response to visual uncertainty with the hand, the blue 1:1 tool and the red tool, but not with the yellow 0.7:1 tool however. Throughout the thesis participants also compensated less for the ratio of this tool than the red one. Whilst attempting to investigate the imperfect compensation seen with both tools we understood this issue more. Participants overestimated object size with the yellow tool and performed more poorly at a size discrimination task as well. This pointed towards a biased internal tool model, tending towards the aperture of the hand. This accounted for the asymmetric compensation seen between the red and yellow tools. We concluded that the imperfect compensation for tool ratio was caused by noise in the internal tool models and that the yellow tool model was then biased as well, further reducing compensation. Our findings support the idea that the precision with which we can use a tool could be modulated by prior experience with that transformation. We also believe that the degree of motor equivalence of the tool contributes to precision of use, with tools that are not directly equivalent taking longer to develop a robust internal model for. However, even tools without direct motor equivalence display some of the hallmarks of reaching and grasping with the hand, suggesting that grasping movements could be encoded in end-effector units.
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Murray, George M. "Acrosome size and kinematics of human spermatozoa." Thesis, Link to the online version, 2007. http://hdl.handle.net/10019/1131.
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Powers, Marilyn Joy. "Human patellofemoral kinematics and related joint surface geometry." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape7/PQDD_0015/MQ48068.pdf.
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Pantazis, Ioannis. "Tracking human walking using MARG sensors." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2005. http://library.nps.navy.mil/uhtbin/hyperion/05Jun%5FPantazis.pdf.
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Thesis (M.S. in Electrical Engineering and M.S. in Systems Engeineering)--Naval Postgraduate School, June 2005.Thesis Advisor(s): Xiaoping Yun. Includes bibliographical references (p. 93-95). Also available online.
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Rubin, Richard K. "Three-dimensional measurement and visualisation of human lumbar kinematics." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0007/MQ44038.pdf.
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Murphy, Michael Charles 1955. "Geometry and the kinematics of the normal human knee." Thesis, Massachusetts Institute of Technology, 1990. http://hdl.handle.net/1721.1/13612.
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Yarbrough, Nancy Victoria 1945. "CONTROL OF TOUCHDOWN IN HUMAN LOCOMOTION (ELECTROMYOGRAPHY, WALKING, KINEMATICS)." Thesis, The University of Arizona, 1986. http://hdl.handle.net/10150/291309.
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Gezgin, Erkin Alizade Rasim. "Biokinematic analysis of human arm." [s.l.]: [s.n.], 2006. http://library.iyte.edu.tr/tezler/master/makinamuh/T000547.pdf.
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Thesis (Master)--İzmir Institute of Technology, İzmir, 2006.Keywords: Biokinematic analysis, quaternionlar, structural groups, mechanism theory,robot manipulators. Includes bibliographical references (leaves 78-85).
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Zhang, Chunxiao. "Estimation of 3D human motion kinematics model from multiple cameras." Thesis, University of Central Lancashire, 2009. http://clok.uclan.ac.uk/19932/.
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Estimation of articulated human motion based on video sequences acquired from multiple synchronised cameras is an active and challenging research area. This is mainly due to the need of high dimensional non-linear models to describe the human motion, cluttered data, and occlusions present in the captured images. Although many diverse techniques have been proposed to solve this problem, none of the existing solutions is fully satisfactory. In this thesis, upper body motion tracking and full body motion tracking based on the annealed particle filter (APP) approach are presented. To successfully implement a body motion tracking algorithm, the first requirement is to prepare and pre-process the data. The work performed in this area includes calibration of multiple cameras, colour image segmentation to extract body silhouettes from the cluttered background, and visual hull reconstruction to provide voxels representing a human volume in 3D space. The second requirement is to build the models. Two set of models are proposed in this thesis. The first set is for upper body tracking and it contains point models and two-segment articulated arm models; the second set is for full body tracking and it contains five articulated chains as a full human model. The final requirement is to design a measurement method for aligning the models to the data. Two novel measurement methods are proposed for the motion tracking: one is based on a combination of different penalties tailored to each body part based on the percentage of the 3D to 2D projected body points, falling inside and outside the body silhouette, and the other is based on the symmetrical property of the intensity profile obtained from the body silhouette bisected by the 3D to 2D projection of the estimated skeletal model. Various evaluations were carried out to demonstrate the effectiveness of the algorithms implemented and the excellent performance of the proposed methods for upper body and full body motion tracking. These include the accuracy analysis of cameras calibration and image segmentation; the accuracy and speed of APF applied to the articulated arm model in tracking of the infra-red marker based human motion data; as well as the visual and quantitative assessments of the final results obtained from the proposed upper body and full body motion tracking.
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Edey, Rosanna. "The role of human movement kinematics in internal state inference." Thesis, Birkbeck (University of London), 2017. http://bbktheses.da.ulcc.ac.uk/311/.
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The kinematics of our movements reflect our internal (mental and affective) states. This thesis tests the hypothesis that these kinematic signals contribute to judgments about others’ internal states through models based on our own actions. Chapter 1 details the theoretical background and previous literature that motivates this hypothesis. Chapter 2 (typical adults) and 3 (typical adolescents) test the hypothesis that we use models of our own action kinematics to make judgments about others’ affective states. Both experiments support the hypothesis by demonstrating that differences in one’s own typical action kinematics determine the perceived intensity of affective states of observed point-light walkers. Chapters 4, 5, and 6 examine the hypothesis that atypical movement kinematics in autism spectrum disorder (autism) contribute to social communication difficulties. Chapters 4 and 5 measure two basic skills required to make internal state judgments from observing others’ actions: visual time perception and sensitivity to kinematic signals that describe ‘natural’ motion. Both studies find no deficits in the autism group compared to the typically developed group – and some enhanced abilities – suggesting that these basic skills are intact. However, Chapter 6 demonstrates that typically developed individuals are impaired at reading mental states from autistic actions, suggesting that atypical movement kinematics may be partly contributing to bi-directional communicative difficulties experienced between individuals with autism and their typical peers. Chapter 7 investigates whether differences in movement kinematics early in development are associated with later social skills in a group of infants at high- or low-risk of developing autism. Indeed, movement kinematics at 10 months of age predicts social abilities at 14 months of age, demonstrating the value of kinematic markers for predicting social functioning and possibly disorder. Chapter 8 summarises the studies presented in this thesis, which show support for the hypothesis that we judge others’ internal states through models based on our own actions.
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Chang, Ryan 1978. "Lower limb joint kinematics of hockey skating." Thesis, McGill University, 2003. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=78336.
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The purpose of this study was to describe various kinematic variables of the skating stride. A data set for five collegiate hockey players was completed (mean +/- SD: age = 22.0 +/- 1.0 years, height = 1.77 +/- 0.06 m, weight = 80.0 +/- 8.5 kg). Three velocities were examined on the skating treadmill: slow (12 km/hr), medium (18 km/hr) and fast (24 km/hr). Electrogoniometers at the hip (H), knee (K) and ankle (ANK) were used to acquire angular displacement and velocity profiles. A trend for increasing range of motion and a significant (p < 0.05) increase in stride rate was observed with speed. Movement patterns between subjects were consistent for the H and K with some variations at the ANK. The study concluded that skating speed was controlled by stride rate while movement profiles remained unchanged.
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McKenzie, Nicole C., and University of Lethbridge Faculty of Arts and Science. "Obstacle negotiation kinematics: age-dependent effects of postural threat." Thesis, Lethbridge, Alta. : University of Lethbridge, Faculty of Arts and Science, 2002, 2002. http://hdl.handle.net/10133/192.
