Relevant bibliographies by topics / Joints – Range of motion – Testing

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Academic literature on the topic 'Joints – Range of motion – Testing'

Author: Grafiati
Published: 4 June 2021
Last updated: 15 February 2022

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Journal articles on the topic "Joints – Range of motion – Testing"

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Quang, Huu-Hieu, Yoshifumi Morita, and Makoto Takekawa. "Digital Testing Device for Active Range of Motion of Finger Joints Utilizing Artificial Neural Network." Proceedings of International Conference on Artificial Life and Robotics 26 (January 21, 2021): 445–48. http://dx.doi.org/10.5954/icarob.2021.gs6-1.

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&NA;. "Joint Range of Motion and Muscle Length Testing, 2nd Edition." Medicine & Science in Sports & Exercise 45, no. 12 (December 2013): 2387. http://dx.doi.org/10.1249/01.mss.0000436238.73199.d1.

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Bösch, Nadja, Martin Hofstetter, Alexander Bürki, Beatriz Vidondo, Fenella Davies, and Franck Forterre. "Effect of Facetectomy on the Three-Dimensional Biomechanical Properties of the Fourth Canine Cervical Functional Spinal Unit: A Cadaveric Study." Veterinary and Comparative Orthopaedics and Traumatology 30, no. 06 (2017): 430–37. http://dx.doi.org/10.3415/vcot-17-03-0043.

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Abstract Objective To study the biomechanical effect of facetectomy in 10 large breed dogs (>24 kg body weight) on the fourth canine cervical functional spinal unit. Methods Canine cervical spines were freed from all muscles. Spines were mounted on a six-degrees-of-freedom spine testing machine for three-dimensional motion analysis. Data were recorded with an optoelectronic motion analysis system. The range of motion wasdetermined inall threeprimary motionsaswellasrange of motion of coupled motions on the intact specimen, after unilateral and after bilateral facetectomy. Repeated-measures analysis of variance models were used to assess the changes of the biomechanical properties in the three treatment groups considered. Results Facetectomy increased range of motion of primary motions in all directions. Axial rotation was significantly influenced by facetectomy. Coupled motion was not influenced by facetectomy except for lateral bending with coupled motion axial rotation. The coupling factor (coupled motion/primary motion) decreased after facetectomy. Symmetry of motion was influenced by facetectomy in flexion–extension and axial rotation, but not in lateral bending. Clinical Significance Facet joints play a significant role in the stability of the cervical spine and act to maintain spatial integrity. Therefore, cervical spinal treatments requiring a facetectomy should be carefully planned and if an excessive increase in range of motion is expected, complications should be anticipated and reduced via spinal stabilization.
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Al-Qattan, M. M. "The exploded hand syndrome: a report of five industrial injury cases." Journal of Hand Surgery (European Volume) 38, no. 8 (November 27, 2012): 880–87. http://dx.doi.org/10.1177/1753193412468577.

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The term ‘exploded hand syndrome’ refers to a specific type of crush injury to the hand in which a high compressive force excessively flattens the hand leading to thenar muscle extrusion through burst lacerations. Out of 89 crushed hands seen over a period of seven years, only five had exploded hand syndrome. They were all male industrial workers ranging in age between 24 and 55 years. All patients had thenar muscle extrusion. Other concurrent injuries included fractures/dislocations, compartment syndrome, and ischaemia. All patients were treated by excision of the extruded intrinsic muscles, as well as primary management of concurrent injuries. All patients had functional assessment including: motor power and sensory testing, range of motion of hand joints, and the quick DASH score. Objective testing showed reduced sensibility in the thumb, reduced grip strength (mean 52% of contralateral hand), reduced pinch strength (mean of 27% of contralateral hand), reduced thumb opposition (the mean Kapandji Score was 5 out of 10), and deficits in the range of motion of the metacarpophalangeal and interphalangeal joints of the thumb. The quick DASH score ranged from 11 to 49 and only two patients were able to go back to regular manual work.
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Henderson, Jeffrey, Joan Condell, James Connolly, Daniel Kelly, and Kevin Curran. "Reliability and Validity of Clinically Accessible Smart Glove Technologies to Measure Joint Range of Motion." Sensors 21, no. 5 (February 24, 2021): 1555. http://dx.doi.org/10.3390/s21051555.

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Capturing hand motions for hand function evaluations is essential in the medical field. For many allied health professionals, measuring joint range of motion (ROM) is an important skill. While the universal goniometer (UG) is the most used clinical tool for measuring joint ROM, developments in current sensor technology are providing clinicians with more measurement possibilities than ever. For rehabilitation and manual dexterity evaluations, different data gloves have been developed. However, the reliability and validity of sensor technologies when used within a smart device remain somewhat unclear. This study proposes a novel electronically controlled sensor monitoring system (ECSMS) to obtain the static and dynamic parameters of various sensor technologies for both data gloves and individual sensor evaluation. Similarly, the ECSMS was designed to closely mimic a human finger joint, to have total control over the joint, and to have an exceptionally high precision. In addition, the ECSMS device can closely mimic the movements of the finger from hyperextension to a maximum ROM beyond any person’s finger joint. Due to the modular design, the ECSMS’s sensor monitoring board is independent and extensible to include various technologies for examination. Additionally, by putting these sensory devices through multiple tests, the system accurately measures the characteristics of any rotary/linear sensor in and out of a glove. Moreover, the ECSMS tracks the movement of all types of sensors with respect to the angle values of finger joints. In order to demonstrate the effectiveness of sensory devices, the ECSMS was first validated against a recognised secondary device with an accuracy and resolution of 0.1°. Once validated, the system simultaneously determines real angles alongside the hand monitoring device or sensor. Due to its unique design, the system is independent of the gloves/sensors that were tested and can be used as a gold standard to realise more medical equipment/applications in the future. Consequently, this design greatly enhances testing measures within research contact and even non-contact systems. In conclusion, the ECSMS will benefit in the design of data glove technologies in the future because it provides crucial evidence of sensor characteristics. Similarly, this design greatly enhances the stability and maintainability of sensor assessments by eliminating unwanted errors. These findings provide ample evidence for clinicians to support the use of sensory devices that can calculate joint motion in place of goniometers.
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Agarwal, Priyanshu, Youngmok Yun, Jonas Fox, Kaci Madden, and Ashish D. Deshpande. "Design, control, and testing of a thumb exoskeleton with series elastic actuation." International Journal of Robotics Research 36, no. 3 (March 2017): 355–75. http://dx.doi.org/10.1177/0278364917694428.

