scholarly journals A Review on Compliant Joint Mechanisms for Lower Limb Exoskeletons

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Miguel A. Gálvez-Zúñiga ◽  
Alejandro Aceves-López
Keyword(s):  
Human Body ◽  
Lower Limb ◽  
Mathematical Description ◽  
Rapid Development ◽  
Revolute Joints ◽  
Close Interaction ◽  
Compliant Joint ◽  
Internal Forces ◽  
Human Joints

Lower limb exoskeletons are experiencing a rapid development that may suggest a prompt introduction to the market. These devices have an inherent close interaction with the human body; therefore, it is necessary to ensure user’s safety and comfort. The first exoskeletal designs used to represent the human joints as simple revolute joints. This approximation introduces an axial misalignment issue, which generates uncontrollable internal forces. A mathematical description of the said misalignments is provided to better understand the concept and its consequences. This review will only focus on mechanisms aiming to comply with its user.

Effects of substituting anthropometric joints with revolute joints in humanoid robots and robotic hands: a case study

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 501-513 ◽  
Author(s):  
Mehdi Mousavi ◽  
Aurelio Somà ◽  
Francesco Pescarmona
Keyword(s):  
Human Body ◽  
Humanoid Robots ◽  
Rotational Axis ◽  
Robotic Hands ◽  
Revolute Joints ◽  
Kinematic Study ◽  
Fixed Axis ◽  
Human Joints ◽  
Multi Body

SUMMARYIn the human body there are many joints whose functions are very similar to revolute joints. To avoid the complexity of these joints, they are usually substituted by revolute joints in many humanoid robots. Revolute joints have purely rotational motion along their fixed axis, while real joints in the human body have Instantaneous Rotational Axis (IRA) due to their configuration. Substitution of this kind of human joints with revolute (hinge) joints in robots changes the kinematics of joints. Knowing the exact characteristics of the moving axis of rotation in human joints is a prerequisite for the kinematic study of a joint. Here the main geometrical difference between these kinds of joints in humans and their simplified (hinge-like) models in robots is described. Then, as a case study, the mechanism of the three joints of the index finger are compared with their hinge-like model using a multi-body code to understand when revolute joints can be substituted for anthropometric joints in hand exoskeletons and robotic hands. Furthermore, the position of IRA and its distance from the center of the condyle of the joint are presented. The concept and the results can be extended for other fingers and all similar joints, and can be used in humanoid robots, hand exoskeletons and robotic hands.

LEGAL AND ETHICAL ASPECTS OF BIOMEDICAL TECHNOLOGIES DEVELOPMENT AND THEIR IMPACT ON A HUMAN BODY

2017 ◽  
Author(s):  
Anna Koval ◽  
Keyword(s):  
Organ Donation ◽  
Medical Practice ◽  
Human Body ◽  
Rapid Development ◽  
Legal Regulation ◽  
Biomedical Ethics ◽  
Health Protection ◽  
Hereditary Diseases ◽  
Social Regulation ◽  
Biomedical Technologies

he end of the twentieth century and the beginning of the twentyfirst century has begun the rapid development of scientific researches in the biological and medical fields. This process is associated with using of fundamentally new methods, which are primarily aimed at the disease prevention, as well as the introduction into the treatment of human diseases with the latest scientific and innovative technologies, methods and techniques of their application. These opportunities in the development of scientific technologies in the field of biology and medicine have led to the emergence of such a direction of scientific activity as "biotechnology". The proposed article notes that using of biomedical technologies has caused a number of new problems in the field of law and ethics. Legal arrangement in the field of the health protection have become much more complicated. Thanks to new opportunities, today these relations regulate rights and responsibilities of a fairly large number of people. Modern relations in the field of medical services and medical care lead to the emergence of new approaches to their regulation by both legal and ethical norms. In the past, relations in the field of the health protection were usually between two subjects, a doctor and a healthcare consumer. Nowadays, in a medical practice, relations in the field of the health protection involve: a health-care consumer, his family members (e.g., in the case of hereditary diseases diagnosis, blood and organ donation etc.) and third parties (e.g., organ donation, reproductive cell donation, surrogacy etc.). In the general doctrinal concept, biotechnology is the industrial use of living organisms or their parts (microorganisms, fungi, algae, plant and animal cells, cellular organs, enzymes etc.) for product producing or modifying, improving plants and animals, and in medical practice - in relation of the individual human organs (or body as a whole) functioning. These circumstances require improving the legal regulation of modern medicine public relations, bringing them into line with emerging realities. Moreover, the specifics of relations in this field determines the specifics of their legal regulation. The application of new medical technologiesin relation to human treatment has given rise to a significant number of moral and ethical problems that could not be solved within the framework of medical ethics and deontology alone. In connection with this, the way out of the current situation could be the consolidation of bioethics as an interdisciplinary field of knowledge, as a science, which makes it possible to explain moral, ethical and legal aspects of the medicine. This, for example, determines the allocation of medical law in an independent branch of law in some Western countries and Ukraine. The article focuses on biomedical ethics, which is a component of the medical activities system regulation. In the context of considering the levels of social regulation of medical activities, bioethics (biomedical ethics) is an interdisciplinary science that studies moral and ethical, social and legal problems of medical activities in the context of human rights protection. Bioethics should create a set of moral principles, norms and rules that are binding on all mankind and delineate the limits of scientific interference in the nature of the human body, the transition through which is unacceptable.