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The effects of postural threat and the potential consequences of obstacle contact on the obstacle contact on the obstacle negotiation kinematics among younger and older adults were examined. Seventeen older (OA;7males, 10 females; mean age, 68.94 + 4.85) and fifteen younger adults (YA; 5males, 10 females; mean age, 22.53 + 2.77) negotiated virtual and real obstacles while walking at a self-determined velocity along a 7.2m walkway under 4 different conditions of postural threat. Postural threat was manipulated by varying the width (0.60m)) of the walkway. Postural threat altered crossing kinematics for all subjects. Specifically, age-related differences emerged with increasing postural threat, however the changes observed among older adults were considerably different from those of younger adults. Additionally, there was no effect for the potential consequences of obstacle contact, however, no age-related differences emerged. These results revealed an effect for postural threat and obstacle characteristics on the negotiation strategies of younger and older adults. Both postural threat and obstacle characteristics elicit conservative crossing kinematics in younger and older adults. Specifically, these findings illustrate age-dependent differences in obstacle negotiation strategies and that postural threat affects older adults differently than younger adults whereas the potential consequences of obstacle contact affects younger and older adults equally.xii, 79 leaves ; 28 cm.
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Casanueva, Luis. "Minimal motion capture with inverse kinematics for articulated human figure animation." Thesis, Rhodes University, 2000. http://hdl.handle.net/10962/d1006485.
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Animating an articulated figure usually requires expensive hardware in terms of motion capture equipment, processing power and rendering power. This implies a high cost system and thus eliminates the use of personal computers to drive avatars in virtual environments. We propose a system to animate an articulated human upper body in real-time, using minimal motion capture trackers to provide position and orientation for the limbs. The system has to drive an avatar in a virtual environment on a low-end computer. The cost of the motion capture equipment must be relatively low (hence the use of minimal trackers). We discuss the various types of motion capture equipment and decide to use electromagnetic trackers which are adequate for our requirements while being reasonably priced. We also discuss the use of inverse kinematics to solve for the articulated chains making up the topology of the articulated figure. Furthermore, we offer a method to describe articulated chains as well as a process to specify the reach of up to four link chains with various levels of redundancy for use in articulated figures. We then provide various types of constraints to reduce the redundancy of non-defined articulated chains, specifically for chains found in an articulated human upper body. Such methods include a way to solve for the redundancy in the orientation of the neck link, as well as three different methods to solve the redundancy of the articulated human arm. The first method involves eliminating a degree of freedom from the chain, thus reducing its redundancy. The second method calculates the elevation angle of the elbow position from the elevation angle of the hand. The third method determines the actual position of the elbow from an average of previous positions of the elbow according to the position and orientation of the hand. The previous positions of the elbow are captured during the calibration process. The redundancy of the neck is easily solved due to the small amount of redundancy in the chain. When solving the arm, the first method which should give a perfect result in theory, gives a poor result in practice due to the limitations of both the motion capture equipment and the design. The second method provides an adequate result for the position of the redundant elbow in most cases although fails in some cases. Still it benefits from a simple approach as well as very little need for calibration. The third method provides the most accurate method of the three for the position of the redundant elbow although it also fails in some cases. This method however requires a long calibration session for each user. The last two methods allow for the calibration data to be used in latter session, thus reducing considerably the calibration required. In combination with a virtual reality system, these processes allow for the real-time animation of an articulated figure to drive avatars in virtual environments or for low quality animation on a low-end computer.
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Menychtas, Dimitrios. "Human Body Motions Optimization for Able-Bodied Individuals and Prosthesis Users During Activities of Daily Living Using a Personalized Robot-Human Model." Scholar Commons, 2018. https://scholarcommons.usf.edu/etd/7547.
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Current clinical practice regarding upper body prosthesis prescription and training is lacking a standarized, quantitative method to evaluate the impact of the prosthetic device. The amputee care team typically uses prior experiences to provide prescription and training customized for each individual. As a result, it is quite challenging to determine the right type and fit of a prosthesis and provide appropriate training to properly utilize it early in the process. It is also very difficult to anticipate expected and undesired compensatory motions due to reduced degrees of freedom of a prosthesis user. In an effort to address this, a tool was developed to predict and visualize the expected upper limb movements from a prescribed prosthesis and its suitability to the needs of the amputee. It is expected to help clinicians make decisions such as choosing between a body-powered or a myoelectric prosthesis, and whether to include a wrist joint.
To generate the motions, a robotics-based model of the upper limbs and torso was created and a weighted least-norm (WLN) inverse kinematics algorithm was used. The WLN assigns a penalty (i.e. the weight) on each joint to create a priority between redundant joints. As a result, certain joints will contribute more to the total motion. Two main criteria were hypothesized to dictate the human motion. The first one was a joint prioritization criterion using a static weighting matrix. Since different joints can be used to move the hand in the same direction, joint priority will select between equivalent joints. The second criterion was to select a range of motion (ROM) for each joint specifically for a task. The assumption was that if the joints' ROM is limited, then all the unnatural postures that still satisfy the task will be excluded from the available solutions solutions. Three sets of static joint prioritization weights were investigated: a set of optimized weights specifically for each task, a general set of static weights optimized for all tasks, and a set of joint absolute average velocity-based weights. Additionally, task joint limits were applied both independently and in conjunction with the static weights to assess the simulated motions they can produce. Using a generalized weighted inverse control scheme to resolve for redundancy, a human-like posture for each specific individual was created.
Motion capture (MoCap) data were utilized to generate the weighting matrices required to resolve the kinematic redundancy of the upper limbs. Fourteen able-bodied individuals and eight prosthesis users with a transradial amputation on the left side participated in MoCap sessions. They performed ROM and activities of daily living (ADL) tasks. The methods proposed here incorporate patient's anthropometrics, such as height, limb lengths, and degree of amputation, to create an upper body kinematic model. The model has 23 degrees-of-freedom (DoFs) to reflect a human upper body and it can be adjusted to reflect levels of amputation.
The weighting factors resulted from this process showed how joints are prioritized during each task. The physical meaning of the weighting factors is to demonstrate which joints contribute more to the task. Since the motion is distributed differently between able-bodied individuals and prosthesis users, the weighting factors will shift accordingly. This shift highlights the compensatory motion that exist on prosthesis users.
The results show that using a set of optimized joint prioritization weights for each specific task gave the least RMS error compared to common optimized weights. The velocity-based weights had a slightly higher RMS error than the task optimized weights but it was not statistically significant. The biggest benefit of that weight set is their simplicity to implement compared to the optimized weights. Another benefit of the velocity based weights is that they can explicitly show how mobile each joint is during a task and they can be used alongside the ROM to identify compensatory motion. The inclusion of task joint limits gave lower RMS error when the joint movements were similar across subjects and therefore the ROM of each joint for the task could be established more accurately. When the joint movements were too different among participants, the inclusion of task limits was detrimental to the simulation. Therefore, the static set of task specific optimized weights was found to be the most accurate and robust method. However, the velocity-based weights method was simpler with similar accuracy.
The methods presented here were integrated in a previously developed graphical user interface (GUI) to allow the clinician to input the data of the prospective prosthesis users. The simulated motions can be presented as an animation that performs the requested task. Ultimately, the final animation can be used as a proposed kinematic strategy that a prosthesis user and a clinician can refer to, during the rehabilitation process as a guideline. This work has the potential to impact current prosthesis prescription and training by providing personalized proposed motions for a task.
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Shin, Dong-Min. "The jump landing impact absorption kinematics and kinetics." Virtual Press, 1992. http://liblink.bsu.edu/uhtbin/catkey/834520.