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We present an exoskeleton capable of assisting the human thumb through a large range of motion. Our novel thumb exoskeleton has the following unique features: (i) an underlying kinematic mechanism that is optimized to achieve a large range of motion, (ii) a design that actuates four degrees of freedom of the thumb, and (iii) a series elastic actuation based on a Bowden cable, allowing for bidirectional torque control of each thumb joint individually. We present a kinematic model of the coupled thumb exoskeleton system and use it to maximize the range of motion of the thumb. Finally, we carry out tests with the designed device on four subjects to evaluate its workspace and kinematic transparency using a motion capture system and torque control performance. Results show that the device allows for a large workspace with the thumb, is kinematically transparent to natural thumb motion to a high degree, and is capable of accurate torque control.
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Almusawi, Husam, and Géza Husi. "Design and Development of Continuous Passive Motion (CPM) for Fingers and Wrist Grounded-Exoskeleton Rehabilitation System." Applied Sciences 11, no. 2 (January 16, 2021): 815. http://dx.doi.org/10.3390/app11020815.

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Impairments of fingers, wrist, and hand forearm result in significant hand movement deficiencies and daily task performance. Most of the existing rehabilitation assistive robots mainly focus on either the wrist training or fingers, and they are limiting the natural motion; many mechanical parts associated with the patient’s arms, heavy and expensive. This paper presented the design and development of a new, cost-efficient Finger and wrist rehabilitation mechatronics system (FWRMS) suitable for either hand right or left. The proposed machine aimed to present a solution to guide individuals with severe difficulties in their everyday routines for people suffering from a stroke or other motor diseases by actuating seven joints motions and providing them repeatable Continuous Passive Motion (CPM). FWRMS approach uses a combination of; grounded-exoskeleton structure to provide the desired displacement to the hand’s four fingers flexion/extension (F/E) driven by an indirect feed drive mechanism by adopting a leading screw and nut transmission; and an end-effector structure to provide angular velocity to the wrist flexion/ extension (F/E), wrist radial/ulnar deviation (R/U), and forearm supination/pronation (S/P) driven by a rotational motion mechanism. We employed a single dual-sided actuator to power both mechanisms. Additionally, this article presents the implementation of a portable embedded controller. Moreover, this paper addressed preliminary experimental testing and evaluation process. The conducted test results of the FWRMS robot achieved the required design characteristics and executed the motion needed for the continuous passive motion rehabilitation and provide stable trajectories guidance by following the natural range of motion (ROM) and a functional workspace of the targeted joints comfortably for all trainable movements by FWRMS.
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de Solminihac, Diego Zanolli, Emilio Wagner, Pablo Wagner, Cristian Ortiz, Andres Keller Díaz, Ruben Radkievich, Felipe Palma, and Rodrigo Guzman-Venegas. "Development of a cadaveric Hallux Rigidus model. Biomechanical testing." Foot & Ankle Orthopaedics 2, no. 3 (September 1, 2017): 2473011417S0004. http://dx.doi.org/10.1177/2473011417s000426.

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Category: Bunion Introduction/Purpose: Hallux Rigidus (HR) is characterized initially by a decrease in Hallux metatarsophalangeal joint (MTPJ) dorsiflexion, decreasing the total range of motion. To be able to study different surgical treatment options, a cadaveric model has to be developed that recreates the limited range of motion. Our objective was to develop an Hallux Rigidus cadaveric model by shortening the plantar fascia (PF). Hallux MTPJ range of motion and joint stiffness were evaluated. Methods: 8 cadaveric foot- ankle – distal tibia specimens were prepared, identifying all extensor and flexor tendons proximally. The skin and subcutaneous tissue was kept intact. Each specimen was mounted on a special frame and luminous markers were attached to the skin (Oxford Foot Model). A dead weight equal to 50% of the stance phase force was applied to each tendon, except for the Achilles tendon and the posterior tibialis. 10 Hallux MTPJ dorsiflexion-plantarflexion cycles were performed by pulling the Extensor Hallucis longus tendon using an tensile testing machine (Kinetecnics). A Hallux Rigidus model was then developed by shortening the PF by 6 mm using a triple fiberwire suture technique. The same 10 cycles were repeated with a shortened PF. Each specimen served as its own control. Hallux metatarsophalangeal stiffness and kinematics were tested using a tensile testing machine and high definition cameras. Results: The group with a shortened PF significantly reduced the hallux dorsiflexion (18.6 degrees) compared to the native foot (23.7 degress) (p<0.05). No significant difference in joint stiffness was seen between groups: 3.3 N per degree for the native foot and 4.3 N per degree for the Hallux Rigidus model (P>0.05). Conclusion: To create a HR model is vital to allow further understanding of the pathology. The cadaveric model should not alter the joint stability (intact periarticular soft tissues) but has to limit Hallux range of motion. The model we present successfully recreates HR by limiting MTPJ dorsiflexion. The absence of stiffness change shows that joint congruity and isometry were not modified. There are a few reports that state a PF shortening as the first stage in HR. This would lead to a hinge-like MTPJ dorsiflexion, creating a dorsal metatarsal head impingement that could evolve to a dorsal exostosis.
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Golik-Perić, Dragana. "Izokinetički trening." Aktuelno u praksi: bilten za strucna pitanja u fizickoj kulturi 25, no. 2 (2015): 33–38. http://dx.doi.org/10.5937/aup1501033p.

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Human body movement is a complex process which depends on many factors. Insufficient power or disturbed balance of power between muscle groups which move certain parts of the body causing shortness of movement, overload of articular cartilage and ligaments, arthritis, joint pain and immobility, and often of the whole body. Isokinetic functional testing on the isokinetic dynamometer is the most objective method for detailed diagnostics of muscles and joints, as it provides a detailed insight into the state of the locomotor apparatus of each person. The research that was carried out was aimed to determine the effects of four weeks of isokinetic training on morphological characteristics and isokinetic capabilities. The training program on the isokinetic apparatus consisted of maximum intensity exercise, the resistance of which is gradually increased, at different angular velocities, from the first to the fourth week. Training on the isokinetic apparatus enables targeted, faster, better and more efficiently increase of force of deficient upper knee musculature muscle groups. Muscle is dynamically activated to its full capacity, constantly, during the entire range of motion and no load of associated joints, so the work on the knee joint mobility is higher.
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Smith, S. L., D. Dowson, and A. A. J. Goldsmith. "The effect of femoral head diameter upon lubrication and wear of metal-on-metal total hip replacements." Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 215, no. 2 (February 1, 2001): 161–70. http://dx.doi.org/10.1243/0954411011533724.

