Journal articles on the topic 'Human Kinematics'
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Bittner, Marian, Wei-Tse Yang, Xucong Zhang, Ajay Seth, Jan van van Gemert, and Frans C. T. van der van der Helm. "Towards Single Camera Human 3D-Kinematics." Sensors 23, no. 1 (December 28, 2022): 341. http://dx.doi.org/10.3390/s23010341.
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Markerless estimation of 3D Kinematics has the great potential to clinically diagnose and monitor movement disorders without referrals to expensive motion capture labs; however, current approaches are limited by performing multiple de-coupled steps to estimate the kinematics of a person from videos. Most current techniques work in a multi-step approach by first detecting the pose of the body and then fitting a musculoskeletal model to the data for accurate kinematic estimation. Errors in training data of the pose detection algorithms, model scaling, as well the requirement of multiple cameras limit the use of these techniques in a clinical setting. Our goal is to pave the way toward fast, easily applicable and accurate 3D kinematic estimation . To this end, we propose a novel approach for direct 3D human kinematic estimation D3KE from videos using deep neural networks. Our experiments demonstrate that the proposed end-to-end training is robust and outperforms 2D and 3D markerless motion capture based kinematic estimation pipelines in terms of joint angles error by a large margin (35% from 5.44 to 3.54 degrees). We show that D3KE is superior to the multi-step approach and can run at video framerate speeds. This technology shows the potential for clinical analysis from mobile devices in the future.
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Vinken, Pia M., Daniela Kröger, Ursula Fehse, Gerd Schmitz, Heike Brock, and Alfred O. Effenberg. "Auditory Coding of Human Movement Kinematics." Multisensory Research 26, no. 6 (2013): 533–52. http://dx.doi.org/10.1163/22134808-00002435.
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Although visual perception is dominant on motor perception, control and learning, auditory information can enhance and modulate perceptual as well as motor processes in a multifaceted manner. During last decades new methods of auditory augmentation had been developed with movement sonification as one of the most recent approaches expanding auditory movement information also to usually mute phases of movement. Despite general evidence on the effectiveness of movement sonification in different fields of applied research there is nearly no empirical proof on how sonification of gross motor human movement should be configured to achieve information rich sound sequences. Such lack of empirical proof is given for (a) the selection of suitable movement features as well as for (b) effective kinetic–acoustical mapping patterns and for (c) the number of regarded dimensions of sonification. In this study we explore the informational content of artificial acoustical kinematics in terms of a kinematic movement sonification using an intermodal discrimination paradigm. In a repeated measure design we analysed discrimination rates of six everyday upper limb actions to evaluate the effectiveness of seven different kinds of kinematic–acoustical mappings as well as short term learning effects. The kinematics of the upper limb actions were calculated based on inertial motion sensor data and transformed into seven different sonifications. Sound sequences were randomly presented to participants and discrimination rates as well as confidence of choice were analysed. Data indicate an instantaneous comprehensibility of the artificial movement acoustics as well as short term learning effects. No differences between different dimensional encodings became evident thus indicating a high efficiency for intermodal pattern discrimination for the acoustically coded velocity distribution of the actions. Taken together movement information related to continuous kinematic parameters can be transformed into the auditory domain. Additionally, pattern based action discrimination is obviously not restricted to the visual modality. Artificial acoustical kinematics might be used to supplement and/or substitute visual motion perception in sports and motor rehabilitation.
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Hirose, James, Atsushi Nishikawa, Yosuke Horiba, Shigeru Inui, and Todd C. Pataky. "Integrated jerk as an indicator of affinity for artificial agent kinematics: laptop and virtual reality experiments involving index finger motion during two-digit grasping." PeerJ 8 (September 15, 2020): e9843. http://dx.doi.org/10.7717/peerj.9843.
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Uncanny valley research has shown that human likeness is an important consideration when designing artificial agents. It has separately been shown that artificial agents exhibiting human-like kinematics can elicit positive perceptual responses. However the kinematic characteristics underlying that perception have not been elucidated. This paper proposes kinematic jerk amplitude as a candidate metric for kinematic human likeness, and aims to determine whether a perceptual optimum exists over a range of jerk values. We created minimum-jerk two-digit grasp kinematics in a prosthetic hand model, then added different amplitudes of temporally smooth noise to yield a variety of animations involving different total jerk levels, ranging from maximally smooth to highly jerky. Subjects indicated their perceptual affinity for these animations by simultaneously viewing two different animations side-by-side, first using a laptop, then separately within a virtual reality (VR) environment. Results suggest that (a) subjects generally preferred smoother kinematics, (b) subjects exhibited a small preference for rougher-than minimum jerk kinematics in the laptop experiment, and that (c) the preference for rougher-than minimum-jerk kinematics was amplified in the VR experiment. These results suggest that non-maximally smooth kinematics may be perceptually optimal in robots and other artificial agents.
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Knutzen, Kathleen M. "Kinematics of human motion." American Journal of Human Biology 10, no. 6 (1998): 808–9. http://dx.doi.org/10.1002/(sici)1520-6300(1998)10:6<808::aid-ajhb13>3.0.co;2-e.
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Niemitz, Carsten. "Kinematics and ontogeny of locomotion in monkeys and human babies." Zeitschrift für Morphologie und Anthropologie 83, no. 2-3 (April 25, 2002): 383–400. http://dx.doi.org/10.1127/zma/83/2002/383.
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Ren, Bin, Jianwei Liu, Xurong Luo, and Jiayu Chen. "On the kinematic design of anthropomorphic lower limb exoskeletons and their matching movement." International Journal of Advanced Robotic Systems 16, no. 5 (September 1, 2019): 172988141987590. http://dx.doi.org/10.1177/1729881419875908.
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The lower limb exoskeleton is a wearable device for assisting medical rehabilitation. A classical lower limb exoskeleton structures cannot precisely match the kinematics of the wearer’s limbs and joints in movement, so a novel anthropomorphic lower limb exoskeleton based on series–parallel mechanism is proposed in this article. Then, the human lower limb movements are measured by an optical gait capture system. Comparing the simulation results of the series–parallel mechanism with the measured human data, the kinematics matching model at the hip joint is established. The results show that the kinematic matching errors in the X, Y, and Z directions are less than 2 mm. So, the proposed kinematics matching model is effective and the anthropomorphic series–parallel mechanism has a significant improvement in tracing the human positions at the hip joint.
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Pruszynski, J. Andrew, Timothy P. Lillicrap, and Stephen H. Scott. "Complex Spatiotemporal Tuning in Human Upper-Limb Muscles." Journal of Neurophysiology 103, no. 1 (January 2010): 564–72. http://dx.doi.org/10.1152/jn.00791.2009.