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The purpose of this study was to determine the jump landing impact absorption kinematic and kinetic characteristics of the four subject groups: a) male high school athletes, b) female high school seasonal athletes, c) female high school year-round athletes, and d) female college athletes who train year-round. Subjects dropped onto a force platform from a height of 40 centimeters. Variables analyzed were flexibility, strength, Fz, Fy, and Fx force, free moment, range of motion, contact and maximum angles, time to maximum angle, contact and maximum angular velocities, and time to maximum angular velocity. Significant differences among subject groups were determined through use of a factorial analysis of variance and Scheffe' post hoc test.A difference was noted in the landing patterns of males and females. Male subjects exhibited a significantly longer time to first vertical peak force. This longer time may allow for greater initial force attenuation; however, the male athletes had a significantfy greater second peak force. Males also differed significantly from females in anteroposterior and mediolateral force.The differences in method of force attenuation may be due to significantly greater ankle eversion shown by the males and greater knee flexion used by the females. Additionally, the males had significantly greater leg strength, which may have allowed them to increase the time to first peak.The year round female high school athletes were found to use the best biomechanical landing method. They had a greater range of motion in the knee and ankle, and subsequently produced the lowest amount of vertical and anterio-posterior force.School of Physical Education
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Isaac, Benson. "Inverse Kinematics and Extended Kalman Filter based Motion Tracking of Human Limb." University of Cincinnati / OhioLINK, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1406809906.
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Kleinbach, Christian Georg [Verfasser]. "Simulation of Occupant Kinematics using Active Human Body Models / Christian Georg Kleinbach." Düren : Shaker, 2019. http://d-nb.info/1208599461/34.
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Bracken, Matthew. "Relative Phase Analysis of Lower Extremity Kinematics Among Subjects with Chronic Ankle Instability." Connect to full text in OhioLINK ETD Center, 2009. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=toledo1241209584.
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Thesis (M.S.)--University of Toledo, 2009.Typescript. "Submitted as partial fulfillment of the requirements for The Masters of Science degree in Exercise Science." "A thesis entitled"--at head of title. Bibliography: leaves 66-67.
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Russell, David F. "Non-invasive quantification of knee kinematics : a cadaver study." Thesis, University of Glasgow, 2015. http://theses.gla.ac.uk/6300/.
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The ability to quantify kinematic parameters of the knee is crucial in understanding normal biomechanics, recognising the presence of pathology and its severity, planning treatment and evaluation of outcomes. Current methods of quantifying lower limb kinematics remain limited in allowing accurate dynamic assessment. Computer assisted surgery systems have been validated in quantifying kinematic parameters, but remain limited to the operative setting. Recently, image-free computer assisted surgery technology has been adapted for non-invasive use and validated in terms of repeatability in measuring coronal and sagittal femorotibial mechanical alignment in extension. The aim of this thesis was to develop and implement a set of validation protocols to quantify the reliability, precision and accuracy of this non-invasive technology in quantifying lower limb coronal and sagittal femorotibial mechanical alignment, anteroposterior and rotatory laxity of the knee by comparison with a validated, commercially available image-free computer assisted surgery system. Pilot study confirmed feasibility of further experimental work and revealed that the noninvasive method measured with satisfactory precision and accuracy: coronal mechanical femorotibial alignment (MFTA) from extension to 30° knee flexion, anteroposterior translation in extension and tibial rotatory laxity during flexion. Further experiments using 12 fresh cadaveric limbs revealed that the non-invasive method gave satisfactory precision and agreement with the invasive system measuring MFTA without stress from extension to 40° knee flexion, and with 15Nm coronal stress from extension to 30° knee flexion. Using 100N of anterior force on the tibia, the non-invasive system was acceptably precise and accurate in measuring sagittal tibial displacement from extension to 40° flexion. End of range apprehension, such as has been proven repeatable in measuring tibial rotatory laxity was used and the non-invasive method gave superior 3 precision and accuracy to most reported non-invasive devices in quantifying tibial rotatory range of motion. Non-invasive optical tracking systems provide a means to quantify important kinematic parameters in health and disease, and could allow standardisation of knee examination increasing communicability and translation of findings from the out-patient to operative setting. This technology therefore could allow restoration of individual specific kinematics in knee arthroplasty and soft-tissue reconstruction.
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Hindle, Richard John. "Three-dimensional kinematics of the human back in the normal and pathologic spine." Thesis, Durham University, 1989. http://etheses.dur.ac.uk/6513/.
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This thesis investigated the relationship between the three-dimensional kinematics of the human back and spinal pathology. This required the development of a system capable of the in vivo measurement of spinal movement non-invasively and in three-dimensions. The opto-electronic CODA-3 Scanner proved unsatisfactory in this respect. The electro-magnetic 3SPACE Isotrak, however, was found to be an accurate and reliable system during a study of twisting in flexed postures. Available axial rotation was significantly increased in some degree of sagittal flexion suggesting that this may be a mechanism for intervertebral disc injury. At high degrees of sagittal flexion a reduction in available axial rotation was noted. In vitro tests on isolated lumbar motion segments confirmed the increase in axial rotation available in flexed postures shown in vivo, this was presumed to be due to an opening of the lumbar zygapophysial joints. Mechanical testing of lumbar interspinous and supraspinous ligaments showed them to be active only in the extremes of sagittal flexion and hence that they could be responsible for the reduction in axial rotation seen in vivo. The 3SPACE Isotrak was used in a clinical study of 80 normal and 43 pathologic subjects. In the normals ranges of motion were, in general, reduced with increasing age in both males and females although a significant increase in sagittal flexion occurred with increasing age in females. Male mobility significantly exceeded female in sagittal flexion but female tended to exceed male in extension, lateral bend and axial rotation. Opposite axial rotation occurred consistently upon lateral bend and vice versa, flexion also occurred on lateral bend but not axial rotation. There was widespread disruption to the primary and coupled movements of the back pain patients when compared to normal movement patterns but there was no clear distinction between the kinematic movement patterns of discrete patient groups. The small numbers in these patient groups warrant a further, more detailed, clinical study.
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Beeman, Stephanie Marie. "Quantifying the Kinematics of Injury Biomechanics: Several Applications Incorporating Human Volunteers and Surrogates." Thesis, Virginia Tech, 2011. http://hdl.handle.net/10919/42722.
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Nearly 27,000 vehicle occupants are killed annually in the United States, with passenger car and light truck occupants amassing 25,000 of these. Over 50% of passenger car and light truck occupant fatalities are due to frontal crashes. Although advancements in safety technology have reduced the number of fatalities and injuries, motor vehicle collisions are still a major issue in the United States. Continued development of computational models and biofidelic anthropomorphic test devices (ATDs) necessitates benchmarking of current surrogates and further analysis of an occupantâ s biomechanical response in automobile collisions. This thesis presents data from low-speed frontal sled tests performed with human volunteers, a Hybrid III 50th percentile male ATD, and post mortem human surrogates (PMHSs). The first study sought to investigate the effects of muscle bracing by human volunteers. The second study sought to compare the responses of the relaxed and braced volunteers in the first study to those of the Hybrid III and PMHS subjects. Overall, these two studies provide novel biomechanical data that can be used to refine and validate computational models and ATDs used to assess injury risk in automotive collisions. The third study was focused on quantifying the ability for children to swing a sword-like toy. Over 200,000 toy-related injuries occur every year in the United States. Currently, data is unavailable with regard to sword-like toys. Incorporating the knowledge gained by this study will allow manufacturers to reduce the inherent risks associated with their products as well as market them to the correct target age groups.Master of Science
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McGrath, Timothy M. (Timothy Michael). "IMU-based estimation of human lower body kinematics and applications to extravehicular operations." Thesis, Massachusetts Institute of Technology, 2021. https://hdl.handle.net/1721.1/130808.
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Thesis: Ph. D., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, February, 2021Cataloged from the official PDF of thesis.
Includes bibliographical references (pages 149-168).