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It has been found that a remarkable reduction in the wear of metal-on-metal hip joints can be achieved by simply increasing the diameter of the joint. A tribological evaluation of metal-on-metal joints of 16, 22,225, 28 and 36 mm diameter was conducted in 25 per cent bovine serum using a hip joint simulator. The joints were subject to dynamic motion and loading cycles simulating walking for both lubrication and wear studies. For each size of joint in the lubrication study, an electrical resistivity technique was used to detect the extent of surface separation through a complete walking cycle. Wear of each size of joint was measured gravimetrically in wear tests of at least 2 × 106 cycles duration. Joints of 16 and 22.225mm diameter showed no surface separation in the lubrication study. This suggested that wear would be proportional to the sliding distance and hence joint size in this boundary lubrication regime. A 28 mm diameter joint showed only limited evidence of surface separation suggesting that these joints were operating in a mixed lubrication regime. A 36 mm diameter joint showed surface separation for considerable parts of each walking cycle and hence evidence of the formation of a protective lubricating film. Wear testing of 16 and 22.225mm diameter metal-on-metal joints gave mean wear rates of 4.85 and 6.30mm3/106 cycles respectively. The ratio of these wear rates, 0.77, is approximately the same as the joint diameters ratio, 16/22.225 or 0.72, as expected from simple wear theory for dry or boundary lubrication conditions. No bedding-in was observed with these smaller diameter joints. For the 28 mm diameter joint, from 0 to 2 × 106 cycles, the mean wear rate was 1.62 mm3/106 cycles as the joints bedded-in. Following bedding-in, from 2.0 × 106 to 4.7 × 106 cycles, the wear rate was 0.54mm3/106 cycles. As reported previously by Goldsmith in 2000 [1], the mean steady state wear rate of the 36 mm diameter joints was lower than those of all the other diameters at 0.07 mm3/106 cycles. For a range of joints of various diameters, subjected to identical test conditions, mean wear rates differed by almost two orders of magnitude. This study has demonstrated that the application of sound tribological principles to prosthetic design can reduce the wear of metal-on-metal joints, using currently available materials, to a negligible level.
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Dissertations / Theses on the topic "Joints – Range of motion – Testing"

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Monie, Aubrey. "Factors that influence the estimation of three-dimensional gleno-humeral joint repositioning error in asymptomatic healthy subjects." University of Western Australia. School of Surgery, 2008. http://theses.library.uwa.edu.au/adt-WU2009.0073.

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Joint Position Sense (JPS) of the shoulder as determined by repeated repositioning tasks has been performed under different constrained testing conditions. The variability in the testing protocols for JPS testing of the gleno-humeral joint may incorporate different movement patterns, numbers of trials used to derived a specific JPS variable and range of motion. All of these aspects may play an important role in the assessment of G-H JPS testing. When using a new instrument for assessing JPS all of these issues need to be examined to document the optimal testing protocols for subsequent clinical assessments. By undertaking these studies future clinical trials may be more optimally assessed to determine if there are differences between dominant and non-dominant arms as well as the presence of JPS changes in performance associated with pathology and rehabilitation. This study used a 3-dimensional tracking system to examined gleno-humeral JPS using 2 open kinetic chain movement patterns. The 'conventional' 90 degree abducted, externally rotated movement was compared to the hypothetically more functional D2 movement pattern used in proprioceptive neuromuscular facilitatory techniques. These two patterns were tested at different ranges (low and high). Two cohorts (n=12, n=16) of normal healthy athletic males aged 17-35 years, performed matching tasks of both left and right arms. The second cohort (n=16) were assessed with and without strapping the gleno-humeral joint with sports tape. Accuracy (overall bias) and precision (variability) scores were determined for progressively greater numbers of trials. The findings of the study show that estimates of JPS accuracy and precision become more stable from data derived from 5 to 6 matching trials. There were no statistical differences between sides [95%CI ± 1.5cm]. The accuracy but not precision improved as subjects approximated the 'high' end of range in the 'conventional' or D2 pattern. Furthermore, no systematic differences were detected at different ranges of movement or movement patterns with or without the application of sports tape. These findings provide a guide to the number of trials that optimise the testing of the gleno-humeral joint and also suggest that in normal controls the magnitude of differences between sides and movement patterns is similar. These findings also iii indicate that sports tape applied to the shoulder may not significantly change the JPS performance in healthy, athletic males.
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Skoss, Ann Rachel Locke. "Stabilisation of the human ankle joint in varying degrees of freedom : investigation of neuromuscular mechanisms." University of Western Australia. School of Human Movement and Exercise Science, 2002. http://theses.library.uwa.edu.au/adt-WU2003.0021.