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Correlations between neural activity in primary motor cortex (M1) and arm kinematics have recently been shown to be temporally extensive and spatially complex. These results provide a sophisticated account of M1 processing and suggest that M1 neurons encode high-level movement trajectories, termed “pathlets.” However, interpreting pathlets is difficult because the mapping between M1 activity and arm kinematics is indirect: M1 activity can generate movement only via spinal circuitry and the substantial complexities of the musculoskeletal system. We hypothesized that filter-like complexities of the musculoskeletal system are sufficient to generate temporally extensive and spatially complex correlations between motor commands and arm kinematics. To test this hypothesis, we extended the computational and experimental method proposed for extracting pathlets from M1 activity to extract pathlets from muscle activity. Unlike M1 activity, it is clear that muscle activity does not encode arm kinematics. Accordingly, any spatiotemporal correlations in muscle pathlets can be attributed to musculoskeletal complexities rather than explicit higher-order representations. Our results demonstrate that extracting muscle pathlets is a robust and repeatable process. Pathlets extracted from the same muscle but different subjects or from the same muscle on different days were remarkably similar and roughly appropriate for that muscle's mechanical action. Critically, muscle pathlets included extensive spatiotemporal complexity, including kinematic features before and after the present muscle activity, similar to that reported for M1 neurons. These results suggest the possibility that M1 pathlets at least partly reflect the filter-like complexities of the periphery rather than high-level representations.
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Austin, Gary P., Gladys E. Garrett, and David Tiberio. "Effect of Added Mass on Human Unipedal Hopping." Perceptual and Motor Skills 94, no. 3 (June 2002): 834–40. http://dx.doi.org/10.2466/pms.2002.94.3.834.
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Although hopping is considered a children's activity, it can be used to provide insight into the neuromuscular and biomechanical performance of adults. This study investigated whether mass added during unipedal hopping altered the vertical stiffness, hopping period, and angular kinematics of the lower extremity of adults. Measures of two-dimensional kinematics and vertical force were made from 10 healthy men during hopping at a preferred period under three conditions: Body Mass, Body Mass + 10%, and Body Mass + 20%. Adding mass significantly increased hopping period and hip flexion without significantly affecting vertical stiffness, ankle dorsiflexion, or knee flexion. Overall, the findings agreed with predictions based on a simple-mass spring model. The results indicate unique kinetic and kinematic responses to increased mass during hopping may have potential application in neuromuscular assessment and training for the lower extremities.
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Gomez, Arnold D., Philip V. Bayly, John A. Butman, Dzung L. Pham, Jerry L. Prince, and Andrew K. Knutsen. "Group characterization of impact-induced, in vivo human brain kinematics." Journal of The Royal Society Interface 18, no. 179 (June 2021): 20210251. http://dx.doi.org/10.1098/rsif.2021.0251.
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Brain movement during an impact can elicit a traumatic brain injury, but tissue kinematics vary from person to person and knowledge regarding this variability is limited. This study examines spatio-temporal brain–skull displacement and brain tissue deformation across groups of subjects during a mild impact in vivo . The heads of two groups of participants were imaged while subjected to a mild (less than 350 rad s −2 ) impact during neck extension (NE, n = 10) and neck rotation (NR, n = 9). A kinematic atlas of displacement and strain fields averaged across all participants was constructed and compared against individual participant data. The atlas-derived mean displacement magnitude was 0.26 ± 0.13 mm for NE and 0.40 ± 0.26 mm for NR, which is comparable to the displacement magnitudes from individual participants. The strain tensor from the atlas displacement field exhibited maximum shear strain (MSS) of 0.011 ± 0.006 for NE and 0.017 ± 0.009 for NR and was lower than the individual MSS averaged across participants. The atlas illustrates common patterns, containing some blurring but visible relationships between anatomy and kinematics. Conversely, the direction of the impact, brain size, and fluid motion appear to underlie kinematic variability. These findings demonstrate the biomechanical roles of key anatomical features and illustrate common features of brain response for model evaluation.
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Hemami, A. "On a human-arm-like mechanical manipulator." Robotica 5, no. 1 (January 1987): 23–28. http://dx.doi.org/10.1017/s0263574700009607.
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SUMMARYThis paper investigates the kinematics and motion of a human arm as a manipulator with seven degrees of freedom, and how to deal with the extra degree of freedom that exists. It proposes that a change of configuration be divided into a sequence of motions where each time one of the joints is locked. It then presents a general technique to solve inverse kinematic equations of the different reduced models that arise.
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WIJAYA, RYAN SATRIA, KEVIN ILHAM APRIANDY, M. RIZQI HASAN AL BANNA, RADEN SANGGAR DEWANTO, and DADET PRAMADIHANTO. "Analisis Kinematika dan Pola Gerakan Berjalan pada Robot Bipedal Humanoid T-FLoW 3.0." ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika 10, no. 1 (January 14, 2022): 31. http://dx.doi.org/10.26760/elkomika.v10i1.31.
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ABSTRAKRobot humanoid merupakan robot menyerupai manusia dengan tingkat kompleksitas yang tinggi dan fungsi yang serbaguna. Pada penelitian ini dilakukan analisis model kinematika gerak pada robot bipedal humanoid TFLoW 3.0, serta menganalisis pola gerakan berjalannya. Pola pergerakan yang diimplementasikan pada robot bipedal TFLoW 3.0 merupakan hasil pendekatan dari teori cara berjalan manusia dengan menggunakan enam gerakan dasar manusia saat berjalan. Kemudian menganalisis model gerakan robot menggunakan kinematika terbalik dengan solusi geometri. Tujuan dari model kinematika terbalik adalah untuk mengubah data input berupa posisi kartesian menjadi nilai sudut untuk setiap parameter joint pada masing-masing Degrees of Freedom (DoF). Lalu dilakukan analisis model mekanik robot saat berjalan yang terbagi atas fase tegak dan fase berayun yang bertujuan untuk mengetahui hasil pengujian.Kata kunci: robot humanoid, gaya berjalan, kinematika, TFLoW, DoF. ABSTRACTHumanoid robots are human-like robots with a high level of complexity and versatile functions. In this study, kinematics analyze on TFLoW 3.0 humanoid bipedal robot is carried out, as well as analyzing the pattern of its walking movement. The implemented movement of TFLoW 3.0 bipedal robot is the result of an approach from human walk using six basic human movements when walking. the robot movement model is analyzed by inverse kinematics with geometric solutions. Invers kinematics model is to transform the input data in the form of a Cartesian position into an angle value for each joint parameter in each Degrees of Freedom (DoF). Then an analysis of the robot's mechanical model when walking is carried out which is divided into a stance phase and a swinging phase which aims to determine the test results.Keywords: humanoid robot, gait, kinematics, TFLoW, DoF.
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Li, Meng, Weizhong Guo, Rongfu Lin, Changzheng Wu, and Liangliang Han. "An Efficient Motion Generation Method for Redundant Humanoid Robot Arm Based on the Intrinsic Principles of Human Arm Motion." International Journal of Humanoid Robotics 15, no. 06 (December 2018): 1850026. http://dx.doi.org/10.1142/s0219843618500263.