The use of body-worn inertial measurement units (IMUs) as an alternative to traditional human optical motion capture (OMC) techniques has gained increasing attention over the last twenty years. In contrast to traditional OMC, IMUs are less intrusive and allow measurements to be taken in the environment of interest--not just a contrived laboratory space. The primary goal of this work is to advance human-IMU kinematic modeling and estimation techniques through increasing the accuracy of IMU-derived human skeletal joint angles while minimizing the required calibration necessary to use an IMU-based human mocap system. A secondary goal of this work is to demonstrate practical application of an IMU-based mocap system to a specific domain of interest: space suit design and operations. In this domain, IMUs offer a tractable approach to understanding suited or unsuited human kinematics in the field. The capture of these kinematics in relevant environments allow engineers to better design and maintain space suits as well as model the operational paradigms which enable the future of human extraplanetary spaceflight.
by Timothy M. McGrath.
Ph. D.
Ph.D. Massachusetts Institute of Technology, Department of Aeronautics and Astronautics
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Rooke, Edward. "Perception of partners movements in interpersonal coordination : do human kinematics facilitate rhythmical coordination?" Thesis, University of Bristol, 2016. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.702183.
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The synchronisation of interpersonal behaviours in everyday life is essential to achieve joint actions tasks. Even in social interactions where there is no specific coordination goal, particular spatio-temporal relations are maintained between individuals unintentionally and are an important factor in social bonding. Two distinct approaches have been proposed to understand coordination in interpersonal movements during social interactions: the embodied simulation approach links behavioural matching to shared neural resources, which are activated both when an action is observed and when it is performed. Recent studies suggest that only biological stimuli evoke action imitation, as non-biological stimuli are processed elsewhere in the brain. An alternative approach, the coordination dynamics perspective, does not specify any neural substrate but views synchronisation as an emergent phenomenon of an underlying dynamical process, in which the components of a system self-organise toward a stable state. From this standpoint, the dynamic patterns of coordination are affected by attributes of the stimulus kinematics irrespective of whether this stimulus is biological or non-biological in nature. In this thesis, I investigate whether motion kinematics that are perceived as human will facilitate interpersonal coordination more readily than stimuli perceived as artificial. First, in two psychophysical experiments participants were asked to distinguish between real human movements and artificially produced movements. The findings provide insights into the features of one-dimensional cyclic movements that allow them to be identified as human; specifically, observers perceived movements of a particular range of smoothness and frequency as human, whereas both, very fast or very slow movements outside this range were reliably distinguished as artificial. Second, these distinct subsets of human and artificial movement kinematics were applied as stimuli in subsequent intentional and unintentional coordination experiments, and variations in both the strength and pattern of coordination response was observed. In contrast to expectations derived from the embodied simulation literature, experiments did not provide any evidence that the perceptual identification of a stimulus as human matters with regard to improving coordination. Instead, all modulations in coordination behaviour could be explained solely on the basis of direct effects of different stimulus kinematics on an underlying dynamical system. A subsequent modelling study showed that the same patterns of coordination occur with a system of coupled oscillators when the same stimuli are applied. The consistency between the theoretical model and empirical results suggests that the observed coordination behaviour in human subjects can be explained on the basis of an underlying dynamical system, in accordance with the coordination dynamics approach, without the need to incorporate perceptual factors or specialised neural networks. Future studies will have to clarify whether factors relating to the perception of stimuli, predicted by embodied simulation, might become more important in the absence of larger scale effects associated with stimulus kinematics or with a more ecological stimulus.
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Surer, Kose Elif <1981>. "Analysis of human body kinematics using a hybrid markerless video acquisition and processing." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2011. http://amsdottorato.unibo.it/3633/1/Surer_Elif_tesi.pdf.
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A main objective of the human movement analysis is the quantitative description of joint
kinematics and kinetics. This information may have great possibility to address clinical problems
both in orthopaedics and motor rehabilitation. Previous studies have shown that the assessment of
kinematics and kinetics from stereophotogrammetric data necessitates a setup phase, special
equipment and expertise to operate. Besides, this procedure may cause feeling of uneasiness on the
subjects and may hinder with their walking. The general aim of this thesis is the implementation
and evaluation of new 2D markerless techniques, in order to contribute to the development of an
alternative technique to the traditional stereophotogrammetric techniques.
At first, the focus of the study has been the estimation of the ankle-foot complex kinematics
during stance phase of the gait. Two particular cases were considered: subjects barefoot and
subjects wearing ankle socks. The use of socks was investigated in view of the development of the
hybrid method proposed in this work. Different algorithms were analyzed, evaluated and
implemented in order to have a 2D markerless solution to estimate the kinematics for both cases.
The validation of the proposed technique was done with a traditional stereophotogrammetric
system. The implementation of the technique leads towards an easy to configure (and more
comfortable for the subject) alternative to the traditional stereophotogrammetric system.
Then, the abovementioned technique has been improved so that the measurement of knee
flexion/extension could be done with a 2D markerless technique. The main changes on the
implementation were on occlusion handling and background segmentation. With the additional
constraints, the proposed technique was applied to the estimation of knee flexion/extension and
compared with a traditional stereophotogrammetric system. Results showed that the knee
flexion/extension estimation from traditional stereophotogrammetric system and the proposed
markerless system were highly comparable, making the latter a potential alternative for clinical use.
A contribution has also been given in the estimation of lower limb kinematics of the children
with cerebral palsy (CP). For this purpose, a hybrid technique, which uses high-cut underwear and
ankle socks as “segmental markers” in combination with a markerless methodology, was proposed.
The proposed hybrid technique is different than the abovementioned markerless technique in terms
of the algorithm chosen. Results showed that the proposed hybrid technique can become a simple
and low-cost alternative to the traditional stereophotogrammetric systems.
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Surer, Kose Elif <1981>. "Analysis of human body kinematics using a hybrid markerless video acquisition and processing." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2011. http://amsdottorato.unibo.it/3633/.
Full textAbstract:
A main objective of the human movement analysis is the quantitative description of joint
kinematics and kinetics. This information may have great possibility to address clinical problems
both in orthopaedics and motor rehabilitation. Previous studies have shown that the assessment of
kinematics and kinetics from stereophotogrammetric data necessitates a setup phase, special
equipment and expertise to operate. Besides, this procedure may cause feeling of uneasiness on the
subjects and may hinder with their walking. The general aim of this thesis is the implementation
and evaluation of new 2D markerless techniques, in order to contribute to the development of an
alternative technique to the traditional stereophotogrammetric techniques.
At first, the focus of the study has been the estimation of the ankle-foot complex kinematics
during stance phase of the gait. Two particular cases were considered: subjects barefoot and
subjects wearing ankle socks. The use of socks was investigated in view of the development of the
hybrid method proposed in this work. Different algorithms were analyzed, evaluated and
implemented in order to have a 2D markerless solution to estimate the kinematics for both cases.
The validation of the proposed technique was done with a traditional stereophotogrammetric
system. The implementation of the technique leads towards an easy to configure (and more
comfortable for the subject) alternative to the traditional stereophotogrammetric system.
Then, the abovementioned technique has been improved so that the measurement of knee
flexion/extension could be done with a 2D markerless technique. The main changes on the
implementation were on occlusion handling and background segmentation. With the additional
constraints, the proposed technique was applied to the estimation of knee flexion/extension and
compared with a traditional stereophotogrammetric system. Results showed that the knee
flexion/extension estimation from traditional stereophotogrammetric system and the proposed
markerless system were highly comparable, making the latter a potential alternative for clinical use.
A contribution has also been given in the estimation of lower limb kinematics of the children
with cerebral palsy (CP). For this purpose, a hybrid technique, which uses high-cut underwear and
ankle socks as “segmental markers” in combination with a markerless methodology, was proposed.
The proposed hybrid technique is different than the abovementioned markerless technique in terms
of the algorithm chosen. Results showed that the proposed hybrid technique can become a simple
and low-cost alternative to the traditional stereophotogrammetric systems.
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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.
Full textAbstract:
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.
27
Leardini, Alberto. "Geometry and mechanics of the human ankle complex, and ankle prosthesis design." Thesis, University of Oxford, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.343530.
Full text
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Newman, Patrick S. Garner Brian Alan. "The influence of load on kinematics of computer-simulated sagittal-plane lifting." Waco, Tex. : Baylor University, 2005. http://hdl.handle.net/2104/2888.