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Previous research investigating the stability of the ankle joint complex may be categorised into two methodological groups, employing either an actuator to perturb the limb, or a form of standing balance disturbance such as a tilting platform, both of which test the joint in single degree of freedom (DOF). The aim of this thesis was to investigate how we control foot position and stabilise the joint when there is potential for movement in three DOF. A secondary aim of the thesis was to model the intrinsic mechanical properties of the ankle joint complex in three dimensions when coupled movement of the tibio-talar and talo-calcaneal joints are possible. This thesis details (i) the development of a perturbation rig that allows foot movement in single- or three-DOF with associated real-time visual target-matching software, and (ii) the use of the rig to investigate the stabilisation of the ankle joint complex in single- and three-DOF. The experimental procedure used a common task performed in three experimental conditions. Subjects were required to maintain a neutral foot position while developing varying levels of plantar-flexion torque. A perturbation was applied to the foot if subjects were within specified tolerance for both foot position and torque, represented by the visual display. Performance of the task in the first condition required the subject to only match torque as the foot position was fixed, with the perturbation being applied in dorsi-flexion (ie, single-DOF). The second experimental condition allowed the foot to move in the sagittal plane, hence subjects were required to control both torque and foot position in single-DOF, with perturbation applied in dorsi-flexion. The third condition enabled movement in dorsi/plantar-flexion, inversion/eversion and adduction/abduction (three-DOF) in both task and perturbation. Subjects were required to maintain the neutral foot position and the necessary torque level. There were three areas of interest common to each experimental protocol. The muscle strategy used to complete the task was investigated using a combination of surface and fine-wire electromyography on lower leg and thigh muscles. The 500ms period prior to perturbation was investigated to determine if synergies were evident between muscles such as medial and lateral gastrocnemius, soleus and peroneus longus. Two classes of activation strategies for the three-DOF condition emerged from the subject population: differential activation of the triceps surae group, and co-contraction. The former strategy may take advantage of the distinct morphology of the lateral gastrocnemius and peroneus longus muscles to best perform the position-matching component of the 3D task. The results suggest that the ankle joint is mostly stabilised in 3D by the intrinsic mechanical actions of the muscles producing plantar flexion moments. The muscles stabilised the foot in inversion, but not in eversion where there was very little motion. However, the different activation strategies employed may have varied efficacy in contributing to joint stability. This form of active stabilisation means that the previous literature focus on reflexes to stabilise the joint may need to be reassessed. Likewise, it may be appropriate to use the perturbation rig to quantify active ankle joint stability in order to assess the probability of ankle injury, rather than the current clinical measures employed. The reflexive response due to the perturbation was examined in the 200ms following perturbation. Variation in the modulation of monosynaptic reflexes was observed between subjects in various muscles in the higher DOF tasks. This is likely due to the differing activation strategies used to perform the task, and the variability in the kinematic response to perturbation. An attempt was made to calculate the intrinsic mechanical properties of the joint in 3-D using the kinematic and kinetic data during the first 15 ms period of perturbation. The system was modelled as a spring-damper using a constrained non-linear least squares, with stiffness and viscous terms for each axis, and inertial tensor elements as variables in the routine. The effect of increased muscle activation on the displacement of the foot about each of the anatomical axes was to significantly lower the movement of the sub-talar joint.
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Rothwell, Brigitte. "The effect of casting motion to mobilize stiffness on proximal interphalangeal joint motion and stiffness dissertation [thesis] submitted in partial fulfilment of the requirements for the degree of Master of Health Science, Auckland University of Technology, June 2004." Full thesis. Abstract, 2004. http://puka2.aut.ac.nz/ait/theses/RothwellB.pdf.

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Ben-Naser, Abdusalam. "Measurement of range of motion of human finger joints, using a computer vision system." Thesis, Loughborough University, 2011. https://dspace.lboro.ac.uk/2134/12531.

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Assessment of finger range of motion (ROM) is often required for monitoring the effectiveness of rehabilitative treatments and for evaluating patients' functional impairment. There are several devices which are used to measure this motion, such as wire tracing, tracing onto paper and mechanical and electronic goniometry. These devices are quite cheap, excluding electronic goniometry; however the drawbacks of these devices are their lack of accuracy and the time- consuming nature of the measurement process. The work described in this thesis considers the design, implementation and validation of a new medical measurement system utilized in the evaluation of the range of motion of the human finger joints instead of the current measurement tools. The proposed system is a non-contact measurement device based on computer vision technology and has many advantages over the existing measurement devices. In terms of accuracy, better results are achieved by this system, it can be operated by semi-skilled person, and is time saving for the evaluator. The computer vision system in this study consists of CCD cameras to capture the images, a frame-grabber to change the analogue signal from the cameras to digital signals which can be manipulated by a computer, Ultra Violet light (UV) to illuminate the measurement space, software to process the images and perform the required computation, a darkened enclosure to accommodate the cameras and UV light and to shield the working area from any undesirable ambient light. Two calibration techniques were used to calibrate the cameras, Direct Linear Transformation and Tsai. A calibration piece that suits this application was designed and manufactured. A steel hand model was used to measure the fingers joint angles. The average error from measuring the finger angles using this system was around 1 degree compared with 5 degrees for the existing used techniques.
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Karst, Gregory Mark. "Multijoint arm movements: Predictions and observations regarding initial muscle activity at the shoulder and elbow." Diss., The University of Arizona, 1989. http://hdl.handle.net/10150/184920.

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Understanding the control strategies that underlie multijoint limb movements is important to researchers in motor control, robotics, and medicine. Due to dynamic interactions between limb segments, choosing appropriate muscle activations for initiating multijoint arm movements is a complex problem, and the rules by which the nervous system makes such choices are not yet understood. The aim of the dissertation studies was to evaluate some proposed initiation rules based on their ability to correctly predict which shoulder and elbow muscles initiated planar, two-joint arm movements in various directions. Kinematic and electromyographic data were collected from thirteen subjects during pointing movements involving shoulder and elbow rotations in the horizontal plane. One of the rules tested, which is based on statics, predicted that the initial muscle activity at each joint is chosen such that the hand exerts an initial force in the direction of the target, while another rule, based on dynamics, predicted initial muscle activity such that the initial acceleration of the hand is directed toward the target. For both rules, the data contradict the predicted initial shoulder muscle activity for certain movement directions. Moreover, the effects of added inertial loads predicted by the latter rule were not observed when a 1.8 kg mass was added to the limb. The results indicated, however, that empirically derived rules, based on ψ, the target direction relative to the distal segment, could predict which muscles would be chosen to initiate movement in a given direction. Furthermore, the relative timing and magnitude of initial muscle activity at the shoulder and elbow varied systematically with ψ. Thus, the target direction relative to the forearm may be an important variable in determining initial muscle activations for multijoint arm movements. These findings suggest a control scheme for movement initiation in which simple rules suffice to launch the hand in the approximate direction of the target by first specifying a basic motor output pattern, then modulating the relative timing and magnitude of that pattern.
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Grambo, Laura B. "Heavy elastic vs. white tape : the effect of ankle taping on ankle range of motion /." Online version, 2010. http://content.wwu.edu/cdm4/item_viewer.php?CISOROOT=/theses&CISOPTR=340&CISOBOX=1&REC=5.

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Hallbeck, M. Susan. "Biomechanical analysis of carpal flexion and extension." Diss., Virginia Tech, 1990. http://hdl.handle.net/10919/26086.

