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1
Nore, Miko, i Caspar Westerberg. "Robotic Arm controlled by Arm Movements". Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264509.
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In recent decades human workers in manufacturing and overall industry have largely been replaced with robots and automated machines, but there are still plenty of tasks where human cognition is necessary. This paper presents the development of a wireless robotic arm controlled by a human arm, allowing both for the combination of a robotic arms strength to be combined with a humans cognition, and also for a human to execute dynamic tasks without being present. An application suited for work in toxic or otherwise harmful environments. This was accomplished by using a controller in the form of an exo-skeleton attached to the operators right arm and connected to the robotic arm through a transmitter. The controller measures the movements in each joint using potentiometers and the robotic arm mimics these movements. A glove with a flex sensor on the index finger was then attached to the controller to measure the finger motions. All the information containing the angle of rotations are sent wirelessly to the robotic arm using Arduino Uno and transceiver modules. The robotic arm received the information through another set of Arduino Uno and transceiver module which made each servomotor on the robotic arm to move accordingly. The result showed that the robotic arm could imitate the operator’s arm very well and was able to grab and move dierent objects with dierent weight and surfaces. The wireless control was reliable and could control the robotic arm while being in a dierent room, making it possible to use this robot for harmful environments for humans.Under senare årtionden har mänskliga arbetare inom tillverkning och industri över lag i stor utsträckning ersatts av robotar och automatiserade maskiner, men det finns fortfarande uppgifter som kräver mänsklig tankeförmåga. Denna rapport presenterar utvecklingen av en trådlös robotarm styrd av en människas arm, vilket möjliggör både att kombinera en maskins styrka med en människas intelligens, samt för en människa att utföra dynamiska uppgifter utan att vara närvarande. En applikation lämplig för arbete i farliga miljöer. Detta uppnåddes med en styrenhet i form av ett exo-skelett fastsatt på operatörens högra arm och kopplad till robotarmen genom en sändare. Styrenheten mäter rörelserna i varje led med potentiometrar och robotarmen härmar dessa rörelser. En handske med en flexsensor på pekfingret fästes sedan på styrenheten för att mäta fingerrörelsen. All information som innehåller vinklar skickas trådlöst till robotarmen med hjälp av Arduino Uno och transceiver moduler. Robotarmen mottog informationen via en annan uppsättning Arduino Uno och transceiver modul som fick varje servomotor på robotarmen att rotera i enlighet. Resultatet visade att robotarmen kunde imitera operatörens arm väl och kunde bära olika föremål med olika vikter och ytor. Den trådlösa styrningen var pålitlig och kunde styra robotarmen från ett annat rum, vilket gör det möjligt att använda denna robot i skadliga miljöer för människor.
2
Hatzitaki, Vassilia. "Patterns of interlimb coordination during asymmetrical reaching movements". Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=29042.
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The present study investigated the patterns of interlimb organization during the concurrent performance of asymmetrical reaching movements. The inherent tendency towards interlimb synchronization often constrains activities requiring the two limbs to move over different distances or at different movement speeds. The study of bimanual coordination has shown that the amount of interlimb interference during bilateral performance of asymmetrical actions, is regulated according to the magnitude characteristics of the variable used to introduce the asymmetry between the limbs. The purpose of the present study was to examine the relationship between the degree of interlimb decoupling and the magnitude of the asymmetry between the limbs. Asymmetry was systematically manipulated by scaling the magnitude of the interlimb difference in final target distance, during bimanual performance of reaching movements. The degree of interlimb decoupling was reflected in the movement time, muscle activity onset and joint torque relationship between the limbs.Decoupling of the asymmetrical limb movements was effected by an earlier onset of the antagonist muscles in the constrained limb which scaled the amount of muscle torque production and therefore the stiffness of the limb during the acceleration phase of the movement. Thus, the movement amplitude differentiation was achieved by an initial accelarative impulse attributed to the differential control of the muscle torque production at each joint. On the other hand, the interactive forces played a secondary role in the degree of decoupling process. Overall, the degree of decoupling scaled according to the magnitude of the interlimb difference in distance; the greater the asymmetry, the greater the differentiation between the limbs. However, systematic variations of the interlimb asymmetry in distance gave rise to a wide variety of individual decoupling trends. Bimanual practice of the asymmetrical reaching tasks did not result in the development of more independent limb movements. The results of the present study have implications to human factor design and ergonomics.
3
Gabriel, David Abraham. "Muscle activation patterns for goal-directed multijoint arm movements". Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=28748.
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The purpose of this dissertation was to determine if the CNS produces relatively simple alterations in muscle activity to accomplish goal-directed reaching motions of the upper limb under a variety of movement conditions.To this end, six subjects performed goal-directed arm movements in the horizontal plane. Two movement amplitudes (300 mm and 400 mm) were completed at a moderate speed (1050 mm/s) and as-fast-as possible. The speed and amplitude conditions were repeated for the 45$ sp circ$ and 90$ sp circ$ movement directions. Finally, each of the movement conditions mentioned thus far, were performed within the right and left sections of the work-space. Surface electro-myographic activity was recorded from the pectoralis major, posterior deltoid, biceps brachii short head, brachioradialis, triceps brachii long head, and triceps brachii lateral head. Motion recordings were obtained with a spatial imaging system that monitored the positions of infrared emitting diodes attached to the subject's upper arm and forearm-hand complex.
Several simplification schemes were found to be operative at the level of the electro-myogram. These include: (a) simple timing relationships for agonists between joints and agonist/antagonist intermuscle latencies within each joint; (b) tightly coupled timing between agonists within a single joint; (c) for a particular movement direction, the form and shape of EMG burst activity followed a strategy associated with modulation of pulse height and width; (d) the slope, duration, and onset were further affected by the direction of hand movement which resulted in the greatest RMS-EMG signal amplitude, changing in a predictable manner, and finally (e) there was tuning in which elbow muscles were activated earlier for goal-directed arm movements in the left area of the work-space.
4
Lindström, Johan, i Adrian Sonnert. "Authentication system based on hand-arm-movements". Thesis, Linköpings universitet, Institutionen för datavetenskap, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-130864.
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This study treats behavioral biometric authentication, and its focus is on creating an application that uses hand-arm-movements to identify users. The systemis modelled to achieve a minimal false rejection rate (FRR) and false acceptance rate (FAR). Experiments featuring several test subjects performing hand-arm-movements using our device were performed in order to gauge the FRR and FAR of our system. The FRR and FAR achieved were 35% and 15.8%, respectively. The study concludes that hand-arm-movements may be useful for authentication, but further research is required.
5
Liu, Dan. "Computational and psychophysical studies of goal-directed arm movements". Diss., [La Jolla] : University of California, San Diego, 2008. http://wwwlib.umi.com/cr/ucsd/fullcit?p3331228.
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Thesis (Ph. D.)--University of California, San Diego, 2008.Title from first page of PDF file (viewed June 1, 2009). Available via ProQuest Digital Dissertations. Vita. Includes bibliographical references (p. 124-131).
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Flanagan, John Randall. "Measurement and modelling of human target-directed reaching movements". Thesis, McGill University, 1991. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=70293.