Full text
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Boerigter, Rebecca A. "A Biomechanical Upper Extremity Kinematics Model for Quantitative Human Motion Analysis During Wheelchair Propulsion." Thesis, Marquette University, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10749371.
Full textAbstract:
Motion analysis allows for the collection and quantification of movement, and has long been used for the assessment of gait. In more recent years, models have been developed to accurately track the kinematics of the upper extremity, however, current methods are limited due to the small number of validated kinematic models. Over time, multiple models have developed for shoulder joint center (SJC) calculation, however, few are validated, with most difficult to implement.
Currently, approximately 3.7 million wheelchair users reside in the USA. The repetitive cyclic propulsion pattern required for wheelchair mobility places high loads on the wrist, elbow, and shoulder and often results in overuse injuries with an estimated 30% to 69% prevalence. Quantification of the shoulder complex using 3D kinematics allows for the assessment of ranges of motion, forces, and moments which may allow for better prescription and training, and propulsion biomechanics in wheelchair users.
Schnorenberg et al. developed and validated a wheelchair model whereby the SJC was calculated using multiple linear regression of the positions of the scapula, clavicle, and humerus. While this model more accurately tracks the glenohumeral joint center as compared to previous models, it requires advanced training and custom Matlab code which limit application for adoption by low resourced clinics and facilities. A simplified model using Visual 3D was developed to allow for local and international clinical and research applications in conjunction with a previously develop low-cost motion tracking system. Motion data during the wheelchair stroke cycle, was obtained using 12 Vicon cameras and Vicon Nexus software. The 3D motion files were processed using both models.
The wrist joint center and glenohumeral joint center yielded sub 2 mm mean error. While the wrist, elbow, and glenohumeral joints had an average error of less than 10° during the grasp and vertical events. Through the development and validation of a simplified model utilizing Visual3D, upper extremity motion analysis may be easily applied in international and outreach clinics. This work presents new methodology to augment current paradigms for evaluation of wheelchair biomechanics.
30
Breen, Alan Clark. "The measurement of the kinematics of the human spine using videofluoroscopy and image processing." Thesis, University of Southampton, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.303090.
Full text
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Baklouti, Firas. "Modelling Soft-Tissue Motion During Human Movement Experiments to Improve Calculations of Skeletal Kinematics." Thesis, Université d'Ottawa / University of Ottawa, 2021. http://hdl.handle.net/10393/42207.
Full textAbstract:
In Canada, approximately 544,000 upper-limb injuries occurred in a 12-month period between 2009 and 2010, many of which were injuries to the rotator cuff muscles of the shoulder. Because of the complex structure and function of the shoulder, it is often difficult to determine which muscles have been injured. The most widely used technology to study human movement is motion capture, wherein markers are affixed to a subject’s skin and are tracked by cameras as the subject moves. The recorded marker trajectories are then used to estimate the bone locations and joint angles during the tracked motion. This is called an inverse kinematic simulation. The simulation can then be used to estimate variables that are difficult or impossible to measure directly, such as the activation of single muscle heads within a muscle group. However, muscles bulge and skin stretches during movement, so the markers that are affixed to the skin generally move relative to the underlying bones. These errors, known as soft-tissue artifacts, lead to uncertainty in the calculation of bone locations and, consequently, uncertainty in the computed skeletal joint angles. This uncertainty limits the use of inverse kinematic simulations in clinical settings. Given the skin tissue’s elastic behaviour, a spring-based equilibrium model can be used to estimate the behaviour of skin during non-impulsive motion. In the proposed model, markers were placed on the surface of ellipsoids (representing the thorax, abdomen, scapula, and upper arm) and were attached to each other via springs. The system was assumed to remain in static equilibrium during sufficiently slow movements to approximate the stretch of the skin. In this thesis, the development and application of a proof-of-concept model to estimate the pose of the skeleton is described. This work demonstrates the feasibility of using such a model to reduce errors due to soft-tissue motion.
32
Zufelt, Nephi A. "A kinematics-based testing protocol to study the mechanics of the human lumbar spine." View the abstract Download the full-text PDF version, 2008. http://etd.utmem.edu/ABSTRACTS/2008-038-Zufelt-index.htm.
Full textAbstract:
Thesis (M.S.)--University of Tennessee Health Science Center, 2008.Title from title page screen (viewed on March 31, 2009). Research advisor: Denis J. DiAngelo, Ph.D. Document formatted into pages (x, 101 p. : ill.). Vita. Abstract. Includes bibliographical references (p. 61-65).
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Vachalathiti, Roongtiwa. "The investigation of age-related changes in three-dimensional kinematics of the spine." Thesis, The University of Sydney, 1994. https://hdl.handle.net/2123/26847.
Full textAbstract:
This study investigated the angular displacement and velocity characteristics of the overall thoracolumbar, lower thoracic and lumbar spine. The test group consisted of 100 healthy volunteer subjects (46 males and 54 females). Subjects were divided into three groups in each gender, a young group (20 to 35 years), a middle-aged group (36 to 59 years) and an elderly group (60 to 80+ years). Kinematic data were acquired using a four camera Motion Analysis ExpertVisionTM system, spherical reflective body markers being located over anatomical landmarks associated with the spine and pelvis. Subjects performed forward flexion, bilateral side flexion and bilateral rotation and a lifiing simulation four times each in a sitting position. Movements were performed at both their preferred speed and at a self-determined faster speed.
The angular displacement and velocity characteristics were calculated and analysed. Multivariate Analysis of Variance (MANOVA) and regression analyses Were used to elucidate age, gender and speed related effects during the various movements. Schéffé multiple comparison of pairs was used as a post—hoc procedure to test for the differences between age groups in the case of significant age effects as shown by MANOVA. An independent t-test was used to test for the differences between male and female subjects in the same age in the case of gender effects demonstrated by MANOVA. A paired t-test was used to test for the differences between the fast and the preferred speeds in each age group in the case of speed effects demonstrated by MANOVA.
The results revealed significant decreases in the ranges of forward flexion and lateral flexion in the lumbar spine with advancing age. The ranges of all three movements also significantly decreased with increasing age in the overall thoracolumbar and lower thoracic spine. Angular velocities decreased with advancing age in all movements for all trunk segments. Male subjects showed a greater range of
forward flexion and rotation compared to female subjects in the same age group in the
overall thoracolumbar and the lumbar spine and female subjects demonstrated a
greater range of lateral flexion in the lower thoracic spine. Male subjects generally demonstrated a higher value of angular velocity than female subjects in the same age group for all movements. The range of fast lateral flexion was generally reduced for all subjects compared to that demonstrated at the preferred speed, while fast rotation was associated with a greater range than the preferred speed.
The patterns of associated anatomical movements were consistent throughout for each condition. Forward flexion occurred with little or no accompanying spinal motion. Primary lateral flexion was accompanied by forward flexion and contralateral rotation in all the trunk segments. Primary rotation was generally accompanied by forward flexion and contralateral side flexion in the lumbar spine but was associated with lateral flexion towards the same side in the lower thoracic spine. No significant gender or speed effects were found in the amplitude or nature of the associated movements. Age-related decreases in the range of associated forward flexion and rotation with primary lateral flexion were found in the lower thoracic spine.
The results of this study indicate that range of motion and angular velocity are related to age, gender and speeds of motion. This study provides data not available in the literature regarding the velocity of movement and magnitudes of the accompanying movements. There are differences in patterns of the associated movements between the lower thoracic and the lumbar spine. Clinically, the physiotherapist should be aware of normal values for each motion based on the patient's age and gender as well as the normal pattern of movements during clinical assessment of patients with back pain.