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An experiment was performed to evaluate the relations between active range of motion (ROM) and upper limb anthropometric dimensions. Eight anthropometric dimensions, forearm length, distal and proximal forearm circumferences, wrist breadth, wrist thickness, wrist circumference, hand breadth, and hand length in combination with gender, wrist position, and direction of motion or exertion were evaluated to determine their effects on instant center of rotation (ICOR) and the magnitude of force exertion. The knowledge gained from analysis of the study data will be the first step in the formulation of a biomechanical model of wrist flexion and extension. Such a model would predict forces and torques at specific wrist postures and be employed to reduce cumulative trauma disorders of the wrist. Sixty right-hand dominant subjects (30 male, 30 female) between 20 and 30 years of age all reporting no prior wrist injury and good to excellent overall physical condition, were employed in this study. The upper limb anthropometric dimensions and ROM were measured and recorded for each subject. The anthropometric dimensions were compared to tabulated data. The measured active ROM values were compared with values in the literature. Correlation coefficients between pairs of anthropometric variables (by gender) were calculated. The mean active ROM measures, 164.0 deg for females and 151.8 deg for males, were significantly different (Z = 2.193, p = 0.014). The relationships between the anthropometric variables and active ROM were analyzed by three methods: correlation between ROM and each anthropometric dimension, prediction (regression) equations, and analysis of variance (ANOVA). No correlation coefficient between ROM and any anthropometric dimension was greater than 0.7. No prediction equation, based upon linear and quadratic combinations of anthropometric dimensions variables, was above the threshold of acceptability (R² ≥ 0.5). The results of the ANOVA showed a significant effect for gender. The ICOR had been hypothesized to be either in the head or neck of the capitate. The Method of Reuleaux was employed to locate the leOR points for flexion and extension (over the ROM) of the wrist with three load conditions, i.e., no-load, palmar resistance, and dorsal resistance. Analysis of the data, using ANOYA, showed that wrist position was the only significant variable. Thus, in future wrist models, the assumption cannot be made that the wrist is a pin-centered joint for flexion and extension. The static maximal voluntary contractile forces that can be generated by recruiting only the six wrist-dedicated muscles in various wrist positions were measured. There was a significant gender difference for the mean flexion force (Z = 4.00, p = 0.0001) and for the mean extension force (Z = 4.58, p = 0.0001). Females averaged 76.3 percent of the mean male flexion force and 72.4 percent for extension. The force data, categorized by gender, were then analyzed using three methods: correlation of variable pairs, regression equations, and ANOVA. None of the eight anthropometric dimensions and ROM was correlated with flexion or with extension force at an acceptable level. The prediction equations, linear and quadratic combinations of all possible subsets of anthropometric dimension values, ROM, and wrist position did not meet the minimum acceptable level of R² ≥ 0.5. The ANOVA procedure showed gender, wrist position, direction of force exertion, and the wrist position interaction with direction to have significant effects upon maximal force exertion.
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Burkhardt, Bettina M. "Development and design of a test device for cartilage wear studies." Thesis, This resource online, 1988. http://scholar.lib.vt.edu/theses/available/etd-11072008-063443/.

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Gribble, Paul L. "Musculo-skeletal geometry and the control of single degree of freedom elbow movements." Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=22735.

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Empirical and modelling studies are reported which explore ways in which the central nervous system might consider musculo-skeletal geometry when generating commands for single degree of freedom elbow flexion and extension movements. In a series of experiments it is shown that subjects do not perform rapid, goal-directed flexion and extension movements equally accurately in different parts of the elbow's workspace. In these experiments, movements of 10, 20 and 30 degrees in amplitude were tested using up to five different initial elbow angles. When performing flexions, subjects tended to overshoot targets when starting from extended positions, to undershoot targets when starting from more flexed positions, and to perform relatively accurate movements when starting from the centre of the workspace. Final position accuracy was more variable for extensions. When reliable differences existed for extensions, subjects tended to produce a pattern of results opposite to that of flexions: subjects overshot targets when starting from flexed positions and undershot targets when starting from more extended positions. A model of elbow movement based on the $ lambda$ version of the equilibrium-point hypothesis was used to assess the extent to which the pattern of errors obtained in the empirical studies could be reproduced by a control scheme that does not adjust commands in response to changing musculo-skeletal geometry, but rather uses one single invariant command throughout the workspace. The motivation for testing the invariant command notion was to explore the possibility that motion planning might be achieved without an explicit representation of musculo-skeletal geometry. Predicted patterns of final position errors across the workspace matched empirically obtained error patterns for flexions, but the model performed less well when predicting the pattern of errors observed for extension movements.
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Vardaxis, Vassilios. "The mechanical power analysis of the lower limb action during the recovery phase of the sprinting stride for advanced and intermediate sprinters /." Thesis, McGill University, 1988. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=61663.

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Books on the topic "Joints – Range of motion – Testing"

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D, Bandy William, and Yates Charlotte, eds. Joint range of motion and muscle length testing. 2nd ed. St. Louis: Saunders/Elsevier, 2010.

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Beissner, Katherine. Extremity strength and range of motion as predictors of function in older adults. Ithaca, NY: Pathways to Life Quality, 2000.

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B, Gilewich Gail, ed. Musculoskeletal assessment: Joint range of motion and manual muscle strength. Baltimore: Williams & Wilkins, 1989.

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Clarkson, Hazel M. Musculoskeletal assessment: Joint range of motion and manual muscle strength. Baltimore: Williams & Wilkins, 1989.

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Catherine, Meriano, ed. Occupational therapy manual for evaluation of range of motion andf muscle strength. Clifton Park, NY: Thomson/Delmar Learning, 2003.

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Palmer, M. Lynn. Clinical assessment procedures in physical therapy. Philadelphia: J.B. Lippincott, 1990.

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E, Epler Marcia, ed. Clinical assessment procedures in physical therapy. Philadelphia: J.B. Lippincott Co., 1990.

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Loeper, Jennifer. Range of motion exercise. Minneapolis, MN: Sister Kenny Institute, 1985.

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Gerhardt, John J. Documentation of joint motion: International standard neutral-zero-measuring S.F.T.R. recording and application of the plurimeter. Aloha, OR: OMEDIC, 1988.

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Gerhardt, John J. Documentation of joint motion: International standard neutral-zero-measuring, S.F.T.R recording and application of goniometers, inclinometers, and calipers. 3rd ed. Portland, Or., USA: ISOMED, 1992.

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Book chapters on the topic "Joints – Range of motion – Testing"

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Liu, Zhongqi, Xiaocong Niu, and Qianxiang Zhou. "Comfort Evaluation of the Range of Motion of Human Upper Limb Joints." In Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Posture, Motion and Health, 167–77. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-49904-4_13.