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These studies examined motion trajectories and electromyographic (EMG) activity patterns during human horizontal reaching movements towards single- and double-step visual targets. These data were used to test and elaborate a model of two-joint planar arm movement based on the equilibrium point (EP) hypothesis or $ lambda$ model of motor control. This work aims to understand how reaching movements are planned and controlled by the nervous system. To this end, simulated trajectories and EMG patterns, generated with hypothetical central commands, were compared to empirical trajectories and EMG patterns. In general, the model was able to predict trajectories but was less successful in predicting EMG patterns. The results indicated that, in general, motions to both single- and double-step targets are generated by shifting the EP of the hand in a straight line towards the present target. Thus, a common control strategy underlying movements to single-step targets and trajectory modifications to double-step targets is proposed. Whereas the direction of shift of the EP is specified at the level of the hand, the rate of shift may be limited at the joint level.
7
Won, Justin. "The control of constrained and partially constrained arm movements". Thesis, Massachusetts Institute of Technology, 1993. http://hdl.handle.net/1721.1/12621.
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Choo, Pei Ling. "The neural correlates of bilateral arm movements in stroke". Thesis, Glasgow Caledonian University, 2016. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.726796.
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Lametti, Daniel R. "On the control of movement variability through the regulation of limb impedance". Thesis, McGill University, 2007. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=101860.
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Humans routinely make movements to targets that have different accuracy requirements in different directions. Examples extend from everyday occurrences such as grasping the handle of a coffee cup to the more refined instance of a surgeon positioning a scalpel. The attainment of accuracy in situations such as these might rest upon the nervous system's capacity to regulate the limb's resistance to displacement, or impedance. To test this idea, subjects made movements from random starting locations to targets that had shape dependant accuracy requirements. A robotic device was used to assess both limb impedance and patterns of movement variability just as the subject reached the target. Impedance was seen to increase in directions where required accuracy was high. Furthermore, independent of target shape patterns of limb stiffness were seen to predict spatial patterns of movement variability. The nervous system was thus seen to modulate limb impedance in wholly predictable environments to shape movement variability and achieve reaching accuracy.
10
Doeringer, Joseph A. (Joseph Alfred). "An investigation into the discrete nature of human arm movements". Thesis, Massachusetts Institute of Technology, 1999. http://hdl.handle.net/1721.1/9395.
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Løvlid, Rikke Amilde. "Internal Models as Echo State Networks : Learning to Execute Arm Movements". Doctoral thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for datateknikk og informasjonsvitenskap, 2013. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-23554.
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As robots are becoming more and more complex, with higher degrees-of-freedom, lighter limbs, and springy joints, it becomes harder to control their movements. New approaches, inspired from neuroscience, are attracting increased attention among computer scientists dealing with motor control. The focus in this thesis is on how robots can learn to control their limbs by learning how their bodies work, i.e., by learning internal models of their motor apparatus. Inspiration from cerebellar research combined with concepts from traditional control theory has been used as a basis. The research in the thesis is twofold. First, we investigate how internal models can be used to solve different control problems. In particular, we consider how to handle delays in the sensory-motor-loop and how to realize bimanual coordination. Second, we study how the internal models can be represented and learned. This includes how to choose movements to learn from in order to learn as much of the internal model as possible and how to actually learn the training movement. A simple simulator is used in the experiments and the simulator’s internal models were implemented as echo state networks (ESNs), a relatively new and promising type of recurrent neural networks. The simulator learns internal modes of his motor apparatus by imitating human motion. Human motion data was recorded and the task of the simulator’s control system is to generate motor commands that result in the simulator replicating the recorded movement. From the experiments we conclude that using ESNs for representing and learning internal models looks promising. With an ESN we are able to generalize to imitating novel movements, and we demonstrate that it is able to learn various bimanual coordination patterns. However, training ESNs is challenging and a major contribution from this thesis is a novel training method that works particularly well in our application. The thesis also contributes to how different internal models can be used and trained together.
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Lünenburger, Lars. "Influence of arm movements on saccades Einfluss von Armbewegungen auf Sakkaden /". [S.l.] : [s.n.], 2002. http://deposit.ddb.de/cgi-bin/dokserv?idn=965163016.
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DuFour, Devanie. "Development of a robotic arm to teach autistic children social movements". Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/46640.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.Includes bibliographical references (leaf 14).
By controlling a robotic arm, autistic children can learn the movements associated with social interactions. The goals of my invention are that autistic children would safely interact with the robotic arm and mimic the robotic arm to replicate movements associated with social interactions. The results from my Peter J. Eloranta Summer Undergraduate Research Fellowship suggest that all autistic children successfully learned social movements by mimicking a robotic arm. A more effective robotic arm would better replicate human motion than currently available commercial products. Additionally, a protective sleeve that conceals wiring and joints would make this product safer for young children, the main client of the invention.
by Devanie DuFour.
S.B.
14
Ewart, Steven. "Starting hand position effects on arm configuration for targeted reaching movements". Thesis, University of Iowa, 2014. https://ir.uiowa.edu/etd/4625.
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Boulton, Hayley. "The interaction between body posture and the performance of imagined arm movements". Thesis, University of Warwick, 2013. http://wrap.warwick.ac.uk/62114/.
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Jeannerod (2006) proposed that imagined movements are effectively covert simulations of their physical counterparts. Consistent with this idea, imagined movements show adherence to the same behavioural and body constraints as physical movements, activate similar cortical and subcortical regions, and can even excite corticospinal pathways. Although postural control is inherently linked to the performance of all movements, its interaction with imagined movements has received little research attention, with the few studies that have been conducted predominately looking at imagery of the lower limbs that are simultaneously engaged in posture control. The present research is the first to study interactions between posture control and imagined upper limb movements. In a series of experiments, healthy young adults performed imagined reaching movements of the arm to an array of target locations presented either in the mediolateral or anteroposterior direction. Participants’ stability in the mediolateral direction was manipulated through varying stance. The effects of different arm movement parameters (e.g., load and precision) were also considered, as was the congruency between physical and imagined stance. Cumulatively, the present experimental results suggest that the current postural state does influence trajectory planning during imagined arm movements and furthermore, there are observable changes in posture control in response to imagined upper limb movements. These findings have important implications for our understanding of the processes involved in inhibiting overt movement during motor imagery. They also contribute to the development of motor-imagery based schemes of motor training and rehabilitation.
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Romero, Vincent. "The Body Profile Score : an assessment of whole body walking patterns in children with cerebral palsy". Thesis, KTH, Skolan för teknik och hälsa (STH), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-189886.
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Patients with cerebral palsy account for great upper extremities deviationswhile walking. However, the number of studies assessing their upper bodygait kinematics are rare and no studies have been conducted interested inthe whole body kinematics during walking. In this study, we created awhole body index, the Body Profile Score made of modified existing kinematicindexes assessing the gait pattern of children with cerebral palsy. TheBody Profile Score (BPS) is an average of combination of the Gait ProfileScore (GPS), a modified Trunk Profile Score (TPS), a modified Arm PostureScore (APS) and a also new index called Head Profile Score (HPS), basedon a similar calculation. Dierent versions of the BPS were tested on threegroups: a control group, a CP group before botulinum toxin A treatmentand a CP group after botulinum toxin A treatment. The results showed apoor level of linear correlations between the dierent BPS versions and theGait Profile Score, indicating that lower body indexes such as the GPS orGait Deviation Index (GDI) and full body index such as the BPS do not renderthe same information. The BPS is the first index proposing a full bodykinematic analysis and aims at showing that such an analysis is needed ingait assessment of spastic children in order to have a realistic overview ofthe pathological walking condition.
