Determination of manipulator contact information from joint torque measurements

2006 ◽  
pp. 463-473 ◽  
Author(s):  
Brian S. Eberman ◽  
J. Kenneth Salisbury
Keyword(s):  
Joint Torque ◽  
Contact Information ◽  
Torque Measurements

scholarly journals Applications of contact predictions to structural biology

IUCrJ ◽  
2017 ◽  
Vol 4 (3) ◽  
pp. 291-300 ◽  
Author(s):  
Felix Simkovic ◽  
Sergey Ovchinnikov ◽  
David Baker ◽  
Daniel J. Rigden
Keyword(s):  
Large Scale ◽  
Structural Bioinformatics ◽  
Structural Domains ◽  
Biologically Relevant ◽  
Search Models ◽  
X Ray Crystallography ◽  
Contact Information ◽  
Structure Solution ◽  
Contact Predictions

Evolutionary pressure on residue interactions, intramolecular or intermolecular, that are important for protein structure or function can lead to covariance between the two positions. Recent methodological advances allow much more accurate contact predictions to be derived from this evolutionary covariance signal. The practical application of contact predictions has largely been confined to structural bioinformatics, yet, as this work seeks to demonstrate, the data can be of enormous value to the structural biologist working in X-ray crystallography, cryo-EM or NMR. Integrative structural bioinformatics packages such asRosettacan already exploit contact predictions in a variety of ways. The contribution of contact predictions begins at construct design, where structural domains may need to be expressed separately and contact predictions can help to predict domain limits. Structure solution by molecular replacement (MR) benefits from contact predictions in diverse ways: in difficult cases, more accurate search models can be constructed usingab initiomodelling when predictions are available, while intermolecular contact predictions can allow the construction of larger, oligomeric search models. Furthermore, MR using supersecondary motifs or large-scale screens against the PDB can exploit information, such as the parallel or antiparallel nature of any β-strand pairing in the target, that can be inferred from contact predictions. Contact information will be particularly valuable in the determination of lower resolution structures by helping to assign sequence register. In large complexes, contact information may allow the identity of a protein responsible for a certain region of density to be determined and then assist in the orientation of an available model within that density. In NMR, predicted contacts can provide long-range information to extend the upper size limit of the technique in a manner analogous but complementary to experimental methods. Finally, predicted contacts can distinguish between biologically relevant interfaces and mere lattice contacts in a final crystal structure, and have potential in the identification of functionally important regions and in foreseeing the consequences of mutations.

Reliability of metatarsophalangeal and ankle joint torque measurements by an innovative device

2016 ◽  
Vol 48 ◽  
pp. 189-193 ◽  
Author(s):  
Hok-Sum Man ◽  
Aaron Kam-Lun Leung ◽  
Jason Tak-Man Cheung ◽  
Thorsten Sterzing
Keyword(s):  
Ankle Joint ◽  
Joint Torque ◽  
Torque Measurements

scholarly journals Determining Subject-Specific Torque Parameters for Use in a Torque-Driven Simulation Model of Dynamic Jumping

2002 ◽  
Vol 18 (3) ◽  
pp. 207-217 ◽  
Author(s):  
Mark A. King ◽  
Maurice R. Yeadon
Keyword(s):  
Angular Velocity ◽  
Knee Joint ◽  
Knee Extension ◽  
Joint Torque ◽  
Joint Angles ◽  
Maximum Torque ◽  
Torque Measurements ◽  
Subject Specific ◽  
Angular Velocities ◽  
Torque Angle

This paper describes a method for defining the maximum torque that can be produced at a joint from isovelocity torque measurements on an individual. The method is applied to an elite male gymnast in order to calculate subject-specific joint torque parameters for the knee joint. Isovelocity knee extension torque data were collected for the gymnast using a two-repetition concentric-eccentric protocol over a 75° range of crank motion at preset crank angular velocities ranging from 20 to 250°s–1. During these isovelocity movements, differences of up to 35° were found between the angle of the dynamometer crank and the knee joint angle of the participant. In addition, faster preset crank angular velocities gave smaller ranges of isovelocity motion for both the crank and joint. The simulation of an isovelocity movement at a joint angular velocity of 150°s–1 showed that, for realistic series elastic component extensions, the angular velocity of the joint can be assumed to be the same as the angular velocity of the contractile component during most of the isovelocity trial. Fitting an 18-parameter exponential function to experimental isovelocity joint torque/ angle/ angular velocity data resulted in a surface that was well behaved over the complete range of angular velocities and within the specified range of joint angles used to calculate the surface.

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