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The aim of this paper is trying to propose an efficient method of inverse kinematics and motion generation for redundant humanoid robot arm based on the intrinsic principles of human arm motion. The intrinsic principle analysis takes into account both the skeletal kinematics and muscle strength properties. Firstly, this work analyzed the kinematic redundancy problem of a human arm. By analyzing the biological feature of a human arm, the kinematic redundancy boils down to the uncertainty of elbow position. Secondly, because the muscle’s kinematic and strength properties are critical for simulating biometric motion authentically, the muscle strength property was introduced as the criterion for configuration identification and motion generation. Three types of limb configuration, dog walking, gecko climbing, and human walking limb configuration were analyzed, and two geometrical configuration identification rules were deduced to generate biomimetic motion for humanoid robotic arms. By comparing the proposed method with other five IK methods, the proposed method significantly deduced the computing time. Finally, the configuration identification rules were used to generate motions for a 7-DoF humanoid robotic arm. The results showed that the biological rules can generate biomimetic, smooth arm motions for a redundant humanoid robotic arm.
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Fujie, Hiromichi, Kiyoshi Mabuchi, Savio L. Y. Woo, Glen A. Livesay, Shinji Arai, and Yukio Tsukamoto. "The Use of Robotics Technology to Study Human Joint Kinematics: A New Methodology." Journal of Biomechanical Engineering 115, no. 3 (August 1, 1993): 211–17. http://dx.doi.org/10.1115/1.2895477.
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Robotics technologies have been modified to control and measure both the force and position of synovial joints for the study of joint kinematics. One such system was developed to perform kinematic testing of a human joint. A 6-axis articulated robotic manipulator with 6 degrees of freedom (DOF) of motion was designed and constructed; a mathematical description for joint force and position was devised; and hardware and software to control forces applied to the joint, as well as position of the joint, were developed. The new methodology was utilized to simulate physiological loading conditions and to perform an anterior-posterior (A-P) translation test on a human cadaveric knee. Testing showed that this new system can simulate complex loading conditions and also measure the resulting joint kinematics.
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Tenreiro Machado, José A., and António M. Lopes. "Fractional-order kinematic analysis of biomechanical inspired manipulators." Journal of Vibration and Control 26, no. 1-2 (October 16, 2019): 102–11. http://dx.doi.org/10.1177/1077546319877703.
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Present-day mechanical manipulators reveal limited performances when compared with the human arm. Joint-driven manipulators are sub-optimal due to the high actuator requirements imposed by the transients of the operational space tasks. Muscle-actuated arms are superior because the anatomic structures adapt the task requirements to the driving linear actuators. However, the advantages of muscle actuation are difficult to unravel using the standard integer-order kinematics based on the integer derivatives, namely the positions, velocities and accelerations. This paper investigates the human arm and evaluates the influence of biomechanics upon the driving actuators by means of a new method of kinematic analysis and visualisation. The proposed method uses the tools of fractional calculus for computing the continuous propagation of the signals between positions and accelerations. The behaviour of the variables is compared in the joint and muscle spaces, using both the kinematics in the time domain and the describing function method. In this line of thought, the classical integer-order kinematics, with three discrete levels of visualisation, is generalised to a continuous description represented by the fractional-order kinematics.
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BOLOGA, OCTAVIAN, and MIHAI CRENGANIŞ. "Efficient method for position control of a redundant robot." Journal of Engineering Sciences and Innovation 2, no. 2 (2017): 1–8. http://dx.doi.org/10.56958/jesi.2017.2.2.1.
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To begin the work presents some redundancy resolution schemes for robotic arms, i.e., the techniques for exploiting the redundant degrees of freedom in the solution of the inverse kinematics problem. This is obviously an issue of major relevance for motion planning and control purposes. In particular, task-oriented kinematics and the basic methods for its inversion at the velocity (first-order differential) level are first recalled. This paper focuses on modeling and simulations of the inverse kinematics of an anthropomorphic redundant robotic structure with seven degrees of freedom and a workspace similar to human arm. Also the kinematic model of the robotic arm in the MATLAB and Simulink environment is presented. A method of resolving the redundancy of a seven degrees of freedom robotic arm when a degree of freedom has a known variation is presented. The kinematic analysis and virtual simulation share similar results.
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Vieten, Manfred M., and Christian Weich. "The kinematics of cyclic human movement." PLOS ONE 15, no. 3 (March 5, 2020): e0225157. http://dx.doi.org/10.1371/journal.pone.0225157.
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Peña-Pitarch, Esteban, Neus Ticó Falguera, and Jingzhou (James) Yang. "Virtual human hand: model and kinematics." Computer Methods in Biomechanics and Biomedical Engineering 17, no. 5 (August 24, 2012): 568–79. http://dx.doi.org/10.1080/10255842.2012.702864.
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Goldmann, T., and M. Vilimek. "Kinematics of human spine during hippotherapy." Computer Methods in Biomechanics and Biomedical Engineering 15, sup1 (September 2012): 203–5. http://dx.doi.org/10.1080/10255842.2012.713619.
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Buschang, P. H., H. Hayasaki, and G. S. Throckmorton. "Quantification of human chewing-cycle kinematics." Archives of Oral Biology 45, no. 6 (June 2000): 461–74. http://dx.doi.org/10.1016/s0003-9969(00)00015-7.
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Mortimer, S. T., and M. A. Swan. "Variable kinematics of capacitating human spermatozoa*." Human Reproduction 10, no. 12 (December 1995): 3178–82. http://dx.doi.org/10.1093/oxfordjournals.humrep.a135882.
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Gustus, Agneta, Georg Stillfried, Judith Visser, Henrik Jörntell, and Patrick van der Smagt. "Human hand modelling: kinematics, dynamics, applications." Biological Cybernetics 106, no. 11-12 (November 7, 2012): 741–55. http://dx.doi.org/10.1007/s00422-012-0532-4.
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Grinyagin, I. V., E. V. Biryukova, and M. A. Maier. "Kinematic and Dynamic Synergies of Human Precision-Grip Movements." Journal of Neurophysiology 94, no. 4 (October 2005): 2284–94. http://dx.doi.org/10.1152/jn.01310.2004.
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We analyzed the adaptability of human thumb and index finger movement kinematics and dynamics to variations of precision grip aperture and movement velocity. Six subjects performed precision grip opening and closing movements under different conditions of movement velocity and movement aperture (thumb and index finger tip-to-tip distance). Angular motion of the thumb and index finger joints was recorded with a CyberGlove and a three-dimensional biomechanical model was used for solving the inverse dynamics problem during precision grip movements, i.e., for calculating joint torques from experimentally obtained angular variations. The time-varying joint angles and joint torques were analyzed by principal-component analysis to quantify the contributions of individual joints in kinematic and dynamic synergies. At the level of movement kinematics, we found subject-specific angular contributions. However, the adaptation to large aperture, achieved by an increase of the relative contribution of the proximal joints, was subject-invariant. At the level of movement dynamics, the adaptation of thumb-index finger movements to task constraints was similar among all subjects and required the linear scaling of joint torques, the synchronization of joint torques under high velocity conditions, and a flexible redistribution of joint torques between the proximal joint of the thumb and that of the index finger. This work represents one of the first attempts at calculating the joint torques during human precision-grip movements and indicates that the dynamic synergies seem to be remarkably simple compared with the synergies found for movement kinematics.
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Carmona-Duarte, C., M. A. Ferrer, R. Plamondon, A. Gómez-Rodellar, and P. Gómez-Vilda. "Sigma-Lognormal Modeling of Speech." Cognitive Computation 13, no. 2 (February 7, 2021): 488–503. http://dx.doi.org/10.1007/s12559-020-09803-8.
