scholarly journals Design of a Spherically Actuated Human Interaction Robot Head

2012 ◽  
Vol 134 (5) ◽  
Author(s):  
Nevan C. Hanumara ◽  
Alexander H. Slocum ◽  
Takeshi Mitamura
Keyword(s):  
Range Of Motion ◽  
Degrees Of Freedom ◽  
Limited Range ◽  
Human Interaction ◽  
The Other ◽  
Specific Information ◽  
Prior Art ◽  
Limited Range Of Motion ◽  
Robot Head

This paper presents the development of a mechanism for actuating a sphere holonomically about 3 degrees of freedom (DOF). The target application is a robot head for mounting inside a vehicle to provide a driver with companionship, location specific information, and other assistance, via head motions in conjunction with auditory communication. Prior art is reviewed and two designs are presented: One mechanism is located below the sphere and provides an unlimited range of motion (ROM), and the other is contained entirely within the sphere but has a limited range of motion. The latter is stable and easily mounted, provides a clean appearance, and is particularly suited to human interaction applications.

Simulated Compensatory Motion of Transradial Prostheses

2008 ◽  
Author(s):  
Derek Lura ◽  
Rajiv Dubey ◽  
Stephanie L. Carey ◽  
M. Jason Highsmith
Keyword(s):  
Range Of Motion ◽  
Shoulder Joint ◽  
Degrees Of Freedom ◽  
Biomechanical Model ◽  
Elbow Flexion ◽  
Limited Range ◽  
Joint Movement ◽  
Range Of Movement ◽  
Limited Range Of Motion ◽  
Compensatory Motion

The prostheses used by the majority of persons with hand/arm amputations today have a very limited range of motion. Transradial (below the elbow) amputees lose the three degrees of freedom provided by the wrist and forearm. Some myoeletric prostheses currently allow for forearm pronation and supination (rotation about an axis parallel to the forearm) and the operation of a powered prosthetic hand. Older body-powered prostheses, incorporating hooks and other cable driven terminal devices, have even fewer degrees of freedom. In order to perform activities of daily living (ADL), a person with amputation(s) must use a greater than normal range of movement from other body joints to compensate for the loss of movement caused by the amputation. By studying the compensatory motion of prosthetic users we can understand the mechanics of how they adapt to the loss of range of motion in a given limb for select tasks. The purpose of this study is to create a biomechanical model that can predict the compensatory motion using given subject data. The simulation can then be used to select the best prosthesis for a given user, or to design prostheses that are more effective at selected tasks, once enough data has been analyzed. Joint locations necessary to accomplish the task with a given configuration are calculated by the simulation for a set of prostheses and tasks. The simulation contains a set of prosthetic configurations that are represented by parameters that consist of the degrees of freedom provided by the selected prosthesis. The simulation also contains a set of task information that includes joint constraints, and trajectories which the hand or prosthesis follows to perform the task. The simulation allows for movement in the wrist and forearm, which is dependent on the prosthetic configuration, elbow flexion, three degrees of rotation at the shoulder joint, movement of the shoulder joint about the sternoclavicular joint, and translation and rotation of the torso. All joints have definable restrictions determined by the prosthesis, and task.

Control Algorithms for 3-DoF Handheld Robotic Devices Used in Orthopedic Surgery

2019 ◽  
Vol 04 (02) ◽  
pp. 1950002
Author(s):  
Martin Klemm ◽  
Uwe D. Hanebeck ◽  
Harald Hoppe
Keyword(s):  
Range Of Motion ◽  
Orthopedic Surgery ◽  
Degrees Of Freedom ◽  
Limited Range ◽  
Robotic Systems ◽  
Control Algorithms ◽  
End Effector ◽  
Multiple Degrees Of Freedom ◽  
Limited Range Of Motion ◽  
Robotic Devices

Nowadays, robotic systems are an integral part of many orthopedic interventions. Stationary robots improve the accuracy but also require adapted surgical workflows. Handheld robotic devices (HHRDs), however, are easily integrated into existing workflows and represent a more economical solution. Their limited range of motion is compensated by the dexterity of the surgeon. This work presents control algorithms for HHRDs with multiple degrees of freedom (DOF). These algorithms protect pre- or intraoperatively defined regions from being penetrated by the end effector (e.g., a burr) by controlling the joints as well as the device’s power. Accuracy tests on a stationary prototype with three DOF show that the presented control algorithms produce results similar to those of stationary robots and much better results than conventional techniques. This work presents novel and innovative algorithms, which work robustly, accurately, and open up new opportunities for orthopedic interventions.

scholarly journals Design of 3D printed smart material compatible hand prosthesis

2020 ◽  
Vol 318 ◽  
pp. 01039
Author(s):  
Abdalla M. Omar ◽  
Mohamed Hassan
Keyword(s):  
Range Of Motion ◽  
Upper Limb ◽  
Degrees Of Freedom ◽  
Low Cost ◽  
Limited Range ◽  
Shape Morphing ◽  
Limited Range Of Motion ◽  
Upper Limb Prostheses ◽  
Proposed Model ◽  
3D Printed

Every year there are about 3500-5200 people suffering from upper limb amputations, most of which are wrist disarticulation and transcarpal. This paper investigates current upper limb prostheses and presents the disadvantages of current prostheses, including limited degrees of freedom (DOF), limited range of motion, weight, customizability, and appearance. The proposed design is the first stage of a series of papers that proposes designs that are compatible with shape morphing materials. The use of these materials as actuators allows the development and design of more advanced upper limb prostheses. Therefore, the prosthesis is modelled as needed for patients with transcarpal/wrist disarticulation amputations. The proposed model has 27 degrees of freedom (DOF), reduced weight, low cost, improved appearance, and is printable to fit.