The results of the lifting simulation indicated that the major movement components were forward flexion and lateral flexion when picking up an object at a direction of 45 degrees to the median plane of the subject in a seated position. Axial rotation was limited in the task. The findings of this study suggest that the attributes of the task which was simulated in the present study could be desirable in the work situation. No clear age or speed effects were detected in either ranges or patterns of the spinal motion although the results indicated significant decreases in angular velocities with advancing age.
34
Lewkowicz, Daniel. "Behavioral and cognitive basis of sequential actions : can human intentions be revealed trough movement kinematics ?" Thesis, Lille 3, 2013. http://www.theses.fr/2013LIL30038/document.
Full textAbstract:
L'objectif de ma thèse est de participer à la construction d'un nouveau robot humanoïde qui peut réaliser des interactions intuitives avec l'humain à travers l'observation et l'imitation. Pour cela, j'ai conduit une série d'études expérimentales chez le jeune adulte pour caractériser les propriétés cinématiques des mouvements du bras réalisés pendant des interactions motrices et sociales, autant d'éléments qui seront les patterns de référence pour le futur robot. En se concentrant sur le comportement non-verbal, nous avons testé comment les contraintes externes et internes (difficulté, prédictibilité, temporalité) façonne la cinématique des mouvements du bras et de la main dans une simple action séquentielle de prise et de pose d'un objet (étude 1 et 2). Les résultats révèlent des modulations précoces dans la cinématique de la phase d'atteinte et de saisie, en fonction de la taille et de la stabilité du réceptacle terminal sur lequel l'objet devait être placé. Ces modulations observées dans le premier élément de la séquence sont en contradiction avec les modèles d'optimisation de trajectoire utilisés en robotique pour les séquences d'action. Ils suggèrent un couplage fort entre les paramètres moteurs dans une stratégie de planification encapsulée qui rétro-propage les contraintes contextuelles sur les éléments précoces de la séquence. Pour confirmer ces résultats, une seconde série d'étude a été conduite en utilisant des tâches cinématiques et vidéos pour montrer que les intentions motrices humaines pouvaient être lues à travers la détection de ces modulations cinématiques précoces. En utilisant un système de classification artificiel, nous avons testé si les indices de bas niveau pouvaient permettre une catégorisation des essais. Les résultats montrent qu'en absence de capacité cognitive particulière, le réseau de neurone pouvait catégoriser les intentions significativement au-dessus du niveau de la chance en observant les 500 premières millisecondes de l'action (étude 3). La troisième partie de mon travail de thèse s'est tournée vers les mesures en eye-tracking. Nous avons révélé ici que la stratégie proactive de fixations oculaires utilisée pendant l'observation de l'action était similaire à celle utilisée pendant son exécution (étude 4). De plus, les catégorisations correctes d'intentions motrices étaient caractérisées par des saccades plus précises et des fixations plus longues sur l'objet. Les mouvements oculaires sont connus pour jouer un rôle important dans les interactions sociales. Ainsi, dans une dernière expérience (étude 5), nous avons mis en place un jeu compétitif en face à face révélant des effets spécifiques du contexte social qui modifie la cinématique des mouvements d'atteinte selon le type de situations interactives. Dans le manuscrit de thèse je propose une discussion qui replace les résultats dans les modèles neuronaux et cognitifs de l'intégration sensori-mmotrice. Lorsque c'est le cas, des directions futures sont suggérées à la fois pour les modèles cognitifs de contrôle moteur et pour le développement e systèmes artificiels neuro-inspirés intégrant des capacités d'interaction sociale intuitiveThe aim of my PhD thesis was to participate in the construction of a new humanoid robot that can sustain intuitive interactions with humans through observation and imitation. As such, I conducted a series of experimental studies in young adults to better characterize the kinematic properties of those arm movements performed during motor and social interactions, elements that are the reference patterns for the to-come robot. Focusing on non-verbal behavior, we tested how external and internal constraints (difficulty, predictability, timing) shaped the kinematics of both arm and hand movements in a very simple pick and place sequential action (study 1 and 2). The results revealed early modulations in kinematics in the reach-to-grasp phase depending of the size and the stability of the target pad on which the object had to be placed. These modulations observed within the first element of the sequence were in contradiction with the current optimized trajectory models used in robotics for action sequences. They suggest in fact a strong coupling of the motor parameters within an encapsulated planning strategy that back-propagates the contextual constraints on to the early elements of the motor sequence. To confirm these findings, a second serie of studies were conducted using kinematic and video based tasks to show that human motor intentions can be read through the detection of these early kinematic modulations (study 3). Using basic artificial classification, we tested whether low-revel motor indices could afford trial categorization without the need for higher-level process such as motor imagery. results indicated that indeed without cognitive abilities the neural network could categorize the intention of an observed action within the first 500ms, significantly above chance level (study 4). The third place of my PhD work turned to eye tracking. Here, we revealed that the proactive strategy of eye-fixations used during action observation were similar to those made during executed actions. Additionally, good categorization of motor intention was characterized by more accurate saccades and longer object fixations. Eye movements are known to play an important role in social intercations. Hence, in a final experiment (study 5), we setup a face-to-face competitive game to reveal the specific effects thet the social context may play on the kinematic properties of reaching during different types of interactive situations. In the PhD mansucript, I propose a general discussion that sets these results within the current cognitive and neuronal models of sensori-motor integration. When appropriate, future directions are suggested both for cognitive models of motor control and for the development of neuro-inspired articicial systems constitued with intuitive social interaction skills
35
Conconi, Michele <1979>. "An New Energetic Approach to the Modeling of Human Joint Kinematics: Application to the Ankle." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2010. http://amsdottorato.unibo.it/2765/1/Concon_Michele_tesi.pdf.
Full textAbstract:
The objective of this dissertation is to develop and test a predictive model for the
passive kinematics of human joints based on the energy minimization principle. To
pursue this goal, the tibio-talar joint is chosen as a reference joint, for the reduced
number of bones involved and its simplicity, if compared with other sinovial joints
such as the knee or the wrist.
Starting from the knowledge of the articular surface shapes, the spatial trajectory
of passive motion is obtained as the envelop of joint configurations that
maximize the surfaces congruence. An increase in joint congruence corresponds
to an improved capability of distributing an applied load, allowing the joint to attain
a better strength with less material. Thus, joint congruence maximization is a
simple geometric way to capture the idea of joint energy minimization.
The results obtained are validated against in vitro measured trajectories. Preliminary
comparison provide strong support for the predictions of the theoretical
model.
36
Conconi, Michele <1979>. "An New Energetic Approach to the Modeling of Human Joint Kinematics: Application to the Ankle." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2010. http://amsdottorato.unibo.it/2765/.
Full textAbstract:
The objective of this dissertation is to develop and test a predictive model for the
passive kinematics of human joints based on the energy minimization principle. To
pursue this goal, the tibio-talar joint is chosen as a reference joint, for the reduced
number of bones involved and its simplicity, if compared with other sinovial joints
such as the knee or the wrist.
Starting from the knowledge of the articular surface shapes, the spatial trajectory
of passive motion is obtained as the envelop of joint configurations that
maximize the surfaces congruence. An increase in joint congruence corresponds
to an improved capability of distributing an applied load, allowing the joint to attain
a better strength with less material. Thus, joint congruence maximization is a
simple geometric way to capture the idea of joint energy minimization.
The results obtained are validated against in vitro measured trajectories. Preliminary
comparison provide strong support for the predictions of the theoretical
model.
37
Manley, Peter Gwynne. "Effects of incremented loads over preferred values on psychophysical and selected gait kinematic factor." Thesis, Rhodes University, 1989. http://hdl.handle.net/10962/d1015734.