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AbstractHuman movement studies and analyses have been fundamental in many scientific domains, ranging from neuroscience to education, pattern recognition to robotics, health care to sports, and beyond. Previous speech motor models were proposed to understand how speech movement is produced and how the resulting speech varies when some parameters are changed. However, the inverse approach, in which the muscular response parameters and the subject’s age are derived from real continuous speech, is not possible with such models. Instead, in the handwriting field, the kinematic theory of rapid human movements and its associated Sigma-lognormal model have been applied successfully to obtain the muscular response parameters. This work presents a speech kinematics-based model that can be used to study, analyze, and reconstruct complex speech kinematics in a simplified manner. A method based on the kinematic theory of rapid human movements and its associated Sigma-lognormal model are applied to describe and to parameterize the asymptotic impulse response of the neuromuscular networks involved in speech as a response to a neuromotor command. The method used to carry out transformations from formants to a movement observation is also presented. Experiments carried out with the (English) VTR-TIMIT database and the (German) Saarbrucken Voice Database, including people of different ages, with and without laryngeal pathologies, corroborate the link between the extracted parameters and aging, on the one hand, and the proportion between the first and second formants required in applying the kinematic theory of rapid human movements, on the other. The results should drive innovative developments in the modeling and understanding of speech kinematics.
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Khoramshahi, Mahdi, Agnes Roby-Brami, Ross Parry, and Nathanaël Jarrassé. "Identification of inverse kinematic parameters in redundant systems: Towards quantification of inter-joint coordination in the human upper extremity." PLOS ONE 17, no. 12 (December 16, 2022): e0278228. http://dx.doi.org/10.1371/journal.pone.0278228.
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Understanding and quantifying inter-joint coordination is valuable in several domains such as neurorehabilitation, robot-assisted therapy, robotic prosthetic arms, and control of supernumerary arms. Inter-joint coordination is often understood as a consistent spatiotemporal relation among kinematically redundant joints performing functional and goal-oriented movements. However, most approaches in the literature to investigate inter-joint coordination are limited to analysis of the end-point trajectory or correlation analysis of the joint rotations without considering the underlying task; e.g., creating a desirable hand movement toward a goal as in reaching motions. This work goes beyond this limitation by taking a model-based approach to quantifying inter-joint coordination. More specifically, we use the weighted pseudo-inverse of the Jacobian matrix and its associated null-space to explain the human kinematics in reaching tasks. We propose a novel algorithm to estimate such Inverse Kinematics weights from observed kinematic data. These estimated weights serve as a quantification for spatial inter-joint coordination; i.e., how costly a redundant joint is in its contribution to creating an end-effector velocity. We apply our estimation algorithm to datasets obtained from two different experiments. In the first experiment, the estimated Inverse Kinematics weights pinpoint how individuals change their Inverse Kinematics strategy when exposed to the viscous field wearing an exoskeleton. The second experiment shows how the resulting Inverse Kinematics weights can quantify a robotic prosthetic arm’s contribution (or the level of assistance).
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Weast-Knapp, Julie A., Kevin Shockley, Michael A. Riley, Sarah Cummins-Sebree, Michael J. Richardson, Trenton D. Wirth, and Philip C. Haibach. "Perception of another person’s maximum reach-with-jump height from walking kinematics." Quarterly Journal of Experimental Psychology 72, no. 8 (January 25, 2019): 2018–31. http://dx.doi.org/10.1177/1747021818821935.
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Humans can perceive affordances (possibilities for action) for themselves and others, including the maximum overhead height reachable by jumping (reach-with-jump height, RWJ). While observers can accurately perceive maximum RWJ for another person without previously seeing the person jump, estimates improve after viewing the person walk, suggesting there is structure in walking kinematics that is informative about the ability to produce vertical force for jumping. We used principal component analysis (PCA) to identify patterns in human walking kinematics that specify another person’s maximum RWJ ability, and to determine whether athletes are more sensitive than non-athletes to these patterns. Kinematic data during treadmill walking were collected and submitted to PCA to obtain loading values for the kinematic time series variables on the first principal component. Kinematic data were also used to create point-light (PL) displays, in which the movement kinematics of PL walkers were manipulated using the obtained PCA loading values to determine how changes in body-segment movements impacted perception of maximum RWJ height. While manipulating individual segmental loadings in the PL displays did not substantially affect RWJ estimates, PL displays created by replacing the PCA loadings of a high-jumper with those of a low-jumper, and vice versa, resulted in corresponding reversals of participants’ RWJ estimates, suggesting that the global structure of walking kinematics carries information about another’s maximum RWJ height. Athletes exhibited greater sensitivity than controls to the kinematic manipulations, indicating that they are better attuned to useful kinematic information as a result of their sport experience.
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Choi, Hyeon Ki, and Si Yeol Kim. "Computer-Graphics Based Analysis of Human Foot Kinematics during the Gait." Key Engineering Materials 321-323 (October 2006): 1115–18. http://dx.doi.org/10.4028/www.scientific.net/kem.321-323.1115.
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A computer-graphics based biomechanical model was constructed to investigate the kinematics of foot joints during the stance-phase of walking. In the model, all joints were assumed to act as monocentric, single degree of freedom hinge joints. To obtain the inputs to the model, the motion of foot segments was captured during the gait by a four-camera video system. The model fitted in an individual subject was simulated with these motion data. The ranges of motion of the first tarsometatarsal joint and the first metatarsophanlangeal joint were 8 ∼13 and -13 ∼ 48 respectively. The kinematic data of joints were similar to those of the previous studies. Our method based on the graphical computer model is considered useful for kinematic analysis of small joints including foot joints. Also, the results of this study will provide important information to the biomechanical studies which deal with human gait.
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Li, G., J. Gil, A. Kanamori, and S. L. Y. Woo. "A Validated Three-Dimensional Computational Model of a Human Knee Joint." Journal of Biomechanical Engineering 121, no. 6 (December 1, 1999): 657–62. http://dx.doi.org/10.1115/1.2800871.
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This paper presents a three-dimensional finite element tibio-femoral joint model of a human knee that was validated using experimental data. The geometry of the joint model was obtained from magnetic resonance (MR) images of a cadaveric knee specimen. The same specimen was biomechanically tested using a robotic/universal force-moment sensor (UFS) system and knee kinematic data under anterior-posterior tibial loads (up to 100 N) were obtained. In the finite element model (FEM), cartilage was modeled as an elastic material, ligaments were represented as nonlinear elastic springs, and menisci were simulated by equivalent-resistance springs. Reference lengths (zero-load lengths) of the ligaments and stiffness of the meniscus springs were estimated using an optimization procedure that involved the minimization of the differences between the kinematics predicted by the model and those obtained experimentally. The joint kinematics and in-situ forces in the ligaments in response to axial tibial moments of up to 10 Nm were calculated using the model and were compared with published experimental data on knee specimens. It was also demonstrated that the equivalent-resistance springs representing the menisci are important for accurate calculation of knee kinematics. Thus, the methodology developed in this study can be a valuable tool for further analysis of knee joint function and could serve as a step toward the development of more advanced computational knee models.