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Augurelle, Anne-Sophie. "Feedback and feedforward processes underlying grip-load force coupling during cyclic arm movements". Université catholique de Louvain, 2003. http://edoc.bib.ucl.ac.be:81/ETD-db/collection/available/BelnUcetd-06292007-114349/.
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During transport of hand-held objects, the grip force is modulated in parallel with the load force changes. The control scheme underlying this grip-load force coupling involves subtle interplay between feedforward and feedback mechanisms. Based on internal models of the motor system and object properties, the load force can be predicted and the GF motor command can be specified in a feedforward manner. Moreover, during the course of arm movement, the CNS is informed by sensory feedback about mechanical events such as the lift-off of the object, slippage or excessive grip force. This information is used to correct the motor commands and to update the internal model of the motor apparatus and object. In this thesis, three experiments were conducted to examine the relative contributions of sensory-driven and anticipatory control of GF adjustments during cyclic vertical movement with a hand-held load. The main point was to assess whether internal models underlying the grip-load force coupling are robust when the environmental context was changed or when the sensory feedback was suppressed. Two experiments in parabolic flight were conducted to study the effects of a change in gravity on the dynamics of prehension. The main perturbation was that the novice subjects applied unnecessarily high safety margins during their first trial at 0 and 1.8 g in order to secure the grasp insofar as the gravitational component of the load force was unpredictable. By contrast, the temporal coupling between GF and LF was maintained regardless of the gravity conditions because the inertial component of the load could be still predicted from the arm motor command (efference copy). In the second study performed during parabolic flight, we have observed that the subjects were able to exert the same grip force for equivalent load generated either by a change of mass, gravity or acceleration despite the fact that it requires different arm motor commands. These two experiments brought further evidence that the predictive mechanisms largely contribute to the GF adjustment. Static forces such gravity are taken into account in the motor plan allowing adequate motor command and precise prediction of the incoming load force change. The GF output would depend on the precision of this prediction that can be evaluatedonly after the movement onset through sensory information about the actual state of the system. The third experiment performed in this thesis studied the role of cutaneous afferents in object manipulation by anesthetizing the thumb and index finger. In addition to their phasic slip-detection function, the cutaneous afferents are required for setting the background level of the grip force. Actually, in absence of tactile feedback, the temporal coupling between the grip and load forces is maintained but the mean magnitude of GF progressively decreases leading to object slipping. It is hypothesized that accumulating error occurred in the LF prediction leading to inadequate level of GF. Cutaneous afferents are thus required to correct and maintain the internal model of the arm-hand object system.
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Sabes, Philip N. (Philip Neal). "The planning of visually guided arm movements : feedback perturbation and obstacle avoidance studies". Thesis, Massachusetts Institute of Technology, 1996. http://hdl.handle.net/1721.1/10618.
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Takahashi, Kazutaka Ph D. Massachusetts Institute of Technology. "Modeling cerebrocerebellar control in horizontal planar arm movements of humans and the monkey". Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/39698.
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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2007.Includes bibliographical references (leaves 215-236).
In daily life, animals including humans make a wide repertoire of limb movements effortlessly without consciously thinking about joint trajectories or muscle contractions. These movements are the outcome of a series of processes and computations carried out by multiple subsystems within the central nervous system. In particular, the cerebrocerebellar system is central to motor control and has been modeled by many investigators. The bulk of cerebrocerebellar control involves both forward command and sensory feedback information inextricably combined. However, it is not yet clear how these types of signals are reflected in spiking activity in cerebellar cells in vivo. Segmentation of apparently continuous movements was first observed more than a century ago. Since then, submovements, which have been identified by non-smooth speed profiles, have been described in many types of movements. However, physiological origins of submovement have not been well understood. This thesis demonstrates that a currently proposed recurrent integrator PID (RIPID) cerebellar limb control model (Massaquoi 2006a) is consistent with average neural activity recorded in a monkey by developing the Recurrent Integrator-based Cerebellar Simple Spike (RICSS) model.
(cont.) The RICSS formulation is consistent with known or plausible cerebrocerebellar and spinocerebellar neurocircuitry, including hypothetical classification of mossy fiber signals. The RICSS model accounts well for variety of cerebellar simple spike activity recorded from the monkey and outperforms any other existing models. The RIPID model is extended to include a simplified cortico-basal ganglionic loop to capture statistical characterization of intermittency observed in individual trials of the monkey. In order to extend the capability of the RIPID model to a larger workspace and faster movements, the model needs to be gainscheduled based on the local state information. A linear parameter varying (LPV) formulation, which shares a similar structure to that suggested by the RICSS model, is performed and its applicability was tested on human subjects performing double step tasks which requires rapid change in movement directions.
by Kazutaka Takahashi.
Ph.D.
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Vardaxis, Vassilios. "Learning adaptations in performance production measures of novel multijoint tasks". Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=40016.
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The present thesis investigated the process of gross motor skill acquisition in the context of how movement pattern characteristics are organized and modified as a result of learning. The process of multisegmental skill acquisition was studied using performance production measures as a window to explore stable and transient changes in the movement control process. Bernstein's principles of exploitation of motion dependent torques, and the minimization of the degree of freedom were tested.Twenty male subjects performed a total of 240 trials, as fast and accurate as possible, over 4 sessions for two tasks with different level of complexity (10 subjects per task). Kinematic and EMG data were acquired for a two segment model of the arm using a lightweight, adjustable manipulandum, and surface EMG for the PDL, PEC, TRI, and BIC muscles. Movement organization characteristics were revealed by wave pattern analyses performed with a phase breakdown technique, CCCF on torque partitioning components, and the CFs on the muscle activation waveforms.
The experimental protocol allowed enough practice for the tasks to be learned resulting in PT decrease. Consistent adaptations in movement organization were revealed by all three levels of analysis. Improvement in the performance production measures were in the same direction for both learning conditions, and the rate of change within experimental sessions decreased over time. The significant adaptations in movement organization occurred at the critical phases of each task (i.e. the power absorption--phase simple task, and the reversal phase--complex task). The EMG and joint torque components demonstrated significant amplitude and profile changes particularly during the critical phases. The subjects learned to perform the tasks faster by compensating the motion dependent torques components with the muscle torques in time and amplitude. This finding was consistent with the principle of exploitation of motion dependent torques which was enhanced with learning. Significant task specific motor program adaptations were revealed by the SVD analysis. The minimization of the degree of freedom hypothesis is consistent with the increasing covariation observed over learning between the antagonists PEC and BIC in the simple task, and for both the agonists PDL and TRI and antagonists PEC and BIC in the complex task. In addition the results justified the use of waveform analysis on performance production measures, as a method that can reveal important adaptation details in the underlying control mechanisms for gross motor skill.
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Sarantinos, George D. V. "Learning and retention adaptations of myoelectric activity during a novel multi-joint task". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0024/MQ50569.pdf.
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Stefanovic, Filip. "Multi-muscle arm movements without planning: proposing a tunable, scalable and robust biomimetic controller". Thesis, McGill University, 2013. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=116852.