Traumatic bilateral posterior dislocation of the shoulder: a case report

Open Medicine ◽  
2013 ◽  
Vol 8 (6) ◽  
pp. 810-813
Author(s):  
C. Garving ◽  
T. Dienstknecht ◽  
K. Horst ◽  
M. Pishnamaz ◽  
P. Kobbe ◽  
...  
Keyword(s):  
Range Of Motion ◽  
Shoulder Dislocation ◽  
Limited Range ◽  
Clinical Suspicion ◽  
Posterior Dislocation ◽  
X Rays ◽  
Posterior Shoulder Dislocation ◽  
Limited Range Of Motion ◽  
Posterior Shoulder ◽  
Bilateral Posterior Shoulder Dislocation

AbstractIntroduction. Bilateral posterior dislocation of the shoulder is a rare injury, accounted for about 2–5% of all shoulder dislocations. Main courses are electrical shock, epilepsy or extreme trauma with uncontrolled muscle forces. We report about a case of bilateral posterior shoulder dislocation without additional fractures but with a concomitant acromioclavicular joint dislocation. Case presentation. A 46-year-old Caucasian motorcyclist presented to our facility after a fall on slippery ground. He claimed pain in both shoulders with limited range of motion. The initial X-rays were inconclusive, clinical examination showed typical findings of a Rockwood injury with an additional limited external rotation so that a posterior shoulder dislocation was suspected. The CT scan confirmed the clinical suspicion. A closed reduction was performed followed by immobilization in a shoulder abduction pillow for 4 weeks and continuous physiotherapy. Upon follow up normal function with full range of motion was observed. Conclusion. A bilateral posterior shoulder dislocation can be caused by trauma and results in a limited range of motion with often additional injuries. Due to the unusually presentation the risk of missing the injury is increased. Therefore it is most important to consider this rare diagnosis and in case of clinical suspicion perform a careful algorithm of diagnostic.

How to Replace Gears by Mechanisms (Linkages)

1959 ◽  
Vol 81 (2) ◽  
pp. 126-130
Author(s):  
Kurt Hain ◽  
Gerhard Marx
Keyword(s):  
Range Of Motion ◽  
Practical Method ◽  
Limited Range ◽  
Transmission Ratio ◽  
Limited Range Of Motion ◽  
Transmission Angle

A practical method is shown for designing four-bar mechanisms having a prescribed transmission ratio held within prescribed tolerances, for a limited range of motion. Such mechanisms may economically replace gears in many applications. Charts enable the designer to choose the mechanism having the best transmission angle possible.

scholarly journals An Unusual Presentation of Charcot Arthropathy Caused by Syringomyelia Mimicking a Soft Tissue Tumor

2014 ◽  
Vol 2014 ◽  
pp. 1-4
Author(s):  
Cuneyd Gunay ◽  
Ebru Atalar ◽  
Baybars Ataoglu
Keyword(s):  
Soft Tissue ◽  
Range Of Motion ◽  
Soft Tissue Tumor ◽  
Limited Range ◽  
Unusual Presentation ◽  
Charcot Arthropathy ◽  
Neuropathic Arthropathy ◽  
Tissue Tumor ◽  
Limited Range Of Motion

Charcot arthropathy is a chronic, degenerative condition and is associated with decreased sensorial innervation. Numerous causes of this arthropathy have been described. Here we report a case of neuropathic arthropathy secondary to syringomyelia which was misdiagnosed as a soft tissue tumor and treated surgically and additionally with radiotherapy at another institution. The patient had clinical and radiological signs of syringomyelia, associated with a limited range of motion, swelling, and pain in the affected joint. Neuropathic arthropathy, although less common, should be considered in cases of unexplained joint swelling, pain, and limited range of motion of the affected joint.

Limited range-of-motion lumbar extension strength training

1992 ◽  
Vol 24 (1) ◽  
pp. 128???133 ◽  
Author(s):  
JAMES E. GRAVES ◽  
MICHAEL L. POLLOCK ◽  
SCOTT H. LEGGETT ◽  
DAVID M. CARPENTER ◽  
CECILY K. FIX ◽  
...  
Keyword(s):  
Strength Training ◽  
Range Of Motion ◽  
Limited Range ◽  
Limited Range Of Motion ◽  
Lumbar Extension
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