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Ciortan, Marinela, Liliana Luca, and Alin Stancioiu. "Study on a Gripping Biomechanism Represented by the Human Dento-Maxillary Apparatus." Applied Mechanics and Materials 332 (July 2013): 515–20. http://dx.doi.org/10.4028/www.scientific.net/amm.332.515.
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In this paper presents the gripping biomechanism of the dento-maxillary apparatus. Here are some important studies conducted worldwide on the structure, kinematics and dynamics of biomechanism. In the paper the authors present their experimental research conducted to determine the movements made by the biomechanism. Using data obtained from video films, and radiographs we identified in detail the permitted movements of temporomandibular joint. The kinematic equivalent diagram of mechanism was established. The kinematic calculations performed but not presented due to lack of space in the paper showed that the mechanism is optimal for the required movements.
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AMBROSE, ROBERT O., and CATHERINE G. AMBROSE. "PRIMATE ANATOMY, KINEMATICS, AND PRINCIPLES FOR HUMANOID DESIGN." International Journal of Humanoid Robotics 01, no. 01 (March 2004): 175–98. http://dx.doi.org/10.1142/s0219843604000101.
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The primate order of animals is investigated for clues in the design of humanoid robots. The pursuit is directed with a theory that kinematics, musculature, perception, and cognition can be optimized for specific tasks by varying the proportions of limbs, and in particular, the points of branching in kinematic trees such as the primate skeleton. Called the Bifurcated Chain Hypothesis, the theory is that the branching proportions found in humans may be superior to other animals and primates for the tasks of dexterous manipulation and other human specialties. The primate taxa are defined, contemporary primate evolution hypotheses are critiqued, and variations within the order are noted. The kinematic branching points of the torso, limbs and fingers are studied for differences in proportions across the order, and associated with family and genus capabilities and behaviors. The human configuration of a long waist, long neck, and short arms is graded using a kinematic workspace analysis and a set of design axioms for mobile manipulation robots. It scores well. The re-emergence of the human waist, seen in early prosimians and monkeys for arboreal balance, but lost in the terrestrial pongidae, is postulated as benefiting human dexterity. The human combination of an articulated waist and neck will be shown to enable the use of smaller arms, achieving greater regions of workspace dexterity than the larger limbs of gorillas and other hominoidea.
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Iskandar, Fathur Rokhman, Imam Sucahyo, and Meta Yantidewi. "Penerapan Metode Invers kinematik Pada Kontrol Gerak Robot Lengan Tiga Derajat Bebas." Inovasi Fisika Indonesia 9, no. 2 (June 22, 2020): 64–71. http://dx.doi.org/10.26740/ifi.v9n2.p64-71.
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AbstrakRobot didefinisikan sebagai suatu instrumen yang terdiri dari perangkat keras dan perangkat lunak yang berfungsi untuk membantu pekerjaan manusia. Salah satu pekerjaan yang dapat dilakukan oleh robot adalah proses pemindahan barang dari satu tempat ke tempat yang lain. Sistem gerak robot lengan diadaptasi dari sistem gerak lengan manusia yang memiliki sendi atau disebut dengan joint dan link sebagai penghubung antar joint. Pergerakan robot lengan dapat ditentukan dengan menggunakan metode trial-error atau yang biasa dikenal dengan forward kinematik. Namun, metode ini dinilai lebih memakan waktu dan memori. Untuk mengatasi hal tersebut dibutuhkan metode yang merupakan kebalikan dari metode forward kinematik, yaitu metode invers kinematik. Metode invers kinematik merupakan metode pergerakan robot lengan dengan variabel yang diketahui adalah titik koordinat tujuan. Penelitian dilakukan dengan memberi masukan berupa koordinat (x, y, z) pada mikrokontroler. Data tersebut akan diproses menggunakan metode inver kinematik untuk mendapat sudut yang harus dituju oleh motor servo ( ). Sudut sebenarnya yang dituju robot akan diukur secara langsung menggunakan busur derajat ( ) sebagai pembanding. Dari penelitian yang dilakukan, didapatkan hasil persentase error rata-rata untuk servo 1 sebesar 0,14%, servo 2 sebesar 0,43%, dan servo 3 sebesar 6,47%, servo 3 pada robot lengan memiliki nilai minimal yang bisa dicapai yaitu sebesar 50o. Persentase error rata-rata untuk sumbu X sebesar 0,42%, sumbu Y sebesar 5,03%, dan sumbu Z sebesar 3,46%. Dari hasil tersebut dapat dikatakan bahwa metode invers kinematik merupakan metode yang baik sebagai metode kontrol gerak robot lengan.Kata Kunci: robot lengan. Invers kinematik, forward kinematik. AbstractRobot is determined as an instrument consisting of hardware and software that functions to help human work. One of the jobs that can be done by robots is the process of moving goods from one place to another. Robot arm motion system is adapted from the human arm motion system which has joints and links to connected the joints. The movement of the robot arm can be determined by using the trial-error method or commonly known as forward kinematics. However, this method consumes more time and memory. To overcome this, we need a method which is the opposite of the forward kinematics method, that is inverse kinematics method. Inverse kinematics method is a method of robot arm movement with the coordinates point of destination as the known variable. The study was conducted by providing input in the form of coordinates (x, y, z) on the microcontroller. The data will be processed using inverse kinematics method to get the desired angle that will be reached by the servo motor ( ). The actual angle that the robot is pointing to will be measured directly using a protractor ( ) as a comparison. From the experiments carried out, the average error percentage for servo 1 is 0.14%, servo 2 is 0.43%, and servo 3 is 6.47%, servo 3 on the robot arm has a minimum value that can be achieved that is equal to 50o. The average error percentage for the X axis is 0.42%, the Y axis is 5.03%, and the Z axis is 3.46%. From these results, it can be said that the inverse kinematics method is a good method as a controlling method of robot arm motion.Keywords: robot arm, inverse kinematics, forward kinematics.
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MacLellan, M. J., Y. P. Ivanenko, G. Cappellini, F. Sylos Labini, and F. Lacquaniti. "Features of hand-foot crawling behavior in human adults." Journal of Neurophysiology 107, no. 1 (January 2012): 114–25. http://dx.doi.org/10.1152/jn.00693.2011.