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The goal of this thesis is to explore a novel biomimetic control approach for goal-oriented reaching tasks. Specifically, it will demonstrate that a simple spinal-like regulator can exhibit complex behaviours for a variety of movement paradigms. A unique controller is designed based on interpretations of simplified reflex circuits. In addition, special attention is paid to the relationship between the central and spinal motor centers and how they affect the generation of movement commands. It has been observed during visually guided reaching tasks that tectal maps project gain related stimuli to the periphery which may aid in system modulation. By designing the controller to include sensory-integration, it is hypothesized that gain modulation can facilitate unique modes or policies for various reaching tasks. These theories are examined in several essential paradigms that include control of reaching in robots, multi-muscle regulation and coordination in humans or monkeys, as well as kinematic and dynamic variability within each system.The symmetrical reach controller will demonstrate inherent robust behaviours that contrast to earlier theories in biomimetic control, but maintain those that are reminiscent of the biology. Specifically, the research will illustrate an ability to modulate speed, vary accuracy, tune trajectory paths, and even reject external noise, without any need for pre-computations or kinematic planning. Moreover, the system shows adaptive regulation based on sensory dependent stimuli that include internally perceived state estimates, and visually perceived kinematic changes. The thesis will also illustrate how the novel biomimetic controller supports biologically relevant characteristics such as dynamic muscle co-activation and learning as they apply to the underlying system. The theoretical and experimental work presented herein has implications for the development of several rehabilitative devices in biomedical engineering and for improved autonomy in mobile robots.Le but de cette thèse est d'explorer une nouvelle approche biomimétique de commande pour des tâches d'orientation du bras vers un but. Spécifiquement, il sera démontré qu'un simple régulateur de type moelle épinière peut présenter des comportements complexes pour une variété de paradigmes de mouvement. Un contrôleur unique est conçu se basant sur une interprétation simplifiée des circuits réflexes. En outre, une attention particulière est prêtée à la relation entre les centres moteurs des systèmes nerveux central et périphérique et comment ils affectent la production des commandes de mouvement. Pendant des tâches d'orientation visuellement guidées, il a été observé que les cartes des Colliculi projetaient des stimuli reliés au gain vers la périphérie, pouvant ainsi faciliter la modulation du système moteur. En concevant le contrôleur afin d'inclure l'intégration sensorielle, on présume que la modulation de gain peut faciliter des modes uniques pour diverses tâches d'atteinte. Ces théories sont examinées selon plusieurs paradigmes essentiels qui incluent la commande de l'atteinte chez les robots, la régulation des systèmes multi-musculaires et la coordination du bras chez l'homme ou le singe, ainsi que la variabilité cinématique et dynamique à l'intérieur de chaque mouvement. Le contrôleur symétrique démontrera que des comportements robustes sont inhérents dans la commande biomimétique, ce qui contraste avec des théories antérieures. Cependant, cette théorie demeure compatible avec les observations en biologie. Spécifiquement, la recherche illustrera la capacité de moduler la vitesse, changer l'exactitude, syntoniser des trajectoires et même rejeter le bruit externe, sans aucun pré-calcul ou planification cinématique. D'ailleurs, le système démontre une régulation adaptative basée sur les stimuli sensoriels qui incluent des estimations d'états internes perçus et des changements cinématiques visuellement perçus. La thèse illustrera également comment le contrôleur biomimétique soutient des caractéristiques biologiquement pertinentes telles que la co-activation dynamique de muscles antagonistes et l'apprentissage. Ce travail théorique et expérimental présenté ci-dessous a des implications pour le développement de plusieurs appareils de réadaptation dans le domaine technologie biomédicale ainsi que pour l'amélioration de l'autonomie chez les robots mobiles.
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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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Tryfonidis, Michail. "Robust adaptive control modeling of human arm movements subject to altered gravity and mechanical loads". Thesis, Massachusetts Institute of Technology, 1999. http://hdl.handle.net/1721.1/9483.
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Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1999.Includes bibliographical references (leaves 159-164).
It has been observed that during orbital spaceflight the absence of gravitation related sensory inputs causes incongruence between the expected and the actual sensory feedback resulting from voluntary movements. This incongruence results in a reinterpretation or neglect of gravity-induced sensory input signals. Over time, new internal models develop, gradually compensating for the loss of spatial reference. The study of adaptation of goal-directed movements is the main focus of this thesis. The hypothesis is that during the adaptive learning process the neural connections behave in ways that can be described by an adaptive control method. The investigation presented in this thesis includes two different sets of experiments. A series of dart throwing experiments took place onboard the space station Mir. Experiments also took place at the Biomechanics lab at MIT, where the subjects performed a series of continuous trajectory tracking movements while a planar robotic manipulandum exerted external torques on the subjects' moving arms. The experimental hypothesis for both experiments is that during the first few trials the subjects will perform poorly trying to follow a prescribed trajectory, or trying to hit a target. A theoretical framework is developed that is a modification of the sliding control method used in robotics. The new control framework is an attempt to explain the adaptive behavior of the subjects. Numerical simulations of the proposed framework are compared with experimental results and predictions from competitive models. The proposed control methodology extends the results of the sliding mode theory to human motor control. The resulting adaptive control model of the motor system is robust to external dynamics, even those of negative gain, uses only position and velocity feedback, and achieves bounded steady-state error without explicit knowledge of the system's nonlinearities. In addition, the experimental and modeling results demonstrate that visuomotor learning is important not only for error correction through internal model adaptation on ground or in microgravity, but also for the minimization of the total mean-square error in the presence of random variability. Thus human intelligent decision displays certain attributes that seem to conform to Bayesian statistical games.
by Michail Tryfonidis.
Ph.D.
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Galloway, James Coleman. "Muscle torque-total torque relationships at the shoulder and elbow: Rules for initiating multijoint arm movements". Diss., The University of Arizona, 1998. http://hdl.handle.net/10150/282845.
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One concept central to theories of multijoint control concerns the selection of muscles for the appropriate joint motion. For multijoint movements, a given muscle torque at an individual joint can lead to flexion, extension, or very little motion, since mechanical effects coming from other segments interact with muscle torque. This study quantified the contribution of muscle torque to initial joint motion for horizontal arm movements throughout the workspace. Previous studies of arm mechanics have been limited to a few movements or have focused on one joint. In contrast, this study reports data for both the shoulder and elbow joints. Moreover, a large number of movements were used for which direction, excursion, and distance were manipulated. Using high speed video recordings and techniques of inverse dynamics, a ratio of muscle torque to total torque was computed for each movement as a measure of contribution of muscle torque to joint acceleration. One consistent finding was that the muscle torque contribution consistently differed between the shoulder and elbow for most of the workspace. At one joint, muscle torque directly contributed to acceleration with negligible interaction torque ('direct' muscle torque contribution), thus the joint appeared to act as the launcher of the arm. At the other joint, both muscle and interaction torques contributed to joint acceleration ('complex' contribution), thus the joint appeared to be responding to mechanical effects from motion of the launcher. This contrast between joints may provide a simplifying feature for multijoint arm control. Specifically, only one of the two joints has complex mechanics, while the other joint, surprisingly, has simplified mechanics similar to a single joint in isolation. Movements in this study also demonstrated a three fold covariance (muscle torque contribution, movement direction, and the relative excursions of the shoulder and elbow) regardless of distance. A covariance of movement features, historically viewed as a confound, may provide a further simplification for arm control by reducing the unknowns; namely, the muscle torque contribution is associated with a resultant direction and joint excursions, or a direction or set of excursions is achieved by the associated muscle torque contribution.