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Siemia̧tkowska, Barbara, Rafał Chojecki, Mateusz Wiśniowski, Michał Walȩcki, Marcin Wielgat, and Jakub Michalski. "Mobile System for Non Destructive Testing of Weld Joints via Time of Flight Diffraction (TOFD) Technique." In Robot Motion and Control 2011, 65–74. London: Springer London, 2012. http://dx.doi.org/10.1007/978-1-4471-2343-9_6.

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Masuta, Noriko, Makoto Yagihashi, Hirohisa Narita, and Hideo Fujimoto. "A Non-invasive Method to Measure Joint Range of Motion for Hip Joints." In Service Robotics and Mechatronics, 27–32. London: Springer London, 2010. http://dx.doi.org/10.1007/978-1-84882-694-6_5.

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Taniguchi, Hironari, Noriko Tsutsui, and Yoshiaki Takano. "Feasibility Test of Range of Motion Exercises for Ankle Joints Rehabilitation Using Pneumatic Soft Actuators." In Lecture Notes in Electrical Engineering, 159–65. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-17314-6_21.

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Miyata, Natsuki, Yuya Yoneoka, and Yusuke Maeda. "Modeling the Range of Motion and the Degree of Posture Discomfort of the Thumb Joints." In Advances in Intelligent Systems and Computing, 324–29. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-96077-7_34.

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ELLENBECKER, T. "Range of Motion Testing." In Clinical Examination of the Shoulder, 49–57. Elsevier, 1997. http://dx.doi.org/10.1016/b978-072169807-6.50010-2.

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Helfgott, Simon M. "Common Soft Tissue Pain Syndromes." In The Brigham Intensive Review of Internal Medicine, 277–85. Oxford University Press, 2014. http://dx.doi.org/10.1093/med/9780199358274.003.0027.

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The soft tissue pain syndromes are among the most common conditions that a primary care physician encounters in daily practice. They are characterized by local or regional pain and discomfort, often made worse by palpation of the adjacent soft tissue or movement of the nearby joint. When they involve the soft tissues near a joint, they can be associated with decreased range of motion of the joint, and the resultant loss of function can be significant. The diagnosis is clinical and based on the history and physical examination of the patient. Imaging and lab testing, when indicated, may help eliminate other diagnoses such as fracture or significant arthritis damage but rarely confirm a soft tissue pain syndrome. Thus, it may not be surprising that many patients are either undiagnosed or misdiagnosed, leading to costly evaluations including unnecessary imaging and costly therapeutics. This chapter reviews some of the more common forms of soft tissue pain syndromes, their clinical presentations, the physical examination findings, and the appropriate management of these conditions.
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Cui, Ze, Saishuai Huang, Zenghao Chen, Hongxin Yang, and Danjie Zhu. "Design, Simulation and Verification of a 7-DOF Joint Motion Simulation Platform." In Machine Learning and Artificial Intelligence. IOS Press, 2020. http://dx.doi.org/10.3233/faia200798.

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The human body has many joints, and joint injuries frequently occur in various sports. To explore the biomechanical state of ligaments or muscles in human joints before and after damage, and to help doctors judge the damage and repair of joints, this article proposes a seven-degree-of-freedom platform based on three rotations spherical parallel mechanism for simulating human joint motion. Taking the knee joint as an example, this article simplified its model, and performed kinematics simulation by ADAMS to verify the feasibility of this mechanism. And based on the TRIO motion controller, we established the physical testing system. The correctness is finally verified by experiment in kind, which proves the feasibility of the joint motion simulation platform. And in terms of accuracy, it also performances very well. For example, when it needs to rotate 30∘ around the Y-axis, its actual rotation angle is 29.6∘, the error is less than 2%, and its translation error is also within 3%.
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Vossen, Josephina A. "Systemic Lupus Erythematosus." In Musculoskeletal Imaging Volume 1, edited by Kevin B. Hoover, 183–84. Oxford University Press, 2019. http://dx.doi.org/10.1093/med/9780190938161.003.0040.

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Chapter 40 discusses systemic lupus erythematosus (SLE), which is an autoimmune connective tissue disorder with a wide range of clinical features. SLE follows a relapsing and remitting course and predominantly affects women. The clinical manifestations are highly variable, ranging from indolent to fulminant. Arthritis is one of the most common manifestations of SLE. Diagnosis is based on clinical assessment supported by laboratory testing. Imaging of the musculoskeletal system is used primarily for the assessment of symptomatic joints. The initial imaging evaluation of SLE arthropathy is with radiographs of symptomatic joints, usually the hands. Treatment ranges from corticosteroids to immunosuppressive agents.
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Peña-Pitarch, Esteban, Jordi Vives Costa, Joan Lopez Martinez, Anas Al Omar, Iñaki Alcelay Larrión, and Neus Tico-Falguera. "Introductory Analysis of Human Upper Extremity After Stroke." In Research Anthology on Rehabilitation Practices and Therapy, 828–44. IGI Global, 2021. http://dx.doi.org/10.4018/978-1-7998-3432-8.ch040.

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The most reliable prognostic factors associated with upper extremity (UE) recovery are localized motor impairments, especially in the musculature of the hand and abduction of the shoulder in the first days after a stroke. An evaluation of the biomechanics of the hand allows an accurate identification of the motion arcs of the digital joints. This article includes an assess the prognostic value of the range of motion of the finger joints using an instrumental glove (CyberGlove II®) for the time one week after stroke for UE functional recovery. A prospective, longitudinal, observational study is made with follow-ups at 3-4 days, 1 week, 3 and 6 months of the patients with UE motor impairment. Variables collected included: demographic data, level of stroke severity (NIHSS), deep sensitivity, sphincter incontinence, Fugl Meyer assessment of UE (FM-UE), muscle balance with the Medical Research Council (MRC), muscle tone (Modified Ashworth Scale) and pre- and post-stroke functional ability (Barthel Index and Modified Rankin Scale).
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Conference papers on the topic "Joints – Range of motion – Testing"

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Zufelt, Nephi A., Elizabeth J. Sander, Brian P. Kelly, and Denis J. DiAngelo. "A Kinematics Based Testing Protocol for Studying Lumbar Disc Dynamics." In ASME 2008 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2008. http://dx.doi.org/10.1115/sbc2008-191656.