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Interlimb coordination of crawling kinematics in humans shares features with other primates and nonprimate quadrupeds, and it has been suggested that this is due to a similar organization of the locomotor pattern generators (CPGs). To extend the previous findings and to further explore the neural control of bipedal vs. quadrupedal locomotion, we used a crawling paradigm in which healthy adults crawled on their hands and feet at different speeds and at different surface inclinations (13°, 27°, and 35°). Ground reaction forces, limb kinematics, and electromyographic (EMG) activity from 26 upper and lower limb muscles on the right side of the body were collected. The EMG activity was mapped onto the spinal cord in approximate rostrocaudal locations of the motoneuron pools to characterize the general features of cervical and lumbosacral spinal cord activation. The spatiotemporal pattern of spinal cord activity significantly differed between quadrupedal and bipedal gaits. In addition, participants exhibited a large range of kinematic coordination styles (diagonal vs. lateral patterns), which is in contrast to the stereotypical kinematics of upright bipedal walking, suggesting flexible coupling of cervical and lumbosacral pattern generators. Results showed strikingly dissimilar directional horizontal forces for the arms and legs, considerably retracted average leg orientation, and substantially smaller sacral vs. lumbar motoneuron activity compared with quadrupedal gait in animals. A gradual transition to a more vertical body orientation (increasing the inclination of the treadmill) led to the appearance of more prominent sacral activity (related to activation of ankle plantar flexors), typical of bipedal walking. The findings highlight the reorganization and adaptation of CPG networks involved in the control of quadrupedal human locomotion and a high specialization of the musculoskeletal apparatus to specific gaits.
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Naeem, Samara Munaem, and Majid H. Faidh-Allah. "Forward Kinematic and Jacobian Matrix for the Prosthetic Human Finger Actuated by Links." Mathematical Modelling of Engineering Problems 8, no. 6 (December 22, 2021): 974–78. http://dx.doi.org/10.18280/mmep.080618.
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The most important function of a prosthetic hand is their ability to perform tasks in a manner similar to a natural hand, so it is necessary to perform kinematic analysis to determine the performance and the ability of the prosthetic human finger design to work normally and smoothly when it's drive by two sets of links that embedded in its structure and pulled by a servomotor, so the Denvit-Hartenberg method was used to analyse the forward kinematics for the prosthetic finger joints to deduction the trajectory of the fingertip and the velocity of the joints was computed by using the Jacobian matrix. The prosthetic finger was modelled by the Solidwork - 2018 program and the results of kinematics were verified using MATLAB. The analyses that were conducted on the design showed that the designed prosthetic finger has the ability to perform movements and meets the functional requirements for which it is designed.
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López, Antonio, Juan Alvarez, and Diego Álvarez. "Walking Turn Prediction from Upper Body Kinematics: A Systematic Review with Implications for Human-Robot Interaction." Applied Sciences 9, no. 3 (January 22, 2019): 361. http://dx.doi.org/10.3390/app9030361.
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Prediction of walking turns allows to improve human factors such as comfort and perceived safety in human-robot interaction. The current state-of-the-art suggests that upper body kinematics can be used for that purpose and contains evidence about the reliability and the quantitative anticipation that can be expected from different variables. However, the experimental methodology has not been consistent throughout the different works and the related data has not always been given in an explicit form, with different studies containing partial, complementary or even contradictory results. In this paper, with the purpose of providing a uniform view of the topic that can trigger new developments in the field, we performed a systematic review of the relevant literature addressing three main questions: (i) Which upper body kinematic variables permit to anticipate a walking turn? (ii) How long in advance can we anticipate the turn from them? (iii) What is the expected contribution of walking turn prediction systems from upper body kinematics for human-robot interaction? We have found that head yaw was the most reliable kinematical variable from the upper body to predict walking turns about 200ms. Trunk roll anticipates walking turns by a similar amount of time, but with less reliability. Both approaches may benefit human-robot interaction in close proximity, helping the robot to exhibit appropriate proxemic behavior interacting at intimate, personal or social distances. From the point of view of safety, they have to be considered with caution. Trunk yaw is not valid to anticipate turns. Gaze Yaw seems to be the earliest predictor, although existing evidence is still inconclusive.
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Perry, Joel C., Janet M. Powell, and Jacob Rosen. "Isotropy of an Upper Limb Exoskeleton and the Kinematics and Dynamics of the Human Arm." Applied Bionics and Biomechanics 6, no. 2 (2009): 175–91. http://dx.doi.org/10.1155/2009/758631.
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The integration of human and robot into a single system offers remarkable opportunities for a new generation of assistive technology. Despite the recent prominence of upper limb exoskeletons in assistive applications, the human arm kinematics and dynamics are usually described in single or multiple arm movements that are not associated with any concrete activity of daily living (ADL). Moreover, the design of an exoskeleton, which is physically linked to the human body, must have a workspace that matches as close as possible with the workspace of the human body, while at the same time avoid singular configurations of the exoskeleton within the human workspace. The aims of the research reported in this manuscript are (1) to study the kinematics and the dynamics of the human arm during daily activities in a free and unconstrained environment, (2) to study the manipulability (isotropy) of a 7-degree-of-freedom (DOF)-powered exoskeleton arm given the kinematics and the dynamics of the human arm in ADLs. Kinematic data of the upper limb were acquired with a motion capture system while performing 24 daily activities from six subjects. Utilising a 7-DOF model of the human arm, the equations of motion were used to calculate joint torques from measured kinematics. In addition, the exoskeleton isotropy was calculated and mapped with respect to the spacial distribution of the human arm configurations during the 24 daily activities. The results indicate that the kinematic joint distributions representing all 24 actions appear normally distributed except for elbow flexion–extension with the emergence of three modal centres. Velocity and acceleration components of joint torque distributions were normally distributed about 0 Nm, whereas gravitational component distributions varied with joint. Additionally, velocity effects were found to contribute only 1/100th of the total joint torque, whereas acceleration components contribute 1/10th of the total torque at the shoulder and elbow, and nearly half of the total torque at the wrist. These results suggest that the majority of human arm joint torques are devoted to supporting the human arm position in space while compensating gravitational loads whereas a minor portion of the joint torques is dedicated to arm motion itself. A unique axial orientation at the base of the exoskeleton allowed the singular configuration of the shoulder joint to be moved towards the boundary of the human arm workspace while supporting 95% of the arm's workspace. At the same time, this orientation allowed the best exoskeleton manipulability at the most commonly used human arm configuration during ADLs. One of the potential implications of these results might be the need to compensate gravitational load during robotic-assistive rehabilitation treatment. Moreover, results of a manipulability analysis of the exoskeleton system indicate that the singular configuration of the exoskeleton system may be moved out of the human arm physiological workspace while maximising the overlap between the human arm and the exoskeleton workspaces. The collected database along with kinematic and dynamic analyses may provide a fundamental basis towards the development of assistive technologies for the human arm.
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Ganea, Daniel, Elena Mereuta, and Claudiu Mereuta. "Human Body Kinematics and the Kinect Sensor." Applied Mechanics and Materials 555 (June 2014): 707–12. http://dx.doi.org/10.4028/www.scientific.net/amm.555.707.
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For a good understanding of human body biomechanics scientist all over the world are using motion capture systems (MoCap). Such a system is mainly composed of one or multiple high performance cameras and a process unit for gathering key information. A low – cost solution for these systems is the Kinect sensor from Microsoft. The Kinect sensor is a depth camera that can be used for assessing full – body movements in terms of joint and/or segment positions and movement geometries. The resulting data can be used in the robotic industry, in clinical solutions, video gaming industries etc. The functionality of the equipment has been highly debated in many studies wherefrom result that the depth camera in question is accurate and reliable in studies such as human biomechanics. The aim of this paper is to explain the logics behind this equipment and its functionality. Therefore we present a new approach in constructing a 3D human skeleton model that can be used for assessing asymmetries by determining the human silhouette in 3D, the position of human body key points and joints, the angles between the track segments and full body kinematics.