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Liao, James Yu-Chang. "Evaluating Multi-Modal Brain-Computer Interfaces for Controlling Arm Movements Using a Simulator of Human Reaching". Case Western Reserve University School of Graduate Studies / OhioLINK, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=case1404138858.
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Subramanian, Sandeep. "Effects of feedback on recovery of pointing movements in two training environments in stroke : a pilot study". Thesis, McGill University, 2007. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=112364.
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Virtual reality environments (VEs) are new tools to improve functional recovery in stroke survivors. Elements essential to maximize motor learning, can be optimized in VEs. Study objectives were: (a) to determine whether training in VE with enhanced feedback about movement patterns, leads to greater gains in arm movement quality, motor performance and decreased compensation compared to training in a similarly designed Physical environment (PE); (b) to estimate whether impairments in cognitive functioning affected the changes observed after training. Twelve stroke survivors practiced 72 pointing movements in VE or PE for 10 sessions with enhanced feedback. Kinematic analysis of pointing task, evaluations of arm impairment and function were carried out pre-post training. After training, VE group had increased shoulder flexion (p<0.05), increased shoulder horizontal adduction and decreased compensation, compared to PE group. Use of feedback correlated with fewer deficits in cognitive functioning. Training in VEs may lead to greater gains in movement quality.
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Scholz, Daniel S. [Verfasser]. "Sonification of arm movements in stroke rehabilitation: a novel approach in neurologic music therapy / Daniel S. Scholz". Hannover : Bibliothek der Tierärztlichen Hochschule Hannover, 2015. http://d-nb.info/1080868100/34.
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Massaquoi, Steven G. "Modeling the function of the cerebellum in scheduled linear servo control of simple horizontal planar arm movements". Thesis, Massachusetts Institute of Technology, 1999. http://hdl.handle.net/1721.1/9083.
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Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1999.Includes bibliographical references (p. 225-240).
A new set of models has been developed that suggests that the intermediate and lateral anterior cerebellum mediate scheduled linear servo control of simple single-joint and two-joint arm movements. These models propose that the problem of stabilization in the presence of delays is handled by transmitting part of the feedback loop information as "wave variables". Wave variables are specialized linear combinations of command and feedback signals that ensure passive, and therefore stable communication despite delays and changes in loads. The signal integration employed in wave-variable teleoperation may be viewed as implementing a rudimentary linear internal model of limb dynamics. The models propose that for any given simple movement, the bio controller is linear and that therefore compensation for nonlinearities in multi joint limb dynamics is incomplete. It is demonstrated that at least in the two-joint case, this gives rise to specific acceleration-dependent trajectory tracking errors that are characteristic of human experimental movement data. The problem of managing the different dynamic demands of different simple movements may be addressed by the scheduling of a set of linear controllers. During movement simulation, the models generate internal signals that closely resemble neurophysiological waveforms recorded in primates. The qualities of the degraded movement control associated with several simulated lesions of the models also appear to correlate well with the various types of ataxia and tremor that occur following natural and experimental damage to the cerebellar system at neuro anatomically corresponding locations. A state-space representation of the single-joint model suggests an ad hoc reduced order model that reproduces a major part of the behavior of the full single-joint model. The reduced order model gives insight into the stability and performance characteristics of the full model, as well as into the contributions of certain cerebellar pathways to normal movement control.
by Steve G. Massaquoi.
Ph.D.
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Chin, Aaron. "Anatomical and functional based upper limb models : methods for kinematic analysis of cricket spin bowling". University of Western Australia. School of Sport Science, Exercise and Health, 2009. http://theses.library.uwa.edu.au/adt-WU2009.0133.
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[Truncated abstract] In cricket, the bowler propels a ball using a straight arm (permitted minimal extension) in an overhead fashion to a batsman situated approximately 20m away, who attempts to strike the ball in order to score runs for their team. Cricket bowling can be generalised by two types of bowlers; fast bowlers, who primarily use high ball speed, and spin bowlers that attempt to impart spin on the ball causing it to bounce in different directions. There has been numerous studies investigating the kinematics of fast bowling in cricket, but there is a paucity of objective literature on the spin bowling action due to the complex rotations of the upper limb necessary to develop ball velocity and rotation. One primary reason is that three dimensional (3D) analysis of upper limb movement is difficult due to the high degrees of freedom and ranges of motion of the associated joints. Furthermore, existing methods do not allow measurement of the kinematics of this highly dynamic task to be performed in an ecologically sound environment. The complexity is further compounded as the upper limb does not perform regular cyclical movements like the lower limb does with gait. Therefore, this makes it difficult to determine what
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Brayanov, Jordan Brayanov. "Internal Representations for the Generalization of Motor Memories". Thesis, Harvard University, 2012. http://dissertations.umi.com/gsas.harvard:10694.
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Movement and memory are two of the most fundamental components of our existence. From the moment of birth, we rely on a variety of movements to interact with people and objects around us, and as we grow, we continuously form new motor memories to improve the fidelity of these interactions by exploring and learning more about our environment, especially in unfamiliar situations, ultimately becoming better equipped to handle novel and unknown environments. In this dissertation, we explore four facets of motor memory associated with voluntary movement and postural control in the upper limbs: (1) Optimal motor memory formation via sensorimotor integration. We ask whether the motor system combines prior memories with new sensory information to produce statistically-optimal weight estimates. We find that the weight estimate that the motor system makes in order to re-stabilize one’s arm posture when an object is rapidly removed from the hand that supports it, reflected information integration in a Bayesian, statistically-optimal fashion. Remarkably, we demonstrate that when experiencing the well-known size-weight illusion, the motor and perceptual system’s weight estimates are biased in opposite directions, suggesting two divergent modes for information integration within the central nervous system. (2) Movement features important for the learning and generalization of motor memories. We show that, velocity-dependent adaptation generalizes across different movements, even from discrete straight point-to-point to continuous circular movements, however the amount of generalization is limited and context-dependent. In a series of experiments, we quantified the contributions of different movement features to the elicited adaptation transfer. In particular, we show that other movement states (i.e. position and acceleration) make only minor contributions whereas, the contexts provided by movement geometry and movement continuity are critical. (3) Internal representation of motor memories in intrinsic-extrinsic coordinates. We show that motor memories are based not on fully intrinsic or extrinsic representations but on a gain-field (multiplicative) combination the two. This gain-field representation generalizes between actions by effectively computing movement similarity based on the Mahalanobis distance across both intrinsic and extrinsic coordinates, in line with neural recordings showing mixed intrinsic-extrinsic representations in motor and parietal cortices. (4) Motor memories with local and global generalization. We demonstrate the existence of two distinct components of motor memory displaying different generalization footprints: One generalizes only locally, around the trained movement direction and with the trained end-effector, whereas the other generalizes broadly across both., We proceed to show that broad generalization results from a rapidly-learning adaptive process, dominates on easier-to-learn tasks, and performs high-level processing, producing adaptation vectors that integrate multiple sources of information, in line with a recent theory for perceptual learning.Engineering and Applied Sciences
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Bhat, Anjana N. "The emergence of purposeful reaching developmental changes and constraints in hand and joint kinematics of early arm movements /". Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file 6.59 Mb, 138 p, 2005. http://wwwlib.umi.com/dissertations/fullcit/3187605.