Full textAbstract:
This study investigated the effects of incremented loads greater than maximal acceptable loads on selected locomotor kinematic and psychophysical variables for four different hand-held load-carriage methods. Ten male and ten female subjects, between the ages of 18 and 30, participated in four experimental sessions. Data collection involved obtaining selected anthropometric, strength, maximal load and preferred load, gait kinematic, and psychophysical values. The anthropometric, strength and load capacity variables enabled absolute and morphology normalised sex-based comparisons to be made. The kinematic and psychophysical parameters were used to quantify any changes from two sets of baseline values,"unloaded" and "maximal acceptable load" values, when loads were increased and carrying methods changed. Statistical analysis revealed that males were taller, heavier and stronger than females (p<0.05). Males chose significantly greater maximal acceptable loads and absolute maximal loads than females when expressed in their absolute or relative terms. Preferred walking speeds were not significantly different for unloaded or loaded conditions, although males walked significantly faster in absolute terms (but not in relative terms) than females. Different load carrying methods and incremented loads brought. about significant changes to several of the kinematic parameters investigated. Finally, ratings of perceived exertion, as well as the number of exertion sites, were seen to increase significantly as load increased. These values were not, however, significantly affected by differences in load carriage method.
38
Carlson, Kjirste Lynn. "Local pressures in the human hip joint in vivo, correlated with motion kinematics and external forces." Thesis, Massachusetts Institute of Technology, 1985. http://hdl.handle.net/1721.1/33469.
Full textAbstract:
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1986.MICROFICHE COPY AVAILABLE IN ARCHIVES AND ENGINEERING
Bibliography: p. 259-266.
by Kjirste Lynne Carlson.
M.S.
39
Tersi, Luca <1981>. "Methodological improvement of 3D fluoroscopic analysis for the robust quantification of 3D kinematics of human joints." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2011. http://amsdottorato.unibo.it/3607/1/tersi_luca_tesi.pdf.
Full textAbstract:
3D video-fluoroscopy is an accurate but cumbersome technique to estimate natural or prosthetic human joint kinematics. This dissertation proposes innovative methodologies to improve the 3D fluoroscopic analysis reliability and usability.
Being based on direct radiographic imaging of the joint, and avoiding soft tissue artefact that limits the accuracy of skin marker based techniques, the fluoroscopic analysis has a potential accuracy of the order of mm/deg or better. It can provide fundamental informations for clinical and methodological applications, but, notwithstanding the number of methodological protocols proposed in the literature, time consuming user interaction is exploited to obtain consistent results. The user-dependency prevented a reliable quantification of the actual accuracy and precision of the methods, and, consequently, slowed down the translation to the clinical practice. The objective of the present work was to speed up this process introducing methodological improvements in the analysis.
In the thesis, the fluoroscopic analysis was characterized in depth, in order to evaluate its pros and cons, and to provide reliable solutions to overcome its limitations. To this aim, an analytical approach was followed. The major sources of error were isolated with in-silico preliminary studies as: (a) geometric distortion and calibration errors, (b) 2D images and 3D models resolutions, (c) incorrect contour extraction, (d) bone model symmetries, (e) optimization algorithm limitations, (f) user errors.
The effect of each criticality was quantified, and verified with an in-vivo preliminary study on the elbow joint. The dominant source of error was identified in the limited extent of the convergence domain for the local optimization algorithms, which forced the user to manually specify the starting pose for the estimating process. To solve this problem, two different approaches were followed: to increase the optimal pose convergence basin, the local approach used sequential alignments of the 6 degrees of freedom in order of sensitivity, or a geometrical feature-based estimation of the initial conditions for the optimization; the global approach used an unsupervised memetic algorithm to optimally explore the search domain.
The performances of the technique were evaluated with a series of in-silico studies and validated in-vitro with a phantom based comparison with a radiostereometric gold-standard. The accuracy of the method is joint-dependent, and for the intact knee joint, the new unsupervised algorithm guaranteed a maximum error lower than 0.5 mm for in-plane translations, 10 mm for out-of-plane translation, and of 3 deg for rotations in a mono-planar setup; and lower than 0.5 mm for translations and 1 deg for rotations in a bi-planar setups. The bi-planar setup is best suited when accurate results are needed, such as for methodological research studies. The mono-planar analysis may be enough for clinical application when the analysis time and cost may be an issue.
A further reduction of the user interaction was obtained for prosthetic joints kinematics. A mixed region-growing and level-set segmentation method was proposed and halved the analysis time, delegating the computational burden to the machine. In-silico and in-vivo studies demonstrated that the reliability of the new semiautomatic method was comparable to a user defined manual gold-standard.
The improved fluoroscopic analysis was finally applied to a first in-vivo methodological study on the foot kinematics.
Preliminary evaluations showed that the presented methodology represents a feasible gold-standard for the validation of skin marker based foot kinematics protocols.
40
Tersi, Luca <1981>. "Methodological improvement of 3D fluoroscopic analysis for the robust quantification of 3D kinematics of human joints." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2011. http://amsdottorato.unibo.it/3607/.
Full textAbstract:
3D video-fluoroscopy is an accurate but cumbersome technique to estimate natural or prosthetic human joint kinematics. This dissertation proposes innovative methodologies to improve the 3D fluoroscopic analysis reliability and usability.
Being based on direct radiographic imaging of the joint, and avoiding soft tissue artefact that limits the accuracy of skin marker based techniques, the fluoroscopic analysis has a potential accuracy of the order of mm/deg or better. It can provide fundamental informations for clinical and methodological applications, but, notwithstanding the number of methodological protocols proposed in the literature, time consuming user interaction is exploited to obtain consistent results. The user-dependency prevented a reliable quantification of the actual accuracy and precision of the methods, and, consequently, slowed down the translation to the clinical practice. The objective of the present work was to speed up this process introducing methodological improvements in the analysis.
In the thesis, the fluoroscopic analysis was characterized in depth, in order to evaluate its pros and cons, and to provide reliable solutions to overcome its limitations. To this aim, an analytical approach was followed. The major sources of error were isolated with in-silico preliminary studies as: (a) geometric distortion and calibration errors, (b) 2D images and 3D models resolutions, (c) incorrect contour extraction, (d) bone model symmetries, (e) optimization algorithm limitations, (f) user errors.
The effect of each criticality was quantified, and verified with an in-vivo preliminary study on the elbow joint. The dominant source of error was identified in the limited extent of the convergence domain for the local optimization algorithms, which forced the user to manually specify the starting pose for the estimating process. To solve this problem, two different approaches were followed: to increase the optimal pose convergence basin, the local approach used sequential alignments of the 6 degrees of freedom in order of sensitivity, or a geometrical feature-based estimation of the initial conditions for the optimization; the global approach used an unsupervised memetic algorithm to optimally explore the search domain.
The performances of the technique were evaluated with a series of in-silico studies and validated in-vitro with a phantom based comparison with a radiostereometric gold-standard. The accuracy of the method is joint-dependent, and for the intact knee joint, the new unsupervised algorithm guaranteed a maximum error lower than 0.5 mm for in-plane translations, 10 mm for out-of-plane translation, and of 3 deg for rotations in a mono-planar setup; and lower than 0.5 mm for translations and 1 deg for rotations in a bi-planar setups. The bi-planar setup is best suited when accurate results are needed, such as for methodological research studies. The mono-planar analysis may be enough for clinical application when the analysis time and cost may be an issue.
A further reduction of the user interaction was obtained for prosthetic joints kinematics. A mixed region-growing and level-set segmentation method was proposed and halved the analysis time, delegating the computational burden to the machine. In-silico and in-vivo studies demonstrated that the reliability of the new semiautomatic method was comparable to a user defined manual gold-standard.
The improved fluoroscopic analysis was finally applied to a first in-vivo methodological study on the foot kinematics.
Preliminary evaluations showed that the presented methodology represents a feasible gold-standard for the validation of skin marker based foot kinematics protocols.
41
Zecha, Dan [Verfasser], and Rainer [Akademischer Betreuer] Lienhart. "Motion Kinematics and Dynamics Prediction Using Human Pose Estimation in Videos - Towards Automated, Kinematical Profiling of Swimmers and Ski Jumpers / Dan Zecha ; Betreuer: Rainer Lienhart." Augsburg : Universität Augsburg, 2020. http://d-nb.info/1215500424/34.