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Mihelj, Matjaž. "Human arm kinematics for robot based rehabilitation." Robotica 24, no. 3 (November 23, 2005): 377–83. http://dx.doi.org/10.1017/s0263574705002304.
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The paper considers a technique for computation of the inverse kinematic model of the human arm for robot based rehabilitation that uses measurements of the hand position and orientation and radial acceleration of the upper arm. Analytical analysis and empirical validation of the method are presented. The algorithm enables estimation of human arm angles, which can be used in trajectory planning for rehabilitation robots, evaluation of motion of patients with movement disorders, and generation of virtual reality environments.
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Nagahara, R., T. Matsubayashi, A. Matsuo, and K. Zushi. "Kinematics of transition during human accelerated sprinting." Biology Open 3, no. 8 (July 4, 2014): 689–99. http://dx.doi.org/10.1242/bio.20148284.
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Kirsch, Stefanie, Hans Nägerl, and Dietmar Kubein-Meesenburg. "Kinematics and statics of the human shoulder." Journal of Biomechanics 27, no. 6 (January 1994): 804. http://dx.doi.org/10.1016/0021-9290(94)91341-2.
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Pap, J. S., W. L. Xu, and J. Bronlund. "A robotic human masticatory system: kinematics simulations." International Journal of Intelligent Systems Technologies and Applications 1, no. 1/2 (2005): 3. http://dx.doi.org/10.1504/ijista.2005.007304.
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Hindle, R. J., M. J. Pearcy, A. T. Cross, and D. H. T. Miller. "Three-dimensional kinematics of the human back." Clinical Biomechanics 5, no. 4 (November 1990): 218–28. http://dx.doi.org/10.1016/0268-0033(90)90005-q.
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Castiello, Umberto, and Marco Dadda. "A review and consideration on the kinematics of reach-to-grasp movements in macaque monkeys." Journal of Neurophysiology 121, no. 1 (January 1, 2019): 188–204. http://dx.doi.org/10.1152/jn.00598.2018.
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The bases for understanding the neuronal mechanisms that underlie the control of reach-to-grasp movements among nonhuman primates, particularly macaques, has been widely studied. However, only a few kinematic descriptions of their prehensile actions are available. A thorough understanding of macaques’ prehensile movements is manifestly critical, in light of their role in biomedical research as valuable models for studying neuromotor disorders and brain mechanisms, as well as for developing brain-machine interfaces to facilitate arm control. This article aims to review the current state of knowledge on the kinematics of grasping movements that macaques perform in naturalistic, seminaturalistic, and laboratory settings, to answer the following questions: Are kinematic signatures affected by the context within which the movement is performed? In what ways are kinematics of humans’ and macaques’ prehensile actions similar/dissimilar? Our analysis reflects the challenges involved in making comparisons across settings and species due to the heterogeneous picture in terms of the number of subjects, stimuli, conditions, and hands used. The kinematics of free-ranging macaques are characterized by distinctive features that are exhibited neither by macaques in laboratory setting nor by human subjects. The temporal incidence of key kinematic landmarks diverges significantly between species, indicating disparities in the overall organization of movement. Given such complexities, we attempt a synthesis of the extant body of evidence, intending to generate some significant implications for directions that future research might take to recognize the remaining gaps and pursue the insights and resolutions to generate an interpretation of movement kinematics that accounts for all settings and subjects.
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Jung, Erik, Victoria Ly, Christopher Cheney, Nicholas Cessna, Mai Linh Ngo, Dennis Castro, and Mircea Teodorescu. "Design, Construction and Validation of a Proof of Concept Flexible–Rigid Mechanism Emulating Human Leg Behavior." Applied Sciences 11, no. 19 (October 8, 2021): 9351. http://dx.doi.org/10.3390/app11199351.
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In most robotics simulations, human joints (e.g., hips and knees) are assumed to be revolute joints with limited range rotations. However, this approach neglects the internal flexibility of the joint, which could present a significant drawback in some applications. We propose a tensegrity-inspired robotic manipulator that can replicate the kinematic behavior of the human leg. The design of the hip and knee resembles the musculoskeletal connections within the human body. Our implementation represents muscles, tendons and ligament connections as cables, and bones as rods. This particular design manipulates muscles to replicate a human-like gait, which demonstrates its potential for use as an anatomically correct assistive device (prosthetic, exoskeleton, etc.). Using the OpenSim 3.0 simulation environment, we estimated the kinematics and structural integrity of the proposed flexural joint design and determined the actuation strategies for our prototype. Kinematics for the prototype include the mechanical limitations and constraints derived from the simulations. We compared the simulation, physical prototype, and human leg behaviors for various ranges of motion and demonstrated the potential for using OpenSim 3.0 as a flexible–rigid modeling and simulation environment.
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Lenarčič, Jadran, and Nives Klopčar. "Positional kinematics of humanoid arms." Robotica 24, no. 1 (October 31, 2005): 105–12. http://dx.doi.org/10.1017/s0263574705001906.
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We present the positional abilities of a humanoid manipulator based on an improved kinematical model of the human arm. This was synthesized from electro-optical measurements of healthy female and male subjects. The model possesses three joints: inner shoulder joint, outer shoulder joint and elbow joint. The first functions as the human sternoclavicular joint, the second functions as the human glenohumeral joint, and the last replicates the human humeroulnar rotation. There are three links included, the forearm and the upper arm link which are of a constant length, and the shoulder link which is expandable. Mathematical interrelations between the joint coordinates are also taken into consideration. We determined the reachability of a humanoid arm, treated its orienting redundancy in the shoulder complex and the positional redundancy in the shoulder-elbow complexes, and discussed optimum configurations in executing different tasks. The results are important for the design and control of humanoid robots, in medicine and sports.
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Ruiz-Malagón, Emilio J., Felipe García-Pinillos, Alejandro Molina-Molina, Víctor M. Soto-Hermoso, and Santiago A. Ruiz-Alias. "RunScribe Sacral Gait Lab™ Validation for Measuring Pelvic Kinematics during Human Locomotion at Different Speeds." Sensors 23, no. 5 (February 27, 2023): 2604. http://dx.doi.org/10.3390/s23052604.
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Optoelectronic motion capture systems are considered the gold standard for measuring walking and running kinematics parameters. However, these systems prerequisites are not feasible for practitioners as they entail a laboratory environment and time to process and calculate the data. Therefore, this study aims to evaluate the validity of the three-sensor RunScribe Sacral Gait Lab™ inertial measurement unit (IMU) in measuring pelvic kinematics in terms of vertical oscillation, tilt, obliquity, rotational range of motion, and the maximum angular rates during walking and running on a treadmill. Pelvic kinematic parameters were measured simultaneously using an eight-camera motion analysis system (Qualisys Medical AB, GÖTEBORG, Sweden) and the three-sensor RunScribe Sacral Gait Lab™ (Scribe Lab. Inc. San Francisco, CA, USA) in a sample of 16 healthy young adults. An acceptable level of agreement was considered if the following criteria were met: low bias and SEE (<0.2 times the between-subject differences SD), almost perfect (r > 0.90), and good reliability (ICC > 0.81). The results obtained reveal that the three-sensor RunScribe Sacral Gait Lab™ IMU did not reach the validity criteria established for any of the variables and velocities tested. The results obtained therefore show significant differences between the systems for the pelvic kinematic parameters measured during both walking and running.