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Lee, Hui-Min. "Coordination of arm movements in healthy full term infants from the pre-reaching period to the onset of reaching". Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file, 73 p, 2007. http://proquest.umi.com/pqdweb?did=1299819951&sid=6&Fmt=2&clientId=8331&RQT=309&VName=PQD.
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Fiedler, Katja Verfasser], Michael J. [Akademischer Betreuer] Herrmann, Theo [Akademischer Betreuer] [Geisel i Florentin [Akademischer Betreuer] Wörgötter. "Generation principles for arm movements in humans / Katja Fiedler. Gutachter: Theo Geisel ; Florentin Wörgötter. Betreuer: Michael J. Herrmann". Göttingen : Niedersächsische Staats- und Universitätsbibliothek Göttingen, 2012. http://d-nb.info/1044045485/34.
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Elliott, Catherine. "Efficacy of lycra arm splints : an international classification of functioning disability and health approach". University of Western Australia. School of Human Movement and Exercise Science, 2005. http://theses.library.uwa.edu.au/adt-WU2006.0017.
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[Truncated abstract] This thesis consists of five experimental studies from seven data collection periods. The first two studies quantitatively analyse children with and without cerebral palsy using upper limb three dimensional (3D) motion analysis. Upper limb angular kinematics and sub-structures were measured and analysed, both of which were utilised during subsequent studies. The final three studies assess the efficacy of lycra® arm splints using clinical assessments, 3D dimensional upper limb kinematics and 3D sub-structures. Study 1 analysed 3D movement sub-structures in children with and without cerebral palsy ... The aim of the study was to quantitatively analyse movement sub-structures in children with and without cerebral palsy during four functional tasks taken from the Melbourne Assessment of Unilateral Upper Limb Function (Melbourne Assessment - Randall, Johnson & Reddihough, 1999) ... Results demonstrated significant differences in angular kinematics in children with and without cerebral palsy, while the methodology developed in this study provided improved insight into the movement of the upper limb and trunk during functional tasks. Study 3 reported a randomised controlled trial of lycra® arm splints in children with cerebral palsy across all levels of the International Classification of Functioning Disability and Health (ICF) ... Lycra® arm splints were shown to have a statistically significant impact at the level of participation, whereas no significant difference was seen at the level of impairment and activity. Study 4 reported a randomised controlled trial of the effects of lycra® arm splints on 3D movement sub-structures during functional tasks in children with cerebral palsy ... This research demonstrated that movement sub-structures (including movement time) can be quantified and are amenable to change with intervention. Study 5 reported a randomised controlled trial of the effects of lycra® arm splints on angular kinematics (thorax, shoulder and elbow) during functional tasks in children with cerebral palsy ... The benefits of the splint on angular kinematics were only apparent when worn for the 3 month period, as minimum evidence was established for the short-term (1hour) and long term (3 month post splint wear) carry-over effects.
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Neves, Taubi J. "A Comparison of the Traditional, Swing, and Chicken Wing Arm Movements on Volleyball Blocking in NCAA Division 1 Female Athletes". Diss., CLICK HERE for online access, 2010. http://contentdm.lib.byu.edu/ETD/image/etd3401.pdf.
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Norrlin, Simone. "Mobility, Sitting Posture and Reaching Movements in Children with Myelomeningocele". Doctoral thesis, Uppsala : Acta Universitatis Upsaliensis : Univ.-bibl. [distributör], 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-3751.
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García, Hidalgo Néstor. "Motion planning using synergies : application to anthropomorphic dual-arm robots". Doctoral thesis, Universitat Politècnica de Catalunya, 2019. http://hdl.handle.net/10803/667673.
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Motion planning is a traditional field in robotics, but new problems are nevertheless incessantly appearing, due to continuous advances in the robot developments. In order to solve these new problems, as well as to improve the existing solutions to classical problems, new approaches are being proposed. A paradigmatic case is the humanoid robotics, since the advances done in this field require motion planners not only to look efficiently for an optimal solution in the classic way, i.e. optimizing consumed energy or time in the plan execution, but also looking for human-like solutions, i.e. requiring the robot movements to be similar to those of the human beings. This anthropomorphism in the robot motion is desired not only for aesthetical reasons, but it is also needed to allow a better and safer human-robot collaboration: humans can predict more easily anthropomorphic robot motions thus avoiding collisions and enhancing the collaboration with the robot. Nevertheless, obtaining a satisfactory performance of these anthropomorphic robotic systems requires the automatic planning of the movements, which is still an arduous and non-evident task since the complexity of the planning problem increases exponentially with the number of degrees of freedom of the robotic system.
This doctoral thesis tackles the problem of planning the motions of dual-arm anthropomorphic robots (optionally with mobile base). The main objective is twofold: obtaining robot motions both in an efficient and in a human-like fashion at the same time. Trying to mimic the human movements while reducing the complexity of the search space for planning purposes leads to the concept of synergies, which could be conceptually defined as correlations (in the joint configuration space as well as in the joint velocity space) between the degrees of freedom of the system. This work proposes new sampling-based motion-planning procedures that exploit the concept of synergies, both in the configuration and velocity space, coordinating the movements of the arms, the hands and the mobile base of mobile anthropomorphic dual-arm robots.La planificación de movimientos es un campo tradicional de la robótica, sin embargo aparecen incesantemente nuevos problemas debido a los continuos avances en el desarrollo de los robots. Para resolver esos nuevos problemas, así como para mejorar las soluciones existentes a los problemas clásicos, se están proponiendo nuevos enfoques. Un caso paradigmático es la robótica humanoide, ya que los avances realizados en este campo requieren que los algoritmos planificadores de movimientos no sólo encuentren eficientemente una solución óptima en el sentido clásico, es decir, optimizar el consumo de energía o el tiempo de ejecución de la trayectoria; sino que también busquen soluciones con apariencia humana, es decir, que el movimiento del robot sea similar al del ser humano. Este antropomorfismo en el movimiento del robot se busca no sólo por razones estéticas, sino porque también es necesario para permitir una colaboración mejor y más segura entre el robot y el operario: el ser humano puede predecir con mayor facilidad los movimientos del robot si éstos son antropomórficos, evitando así las colisiones y mejorando la colaboración humano robot. Sin embargo, para obtener un desempeño satisfactorio de estos sistemas robóticos antropomórficos se requiere una planificación automática de sus movimientos, lo que sigue siendo una tarea ardua y poco evidente, ya que la complejidad del problema aumenta exponencialmente con el número de grados de libertad del sistema robótico. Esta tesis doctoral aborda el problema de la planificación de movimientos en robots antropomorfos bibrazo (opcionalmente con base móvil). El objetivo aquí es doble: obtener movimientos robóticos de forma eficiente y, a la vez, que tengan apariencia humana. Intentar imitar los movimientos humanos mientras a la vez se reduce la complejidad del espacio de búsqueda conduce al concepto de sinergias, que podrían definirse conceptualmente como correlaciones (tanto en el espacio de configuraciones como en el espacio de velocidades de las articulaciones) entre los distintos grados de libertad del sistema. Este trabajo propone nuevos procedimientos de planificación de movimientos que explotan el concepto de sinergias, tanto en el espacio de configuraciones como en el espacio de velocidades, coordinando así los movimientos de los brazos, las manos y la base móvil de robots móviles, bibrazo y antropomórficos.