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The human lumbar intervertebral disc helps stabilize the vertebral bodies by absorbing and distributing loads acting on the spine while maintaining motion across the joint [1]. Current testing methodologies have been designed to study rigid mechanical devices (plates, rods, screws, mechanical joints), and are not suitable for assessing the overall ability of a compliant structure, like the intervertebral disc, to interact with the surrounding tissue structures and restore functionality to the joint [2]. The objective of this study was to develop a kinematics-based testing protocol that prescribes a known kinematics input to a lumbar spinal motion segment unit (MSU) and measures the capacity of the intact MSU to accommodate the motion in terms of compressive and shear loads and range of motion.
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Wilhelm, Shawn R., and James D. Van De Ven. "Efficiency Testing of an Adjustable Linkage Triplex Pump." In ASME/BATH 2014 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/fpmc2014-7856.

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Current state of the art variable displacement pumps suffer from poor efficiency at low volumetric displacement. Additionally, their performance is strongly dependent on operating conditions. A new variable displacement linkage pump architecture has been developed which can achieve high efficiency across a wide range of operating conditions. Previous work has described the kinematics, energy loss modeling, and experimental validation of a low power single cylinder prototype as well as the design of a second generation prototype. The second generation pump employs roller element bearings in its joints to minimize friction losses and the three cylinder design reduces the pressure ripple. In this paper, experimental characterization is presented of the new 21 MPa, 6.75 cc/rev pump. High mechanical efficiency is achieved at low volumetric displacements at partial loads as low as 0.6% of maximum power. Poorly performing cartridge check valves result in low volumetric efficiencies at low displacements. Close agreement was obtained between the model and predicted work input using measured cylinder data as an input into the model. This work shows that the presented pump with properly functioning valves can achieve high efficiency across a wide range of operating conditions. Having such versatile pump performance can greatly improve the performance of hydraulic systems as well as expand their potential applications.
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Condez, Bruce, William Camisa, Jeremi Leasure, Jenni Buckley, Dimitriy Kondrashov, and Christopher Ames. "Development of a Biomechanical Model for Sacroiliac Range of Motion." In ASME 2013 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/sbc2013-14443.

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In the last seven years, increasing interest has been shown in the sacroiliac (SI) joint. Recent evidence has shown that more than 22% of lower back pain cases are caused by SI joint instability. Sacroiliac joint problems mimic discogenic and/or radicular low back pain, leading to many misdiagnoses (Weksler 2007). Over the last decade, SI fusion devices have been developed and have achieved clinical success (Wise 2008). However, there is no standard biomechanical testing procedure for SI fusion devices, although such a protocol would benefit further product development and comparison testing. The goal of our study is to develop a biomechanical model of sacroiliac range of motion. This study puts forth two methods of producing SI ROM: one model simulating a single leg stance and the second model simulating double leg stance. Our hypothesis was that the single leg stance model would produce ROM similar to what has been observed in vivo; the double leg stance model would produce ROM significantly lower. We aimed to test this hypothesis through comparison of ROM for both models and in vivo results obtained from the literature.
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Lorang, Noah H., Lauren A. Hellmann, Changfu Wu, and Savio L. Y. Woo. "Validation of a High-Payload Robotic/UFS Testing System for Studying of Joint Motion." In ASME 2007 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2007. http://dx.doi.org/10.1115/sbc2007-176356.

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Robotic technology has been adopted for studying the biomechanics of the knee joint by our research center and others since 1993 to gain a fundamental understanding of the knee, as well as to provide orthopedic surgeons with scientific data on the efficacy of various reconstructive techniques [1–4]. A robotic testing system generally consists of a six degree-of-freedom (DOF) robotic manipulator with a universal force-moment sensor (UFS) attached to the end effector [5]. This testing system offers a wide range of motion with precision path and position repeatability.
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Patten, Eli W., Matthew E. Carney, Perry M. Johnson, Timothy Hong, A. J. Almaguer, and Lisa A. Pruitt. "A Multi-Directional Tribo-System: Testing the Wear of UHMWPE Under Sliding, Rolling, and Rotation." In ASME 2011 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2011. http://dx.doi.org/10.1115/sbc2011-53616.

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A tribological testing system with up to four degrees of motion has been designed and built to simulate the wear of materials used in joint replacements. The machine is versatile enough to test simple pin-on-disk contact in planar sliding as well as ball-on-flat contact with more complex rotation and rolling motions. A wide range of materials, loads, and specimen configurations can be tested with this machine, making it a powerful tool for hypothesis-driven research. This tribosystem is robust, customizable, cost effective, and offers the first opportunity to investigate the fundamental wear mechanisms that arise from the four degrees of motion in total knee replacements. Basic design features, advantages, and preliminary validation will be discussed.
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Viscuso, Stefano, Lorenzo Garavaglia, and Simone Pittaccio. "A Neuro-Mechanical Model Comparing Traditional and Pseudoelastic Splinting of Spastic Joints." In ASME 2012 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/sbc2012-80240.

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Neuromuscular rehabilitation of patients with upper motor neuron syndromes (traumatic brain injury - TBI, stroke, cerebral palsy…) is based on multidisciplinary approaches aiming at preventing or contrasting the detrimental sequelae of paresis, contracture and spasticity. Due to the large individual variability of patients’ conditions and impairments it is generally difficult to have a quantitative grasp of the appropriate line of action to prescribe bracing in the most effective manner. This is an even more complex task when testing new therapeutic principles and using non-standardized devices. To this end, it is important to evaluate both instantaneous interaction (orthosis compliance to patient’s movement, localized pressure on the skin, reflex responses, etc.) and mid-long term evolution of the ill-posture (resting angle, reflex adaptation, range of motion, etc.). Accordingly, the current paper presents a model devised to investigate the interaction between the human body and two main types of othotic devices: traditional and pseudoelastic Ni-Ti based orthoses. The two devices represent different approaches to repositioning: traditional braces impose a joint angle and expect plastic relaxation, while pseudoelastic splints promote a plastic creep of tissues towards a more physiological posture without forcing the joints into any particular position. This idea has already been described in previous work [1] and ad-hoc devices have been constructed [2]. The focus here is on possible application scenarios.
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Carey, Stephanie L., M. Jason Highsmith, and Rajiv Dubey. "Range of Motion of Upper Limb Joint Angles During Two Tasks for Transradial Prosthetic Design." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-35349.