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Chen, Weihai, Zhongyi Li, Xiang Cui, Jianbin Zhang, and Shaoping Bai. "Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters." Sensors 19, no. 20 (October 15, 2019): 4461. http://dx.doi.org/10.3390/s19204461.
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Compared with conventional exoskeletons with rigid links, cable-driven upper-limb exoskeletons are light weight and have simple structures. However, cable-driven exoskeletons rely heavily on the human skeletal system for support. Kinematic modeling and control thus becomes very challenging due to inaccurate anthropomorphic parameters and flexible attachments. In this paper, the mechanical design of a cable-driven arm rehabilitation exoskeleton is proposed to accommodate human limbs of different sizes and shapes. A novel arm cuff able to adapt to the contours of human upper limbs is designed. This has given rise to an exoskeleton which reduces the uncertainties caused by instabilities between the exoskeleton and the human arm. A kinematic model of the exoskeleton is further developed by considering the inaccuracies of human-arm skeleton kinematics and attachment errors of the exoskeleton. A parameter identification method is used to improve the accuracy of the kinematic model. The developed kinematic model is finally tested with a primary experiment with an exoskeleton prototype.
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Chen, Lu Min, Zhi Zhong Zhu, Qi Lin, and Xin Jie Wang. "Design and Kinematics of a Cable-Driven Humanoid Ankle Joint." Applied Mechanics and Materials 541-542 (March 2014): 846–51. http://dx.doi.org/10.4028/www.scientific.net/amm.541-542.846.
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A 2DOF ankle joint mechanism with cross rotation axis was designed to imitate the human ankle joint structure. The kinematic model of the ankle joint mechanism was established by D-H method. The synergistic influences of the angle of ankle joint and subtalar joint on the foot motion of inversion/eversion, adduction/abduction, dorsiflexion/plantar flexion were analyzed by kinematics simulation. The simulation results show that the designed ankle joint has similar motion range and function to that of human ankle. This study provides a theoretical basis for the development of high performance ankle joint for humanoid robots.
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Zhang, Leiyu, Jianfeng Li, Shuting Ji, Peng Su, Chunjing Tao, and Run Ji. "Design and human–machine compatibility analysis of Co-Exos II for upper-limb rehabilitation." Assembly Automation 39, no. 4 (September 2, 2019): 715–26. http://dx.doi.org/10.1108/aa-09-2018-0127.
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Purpose Upper-limb joint kinematics are highly complex and the kinematics of rehabilitation exoskeletons fail to reproduce them, resulting in hyperstaticity and human–machine incompatibility. The purpose of this paper is to design and develop a compatible exoskeleton robot (Co-Exos II) to address these problems. Design/methodology/approach The configuration synthesis of Co-Exos II is completed using advanced mechanism theory. A compatible configuration is selected and four passive joints are introduced into the connecting interfaces based on optimal configuration principles. A Co-Exos II prototype with nine degrees of freedom (DOFs) is developed and still owns a compact structure and volume. A new approach is presented to compensate the vertical glenohumeral (GH) movements. Co-Exos II and the upper arm are simplified as a guide-bar mechanism at the elevating plane. The theoretical displacements of passive joints are calculated by the kinematic model of the shoulder loop. The compatible experiments are completed to measure the kinematics of passive joints. Findings The compatible configuration of the passive joints can effectively reduce the gravity influences of the exoskeleton device and the upper extremities. The passive joints exhibit excellent compensation effect for the GH joint movements by comparing the theoretical and measured results. Passive joints can compensate for most GH movements, especially vertical movements. Originality/value Co-Exos II possesses good human–machine compatibility and wearable comfort for the affected upper limbs. The proposed compensation method is convenient to therapists and stroke patients during the rehabilitation trainings.
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Courtine, Grégoire, Roland R. Roy, John Hodgson, Heather McKay, Joseph Raven, Hui Zhong, Hong Yang, Mark H. Tuszynski, and V. Reggie Edgerton. "Kinematic and EMG Determinants in Quadrupedal Locomotion of a Non-Human Primate (Rhesus)." Journal of Neurophysiology 93, no. 6 (June 2005): 3127–45. http://dx.doi.org/10.1152/jn.01073.2004.
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We hypothesized that the activation patterns of flexor and extensor muscles and the resulting kinematics of the forelimbs and hindlimbs during locomotion in the Rhesus would have unique characteristics relative to other quadrupedal mammals. Adaptations of limb movements and in motor pool recruitment patterns in accommodating a range of treadmill speeds similar to other terrestrial animals in both the hindlimb and forelimb were observed. Flexor and extensor motor neurons from motor pools in the lumbar segments, however, were more highly coordinated than in the cervical segments. Unlike the lateral sequence characterizing subprimate quadrupedal locomotion, non-human primates use diagonal coordination between the hindlimbs and forelimbs, similar to that observed in humans between the legs and arms. Although there was a high level of coordination between hind- and forelimb locomotion kinematics, limb-specific neural control strategies were evident in the intersegmental coordination patterns and limb endpoint trajectories. Based on limb kinematics and muscle recruitment patterns, it appears that the hindlimbs, and notably the distal extremities, contribute more to body propulsion than the forelimbs. Furthermore, we found adaptive changes in the recruitment patterns of distal muscles in the hind- and forelimb with increased treadmill speed that likely correlate with the anatomical and functional evolution of hand and foot digits in monkeys. Changes in the properties of both the spinal and supraspinal circuitry related to stepping, probably account for the peculiarities in the kinematic and EMG properties during non-human primate locomotion. We suggest that such adaptive changes may have facilitated evolution toward bipedal locomotion.
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Li, Ning, Tie Yang, Yang Yang, Peng Yu, Xiujuan Xue, Xingang Zhao, Guoli Song, et al. "Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation." Journal of Bionic Engineering 17, no. 6 (November 2020): 1163–74. http://dx.doi.org/10.1007/s42235-020-0101-9.
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AbstractExoskeleton robots have demonstrated the potential to rehabilitate stroke dyskinesia. Unfortunately, poor human-machine physiological coupling causes unexpected damage to human of muscles and joints. Moreover, inferior humanoid kinematics control would restrict human natural kinematics. Failing to deal with these problems results in bottlenecks and hinders its application. In this paper, the simplified muscle model and muscle-liked kinematics model were proposed, based on which a soft wrist exoskeleton was established to realize natural human interaction. Firstly, we simplified the redundant muscular system related to the wrist joint from ten muscles to four, so as to realize the human-robot physiological coupling. Then, according to the above human-like musculoskeletal model, the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the wrist. The results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3% and 35.6%, respectively. Additionally, the humanoid motion trajectories similarity of the robot reached 91.5%. Stroke patients could recover 90.3% of natural motion ability to satisfy for most daily activities. This work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.
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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.