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Joseph, Leena. "Joint Center Movement Analysis and 3D Motion Modeling of Upper Arm - Comparison of Several Algorithms with the Visual 3-D Program". VCU Scholars Compass, 2005. http://hdl.handle.net/10156/1677.
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Redman, Toni Annette. "Upper limb Botulinum Toxin-A in children with hemiplegic cerebral palsy : physiological corticomotor pathways and effect on health related quality of life". University of Western Australia. Faculty of Medicine and Dentistry and Health Sciences, 2008. http://theses.library.uwa.edu.au/adt-WU2008.0123.
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[Truncared abstract] Introduction: The assessment of any therapy requires not only an understanding of how that therapy works but also how it affects health related quality of life (HRQOL). Botulinum Toxin A(BoNT-A) therapy for upper limb spasticity management in children with hemiplegic cerebral palsy(CP) is currently under trial. Despite its use for over a decade for lower limb spasticity, little is known about the mechanisms involved in improving motor function and the effect on the child and their familys HRQOL. Both central and peripheral mechanisms are hypothesised[1]. Whilst evidence of improved quality of movement and ability to perform tasks is emerging[2-4], this cannot be directly correlated with an improvement in HRQOL. In addition, the traditional method of assessing child HRQOL by parent proxy reports has come under question[5, 6]. The World Health Organisation now recommends the collection of both parent proxy and child self-reports[7]. Aims: 1. Investigate the corticomotor projections to the upper limb in school aged children with hemiplegic CP and the changes that occur with BoNT-A therapy by transcranial magnetic stimulation (TMS). 2. Investigate the effect of upper limb BoNT-A therapy on HRQOL of school aged children with hemiplegic CP by completion of the PedsQL 4.0 Generic Core Scales and 3.0 CP Module. 3. Determine the concordance between Child Self-Report and Parent Proxy Report scores for the PedsQL 4.0 Generic Core Scales and 3.0 CP Module. 4. Determine the concordance between PedsQL scores and function as assessed by the Melbourne Assessment of Unilateral Upper Limb Function (MUUL). Methods: Design: Prospective randomised pilot study. Setting: Department of Paediatric Rehabilitation, Princess Margaret Hospital, and Centre for Neurological and Neuromuscular Disorders, Perth. Participants: 22 school aged children with hemiplegic CP aged 7yr 0mth-13yr 11mth (12 treatment, 10 control). 3 Treatment: One episode BoNT-A injections (dose 1-2U/kg/muscle) into the upper limb for treatment group. The control group received usual care. ... Conclusion: This pilot study provides preliminary evidence of the effects of upper limb BoNT-A therapy at both a central physiological and a broader quality of life level in school aged children with hemiplegic CP. At a central level, corticomotor pathway reorganisation occurs in the setting of BoNT-A. However the reorganisation is not limited to the affected side pathways suggesting a systemic BoNT-A effect or developmental changes. Similarly, in this pilot study, there was no statistically significant effect of upper limb BoNT-A on the childs HRQOL as assessed by the PedsQL although positive trends were observed 4 for a number of physical and psychosocial domains. The collection of both child self-report and parent proxy reports when assessing HRQOL is recommended, and function needs to be assessed independently. Larger studies across the broader CP population, the design of CP specific HRQOL tools appropriate for use in the higher functioning CP cohort, and alternative better tolerated methods of investigating the motor system in children with movement disorders are recommended.
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Bermudez, Rosa Maria Jimenez. "Proposta de um sistema baseado em redes neurais e wavelets para caracterização de movimentos do segmento mão-braço". reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2018. http://hdl.handle.net/10183/179572.
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Este trabalho apresenta um sistema para o processamento do sinal mioelétrico baseado em Redes Neurais e Wavelets. Com a aquisição dos sinais mioelétricos dos músculos do segmento mão-braço, é possível determinar diversos parâmetros para a caracterização dos movimentos executados. A Transformada Wavelets foi utilizada na etapa de segmentação do sinal e a rede neural artificial na caracterização do movimento executado. O sistema é constituído de um eletromiógrafo (EMG de 8 canais), placa de aquisição de dados e um computador responsável pelo processamento dos dados. Foram utilizado eletrodos de superfície posicionados em lugares estratégicos no segmento mão-braço. O experimento consiste em repetir movimentos do segmento mão-braço executados por um modelo virtual. Os movimentos avaliados, neste trabalho, são: contração da mão, extensão do punho, flexão do antebraço, flexão do punho, rotação do braço, rotação e flexão do antebraço, rotação do braço e contração da mão, extensão e flexão do punho, contração da mão e elevação do braço. Esses movimentos são apresentados ao sujeito em determinadas sequências através dos modelos virtuais desenvolvidos, permitindo assim, a padronização do movimento a ser executado pelo voluntário O sinal é adquirido através de uma placa de aquisição e processado. As etapas principais de processamento são: segmentação do sinal de interesse através da Wavelet Discreta, extração de características (r.m.s, variância, desvio padrão, sesgo, curtose ) e uso da Rede Neural para determinar o movimento executado final dos testes, foi verificado que o movimento contração da mão e elevação do braço apresentou uma taxa de acerto média de 75%; o movimento flexão do antebraço obteve 81% de acerto médio; a contração da mão obteve 33% de acerto médio, o movimento contração da mão 76% de acerto médio; o movimento de flexão do punho 100 % de acerto médio, rotação e flexão do antebraço 66% de acerto médio, extensão e flexão do punho um 16% de acerto médio, extensão do punho 83,3% de acerto médio, rotação do braço 16,7% de acerto médio. Rotação do braço e contração da mão 83,3% de acerto médio.This work presents a neural-network myoelectric processing-based system. With the acquisition of myoelectric signals from the muscles of the hand-arm segment, it is possible to determine the parameters that characterize the executed movements. Therefore, in this work Artificial Neural Networks are implemented to recognize patterns in order to determine the executed movement. The system is constituted by an electromyography (8-channel EMG), a data acquisition board and a computer responsible for data processing. In this research an experimental system is developed to capture the myoelectric signals by means of an EMG and a data acquisition board. Surface electrodes located in strategic places in the hand-arm segment are used. The experiment consists of repeated movements of the hand-arm segment executed by a virtual model. The movements examined in this work are: hand contraction, fist extension, forearm flexion, fist flexion, arm rotation, forearm rotation and flexion, fist contraction and extension and arm elevation. Those movements are presented to a volunteer in a random way by means of the virtual models developed, permitting a standardization of the movements that are to be executed by the volunteer. In the last part it is verified that the hand-contraction movement and the arm-elevation movement present an accuracy rate average of 75%; the forearm-flexion movement reaches 81% of accuracy rate average, the hand-contraction movement with 33% of accuracy rate average, the hand-contraction movement with 76% of accuracy rate average, the fist-flexion movement reached a 100% in the accuracy rate average, the forearm rotation flexion movement with a 66% in the accuracy rate average, the fist extension and flexion movement reaches the 16% in the accuracy rate average and the fist-extension movement with a 83.3% of accuracy rate average.