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During wartime, the numbers of amputees will likely increase adding to the need for progress in upper limb prosthetic design. Improvement of prostheses often requires knowledge of how the body adapts. Added weight and fatigue are complaints of upper limb prostheses users. Current improvements in the design of a transradial prosthesis include advanced technology in control systems and electronics that improve its functions. However, these improvements often require excess mass distally along the prosthesis. A transradial prosthesis without a dynamic wrist component may cause awkward compensatory motion in the shoulder and elbow. This work analyzes the ranges of joint movement of shoulder and elbow during two tasks: drinking from a cup and lifting a box. The main purpose of this study was to determine if simulating a basic transradial prosthesis by limiting motion of the forearm and wrist using a brace, would cause significant changes in the compensatory motion of the shoulder and elbow during the tasks. The second purpose of the study was to determine if the location of added mass of 96 g (mass of an electrical wrist rotator) would affect shoulder and elbow angles during these same tasks. A group of able-bodied participants were asked to complete the tasks during the following conditions: (1) no intervention (2) while wearing a brace that restricted forearm and wrist motion of their dominant arm (right) (3) wearing the same brace with a 96 g mass added near the elbow, (4) with the same brace and a 96 g mass added near the wrist. Subject movements were captured using a motion capture system and ranges of movement of shoulder and elbow, as well as degree of asymmetry (DoA) during the box lift were calculated for each subject. Three trials were collected for each test condition and were averaged as a representative for each subject. Statistical analysis of the results concluded that during drinking elbow flexion was significantly different in case 1 from the other 3 levels. Statistical analysis of lifting found significant differences in the dominant (right) shoulder and elbow flexion between all 4 levels, while their relative degree of symmetry was found to be statistically different between level 1 and 3–4. The study concludes that bracing limits forearm and wrist affects shoulder and elbow flexion and their relative DoA. The position of a 96g mass did not cause any statistical differences in the movements observed or in their DoA. Further testing will examine the transradial amputee population as well as the effects of position of added mass on joint torques during common tasks.
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Martori, Amanda L., Stephanie L. Carey, Redwan Alqasemi, Daniel Ashley, and Rajiv V. Dubey. "Characterizing Suitability of Wearable Sensors for Movement Analysis Using a Programmed Robotic Motion." In ASME 2013 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/imece2013-65064.

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Wearable sensor systems have the potential to offer advancements in the study of motion disorders, particularly outside of a laboratory setting during activities of daily living or on a football field. Advantages like portability and the capability to gather real-world data have resulted in the rapid adoption of these sensors in various studies for gait analysis, balance control evaluation, physical activity recognition and fall prevention. However, before using wearable sensors in long-term acquisition studies, it is necessary to quantify and analyze errors and determine their sources. In this study, the accuracy of joint angles and velocities measured with the wearable inertial measurement unit (IMU) sensors were compared to both measurements from an optical motion-tracking system and from encoders on a robotic arm while it completed various predetermined paths. The robotic arm uses incremental encoders at each joint to measure and calculate its Cartesian motion relative to a reference frame using inverse kinematics. Motion profiles of the robotic arm were tracked using the onboard encoders, an eight-camera Vicon (Oxford, UK) motion-tracking system with passive retro-reflective markers, and four wearable IMUs by APDM (Portland, OR). In order to better isolate various types of contributing errors, linear, planar, and 3-dimensional robot motions were used. Data were collected from the sensors over several hours, which provided insight into time-based effects as well as management of large amounts of data for future long-term tracking applications. In addition, the authors have previously seen acquisition errors with high-speed gaits, thus robotic arm trajectories of varying velocities were used to provide further insight into these rate-based effects. Angular velocity and joint angles were compared for all three systems and used to investigate the hysteresis, drift and time-based effects on the IMUs as well as their accuracy during motion tracking. Effects on IMU performance due to the application of filtering algorithms were not investigated. The results show that the IMUs were able to calculate the joint angles within a clinically acceptable range of the gold standard optical motion-tracking system. The IMUs also provided accurate trajectory recognition and angular velocity measurements relative to the known motion input of the robotic arm. Future work will include the development of algorithms to detect gait abnormalities such as those seen in patients with mild traumatic brain injury (mTBI). To complement human subject testing with gait pathology, controlled introduction of gait deviations into this robotic testing framework will allow for well-characterized unit testing, providing more robust algorithm development.
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Johnson, Benjamin V., Zekun Gong, Brian A. Cole, and David J. Cappelleri. "Design of Disposable 3D Printed Surgical End-Effectors for Robotic Lumbar Discectomy Procedures." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85257.

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In this paper, the design of disposable 3D printed surgical end-effectors for robotic lumbar discectomy is presented. Discectomy is the surgery to remove the herniated disc material that is pressing on a nerve root or spinal cord. This surgery is performed to relieve pain or numbness caused by the pressure on the nerve. The limited workspace of the spine (< 27 cm3) results in challenging design requirements for surgical instruments. We propose a new cannula-based robotic lumbar discectomy procedure that can accommodate multiple articulated tools in the workspace at the same time and can be controlled teleoperatively by the surgeon. We present designs for two instruments for this proposed system: an articulated nerve retractor and an articulated grasper. The end-effectors of each are 3D printed with multiple materials, with flexible links acting as joints of the mechanism. These flexible links are actuated by cables which provide sufficient articulation and manipulation forces in the surgical workspace. The end-effector’s articulated flexible joint kinematics is modeled and tested for range of motion capabilities. The retraction forces for the nerve retractor and the grasping force for the grasper are also experimentally tested and verified to meet all the design requirements. Additionally, fatigue testing of the flexible joint is presented and teleoperated control for the instruments is demonstrated.
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Jensen, Brian D., Larry L. Howell, and Linton G. Salmon. "Introduction of Two-Link, In-Plane, Bistable Compliant MEMS." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5837.

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Abstract A bistable mechanism has two stable states within its range of motion. Its advantages include the ability to stay in two positions without power input and despite small external disturbances. Therefore, bistable micro-mechanisms could allow the creation of MEMS with improved energy efficiency and positioning accuracy. This paper presents the first bistable MEMS which function within the plane of fabrication. These bistable mechanisms, known as “Young” bistable mechanisms, obtain their energy storage characteristics from the deflection of two compliant members, have two pin joints connected to the substrate, and can be constructed of two layers of polysilicon. The pseudo-rigid-body model overcomes problems with nonlinearities in the analysis and design of these mechanisms. This approach allows greater freedom and flexibility in the design process. Testing of the mechanisms demonstrated their bistable behavior and the repeatability of the stable positions.
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