Full text
42
Al-Haifi, Nawaf. "Design and manufacture of a universal mechanical human joint simulator." Thesis, Brunel University, 2011. http://bura.brunel.ac.uk/handle/2438/9603.
Full textAbstract:
The work performed in this thesis involves the study of human hip joint kinematics and load analysis. Such analyses are very useful for investigating mobility and natural functionality as well as the variation in motion due to replacement implants. The objective of this study is to design, build and testing of a universal human joint simulator that is configurable to hold several human joints and easily programmable to create the required motion. This was performed by creating a Stewart Platform, which is capable of moving in all six degrees of freedom; the maximum number needed by any human joint. Many specific human joint simulators are available on the market for simulating all major human limbs. These are used for wear testing replacement joints by using high load repetitive motion. These systems have a predetermined limit degree of movement and are very expensive; if one wanted to emulate another joint, one would have to purchase a whole new system. This novel system compromises of a three-phase power supply, Control Area Network with six actuators and drivers, a force reading clamp with strain gauges and data logger. A user friendly computer program was developed that is able to derive joint movement data from two inputs and replicating the movement by driving the platform, as well as recording force and displacement data from the joint. The product would be marketed towards biomechanical researchers and implant designers. Verification of this system was performed by simulating the human hip joint. A known combination of kinematic and force data were inputted into the system for nine different types of activities. The resultant force and joint centre displacement was then compared to see how well the system perform in comparison to the inputted data from a previous study. The outcome of this project is a fully functional machine and configurable program that can create movement data at varying speeds and body weights; which is also able to drive the human joint simulator. The design also costs a fraction of any industrial joint simulator. It is hoped that the simulator will allow easier study of both the kinematics and load analysis within the human joints, with the intent on aiding investigation into mobility and functionality; as well as variation in motion caused by a replacement implant.
43
Alrashidi, Mohammad. "In vivo mechanical assessment of human elbow kinematics using a six axis parallel mechanism developed in house." Thesis, Brunel University, 2011. http://bura.brunel.ac.uk/handle/2438/9175.
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Elbow joint laxity is a problem that normally comes with age; it increases up to critical levels due to rupture or damage to the ligaments of the elbow and affects the stability and capacities of the joint, interfering even with daily activities. This work investigates the kinematics of the elbow through in-vivo experimental measurement. To this end, a platform based on Stewart Platform mechanism was built and used at the bioengineering labs of Brunel University in West London, the UK, to measure the six degrees of freedom of the joint. This thesis aims to develop a method to simulate such motion which could be used for elbow implant design and manufacture. This work contributes to both the basic science of joint movement measurement and to the clinical applications of diagnosing elbow illness. In addition this research presents the preliminary results for a design for elbow implants. Tracking system developed in house was used to measure the degrees of freedom in healthy elbow motion. A pilot study was performed to assess the joint motion and its repeatability. A group of volunteers with normal elbow movement was used to carry out this study. A Stewart Platform mechanism based on the tracking system was used in this study as a non-invasive tool to capture elbow joint motion and track the trajectory and pattern of the motion in three-dimensional space. This thesis aimed to develop a method to simulate the elbow joint motion that could potentially be used for the elbow implants design and there manufacture. The goal of this study was achieved by in vivo measurement of the elbow movement. It was found that the results vary from person to person, but a healthy pattern of motion can be distinguished from an abnormal pattern. To ensure the result, the motion of the right and left hand of each person was compared,allowing the behaviour of the elbow motion to be judged and the results can help surgeons to analyze the motion of the elbow joint and follow up suspicions of abnormal behaviour in the joint or trace any possible joint laxity. Furthermore, the errors involved with the mechanism were calculated and appropriate factors were applied to correct them. As part of this study the manufacturing of medical implants was reviewed and discussed.
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Uppuganti, Sasidhar. "In-vitro Biomechanical Evaluation of Multiple Freeze-Thaw Cycles on 3D Kinematics of Human Cadaveric Lumbar Spine." University of Akron / OhioLINK, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=akron1278707573.
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Piekarski, Sarah. "Influence of Delays and Cognitive Distractors During Blind Navigation." Thesis, Université d'Ottawa / University of Ottawa, 2016. http://hdl.handle.net/10393/34311.
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Navigating to a previously seen target without vision was unaffected by a 30-sec delay period at the beginning of the walking task. This study investigated whether a 60-sec delay, with or without a cognitive task, would modify the accuracy of reaching an 8-meter target. Thirty young adults participated. The delay, located at 0, 4, or 7 meters, was either to wait, or to count backwards. Kinematic data of distance travelled, distance-to-target, angular deviation, and body rotation from participants’ final position were recorded with a 3-D motion analysis system. Navigation precision was not significantly different with or without a delay, and whether or not the delays contained a cognitive task. However, comparisons among delays revealed a significant effect of delay position with larger distance errors occurring at the 0-meter delay in the 16 participants who walked at least 7 meters, suggesting that a delay at the beginning was more disruptive for navigation accuracy than when it occurred closer to the target.
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Yadav, Vivek. "VALIDATION OF A TIME-SCALING-BASED MODEL FOR REPRESENTATION OF DYNAMICS IN HUMANS AND ITS APPLICATIONS IN REHABILITATION." The Ohio State University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=osu1281968186.
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Daouacher, Maria. "Evaluation of occupant kinematics in crash using the PIPER model : in frontal and oblique crash simulations." Thesis, Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-74250.
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A child dies in road traffic crashes every fourth minute. Totally were 186 300 children under the age of 18 killed in vehicle accidents in 2012, even more were severely injured [1]. The World Health Organisation (WHO) could conclude that fatalities in traffic accidents are more likely to occur in low- to middle income countries compared to high income countries [1]. Finite element based human body models has enabled the increased understanding of kinematics and injury mechanisms of child occupants. These models sustain higher biofidelity than the previously used crash test dummies. The European project PIPER [6] had the aim to develop a model that, combined with a framework, would simplify positioning and also to offer a scalable HBM child model. The PIPER framework software and the scalable PIPER model offers child HBM:s within the ages 1.5-6-years old and is an useful tool for the analysis of child occupants. The present study evaluates the kinematics and dummy responses of the 4- and 6-year old PIPER model evaluated. The objective of this master thesis is to evaluate the PIPER model with respect to its sensitivity to seat belt geometries, child restraint system, load cases and child anthropometrics. The aim of the master thesis is to get an increased comprehension of the PIPER model and its capability to evaluate occupant kinematics relevant for safety developments, with a special focus on seat belt geometry and interaction in frontal impacts. The PIPER model showed good sensitivity to different seatbelt geometries regarding the abdominal part of the shoulder belt and to different CRS. The PIPER framework was perceived as hard to use and with the presence of errors. The kinematic response showed good accuracy compared to other previous studies with other crash test dummies however, reoccurring error termination could not be neglectable. The PIPER model is limited to its ease to positioning in desired sitting postures within the PIPER framework. It is regardless of its disadvantages believed to be a suitable tool to further understand occupant kinematics, as for different belt routings, child anthropometrics and dummy responses are further studies needed to validate the outputs that the model offers and to conclude its robustness in crashworthiness tests.
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Russell, Patricia Anne Hartley. "Measurement of the three-dimensional kinematics of the human lumbar and cervical spine using the 3Space Isotrak system." Thesis, Durham University, 1993. http://etheses.dur.ac.uk/5650/.
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Meredith, Michael J. "Adapting and reconfiguring human figure motion capture data through the application of inverse kinematics and biomechanics-based optimisation." Thesis, University of Sheffield, 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.427182.
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Heitkamp, Lauren. "The Role of the Gluteus Maximus on Trunk Stability in Human Endurance Running." University of Cincinnati / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1460446576.
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