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Weight, Ryan G. "High-Torque Capacity Compliant Centrifugal Clutches". Diss., CLICK HERE for online access, 2004. http://contentdm.lib.byu.edu/ETD/image/etd383.pdf.
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Habán, Tomáš. "Zpracování programových modulů pro řízení automatické výměny nástrojů". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2011. http://www.nusl.cz/ntk/nusl-229466.
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The presented work is concerned in system of automatic tools change for machining centers. The theoretical part of this diploma work is about basic distribution. The following practical part includes mathematical description of testing stand of systems of automatic tools change STD – 25. In next step the dynamic model of this mechanism and model of servomotor is realized using simulating environment as Matlab/Simulink. The simulation of designed model of complete system is optimized in aspect of rate of change. The obtained values of servomotors performance are compared for various loads of exchange arm at the appropriate times of change. The last section briefly describes other possible alternative solution of similar dynamic systems using connection of software SolidWorks and NI LabView.
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Cheng, Pei Lai. "Biomechanical study of upper limb activities of daily living". Thesis, University of Strathclyde, 1996. http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=20389.
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The kinematic and kinetic characteristics of arm movement during four activities of daily living: lifting a weight, driving a steering wheel, opening/closing a door and cutting were investigated in this study by using a human movement analysis system comprising a 6 camera Vicon motion analysis system, a 6 component strain-gauged transducer, a specially designed and instrumented steering wheel simulation system, a door and a cutting plate. The most important achievements of this study are: (1) Implementation of the residual analysis technique into a computer program to filter the noisy kinematic data at an autoselected cut-off frequency for each data sequence. (2) The development of a new method of representing the velocity and acceleration of points of interest using the phase plane presentation. It was found that driving is the most complicated activity investigated in this study according to the range of arm movement. From the kinetic results, it was found that the order of difficulty of the four activities can be arranged as cutting, door opening/closing, lifting, and driving according to the magnitude of the maximum resultant total shoulder moment. The difficulty of the lifting activity increased with the weight to be lifted and the height of lifting. It was also found that the major component of the shoulder moment is the flexion/extension moment for most of the activities except driving, therefore it is concluded that having sufficient shoulder flexion/extension strength is most important for conducting most upper limb activities of daily living. In addition, the results of this study provide information for improving the understanding of the biomechanics of the upper limb activities and for clinical reference.
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Wachsmann, Emily Brook Lain Brian. "Social movements, subjectivity, and solidarity witnessing rhetoric of the international solidarity movement /". [Denton, Tex.] : University of North Texas, 2009. http://digital.library.unt.edu/ark:/67531/metadc12211.
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Wachsmann, Emily Brook. "Social Movements, Subjectivity, and Solidarity: Witnessing Rhetoric of the International Solidarity Movement". Thesis, University of North Texas, 2009. https://digital.library.unt.edu/ark:/67531/metadc12211/.
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This study engaged in pushing the current political limitations created by the political impasse of the Palestinian-Israeli conflict, by imagining new possibilities for radical political change, agency, and subjectivity for both the international activists volunteering with the International Solidarity Movement as well as Palestinians enduring the brutality of life under occupation. The role of the witness and testimony is brought to bear on activism and rhetoric the social movement ISM in Palestine. Approaches the past studies of the rhetoric of social movements arguing that rhetorical studies often disassociated 'social' from social movements, rendering invisible questions of the social and subjectivity from their frames for evaluation. Using the testimonies of these witnesses, Palestinians and activists, as the rhetorical production of the social movement, this study provides an effort to put the social body back into rhetorical studies of social movements. The relationships of subjectivity and desubjectification, as well as, possession of subjects by agency and the role of the witness with each of these is discussed in terms of Palestinian and activist potential for subjectification and desubjectifiation.
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Splendori, Roberta. "Development of control algorithm for adjusting the needle insertion path during robot assisted breast biopsy procedure". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.
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The MURAB project, created and developed by the RAM group at the university of Twente in the Netherlands, aims to improve the precision and the efficiency of the breast biopsy procedure, reducing as much as possible the intervention time and the discomfort for the patient. In this framework, a lot of studies have been conducted concerning efficient control methods capable of positioning the end effector of a KUKA LBR Med robotic arm at the location where the hypothetical lesion has been individualized. Starting from these methods, the main goal of this Thesis is to develop a control algorithm able to modify the robot trajectory such that it can find and reach the lesion position, even in presence of variations of this target location; caused for example by small patient’s motions. After a brief literature review about the already existing robot assisted breast biopsy procedures, an elaborated study relative to the control strategies adopted in the collaboration and interaction between humans and robotic systems has been presented. This leads to the characterization and implementation of the final controller, defined as an impedance controller with energy and power limitations to increase the safety of the patient and energy tanks to ensure passivity. The validity and the stability of this control approach have been analyzed and tested firstly with a 20 sim simulation and then with experiments in laboratory. The results will show how it is possible to compensate rotational and / or translational errors in the robot end effector’s positioning through a suitable tuning of some parameters, while keeping a good image quality of the determined target and without loosing contact between the probe and the breast phantom / skin. Meanwhile, a proper characterization of the controller’s parameters allows to guarantee the compliance of the manipulator, fundamental to ensure the safety of the patient and of the interaction of the robot with the surrounding environment.
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Bennett, David J. (David James). "The control of human arm movement : models and mechanical constraints". Thesis, Massachusetts Institute of Technology, 1990. http://hdl.handle.net/1721.1/13588.
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Hall, Allison L. (Allison Leigh). "Method for the acquisition of arm movement data using accelerometers". Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/32893.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.Includes bibliographical references (p. 37).
Partial paralysis is one of the most common problems that affect stroke survivors. Many different rehabilitation therapies are available to stroke patients, including robot-aided rehabilitation, immobilization therapy, and electrical stimulation. Regardless of the choice of therapy, it is beneficial for the therapist to know whether the therapy is improving the patient's functional use of the impaired limb in daily activity. The goal of this project is to develop a method for using accelerometers to monitor and quantify the amount of motion in the arm, for the application of monitoring limb use in stroke patients outside of therapy sessions. Two analysis methods were designed. The first was based on the kinematics of the arm. The second was based on angular accelerations and the related forces applied to the shoulder and elbow joints. The two methods were tested on samples of different movement, which were chosen to represent the general motion of daily activities. The methods were tested to determine their accuracy at counting the number of movements that occurred, and their ability to produce activity values as an indication of the amplitude of the movements. The two analysis methods which were developed can identify movement of the arm under the conditions which were tested.
Thus, it appears that acceleration values can be processed to monitor and quantify arm motion. With future investigation into analyzing areas that were not tested by this project, these methods hold potential to be applied to using accelerometers to monitor arm use of patients while they are receiving rehabilitation therapy.
by Allison L. Hall.
S.B.
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Cunliffe, Martin Gerard. "Measurement, analysis and description of human arm motion". Thesis, University of Salford, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.244884.
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