scholarly journals Research on college gymnastics teaching model based on multimedia image and image texture feature analysis

2021 ◽  
Vol 1 (1) ◽  
Author(s):  
Ying Wu ◽  
Jikun Liu
Keyword(s):  
Human Body ◽  
Rapid Development ◽  
Texture Feature ◽  
Texture Features ◽  
Dynamics Simulation ◽  
Image Texture ◽  
Whole Body ◽  
Database Modeling ◽  
Rigid Model ◽  
The Subject

AbstractWith the rapid development of gymnastics technology, novel movements are also emerging. Due to the emergence of various complicated new movements, higher requirements are put forward for college gymnastics teaching. Therefore, it is necessary to combine the multimedia simulation technology to construct the human body rigid model and combine the image texture features to display the simulation image in texture form. In the study, GeBOD morphological database modeling was used to provide the data needed for the modeling of the whole-body human body of the joint and used for dynamics simulation. Simultaneously, in order to analyze and summarize the technical essentials of the innovative action, this experiment compared and analyzed the hem stage of the cross-headstand movement of the subject and the hem stage of the 180° movement. Research shows that the method proposed in this paper has certain practical effects.

Progress of Theoretical Research-Oriented Multi-Species Small Batch Machining Process

2013 ◽  
Vol 364 ◽  
pp. 470-473
Author(s):  
Ming Yue Yue ◽  
Yi Dan Zhou
Keyword(s):  
Mathematical Description ◽  
Manufacturing Industry ◽  
Rapid Development ◽  
Machining Process ◽  
Theoretical Research ◽  
Process Theory ◽  
Matching Problem ◽  
Batch Production ◽  
Manufacturing Enterprises ◽  
Machinery Manufacturing

With the rapid development of machinery manufacturing industry, multi variety and small batch production has gradually become one of the main means of manufacturing enterprises. On the basis of describing the characteristics and meaning of multi variety and small batch production, this article summarizes its domestic and international situation of machinery process theory, optimization and evaluation methods, presents several methods of mathematical description and model for multi variety and small batch production and finally summarize the trends of matching problem between the processing technology and production system.

scholarly journals Kinematics of the Foot

1982 ◽  
Vol 9 (2) ◽  
pp. 119-125 ◽  
Author(s):  
P. Allard ◽  
P.S. Thiry ◽  
M. Duhaime ◽  
G. Geoffroy
Keyword(s):  
Computer Program ◽  
Human Body ◽  
Lower Limb ◽  
Three Dimensional ◽  
Spatial Location ◽  
Geometrical Parameters ◽  
Rotating Platform ◽  
Talocrural Joint ◽  
Body Segments ◽  
Simple Movement

SUMMARY:Orthogonal stereoradiographs are frequently utilized in determining three-dimensional geometrical parameters of human body segments. They have been applied here in the estimation of the length and elongation of the ligaments of the normal foot. Three small spherical metallic markers were respectively encrusted into the tibia and fibula, the seven bones of the tarsus and into the five metatarsals of an amputed lower limb to identify uniquely their spatial location. The foot was then positioned on a rotating platform. Standardized antero-posterior and lateral radiographs were taken. Afterwards the foot was dissected and the proximal and distal insertions of most of its ligaments were located by means of spherical markers. A second series of orthogonal radiographs were taken of each of the fourteen bones. The radiographs were digitized. The length of each ligament and elongation for a simple and complex movements were calculated by means of a computer program. The results of a simple movement of rotation representing a normal 20° dorsiflexion at the talocrural joint and of complex movements of rotation simulating an abnormal high arch such as encountered in Friedreich’s ataxia are presented and discussed.

Control of a Pneumatic Muscle Actuated Rehabilitation System of the Lower Limb Bearing Joints

2015 ◽  
Vol 809-810 ◽  
pp. 706-711
Author(s):  
Tudor Deaconescu ◽  
Andrea Deaconescu
Keyword(s):  
Human Body ◽  
Lower Limb ◽  
Rehabilitation Medicine ◽  
Medical Systems ◽  
Pneumatic Muscle ◽  
Motion Graphs ◽  
Pneumatic Muscles ◽  
Rehabilitation System

The specific objectives of rehabilitation medicine are maintaining and recovering human body functions, as well as preventing dysfunctionalities by means of kinetic and orthotic techniques and a variety of equipment for support and adaptation. The latter are medical systems facilitating the exercise of muscles at constant or variable speeds according to professional recommendations. The paper presents and discusses the control of rehabilitation equipment designed for the passive mobilisation exercises of joints. The novelty of such equipment resides in its actuation by pneumatic muscles, as well as in its control by means of an SPC 200 controller and WinPISA software. The paper presents a number of examples of rehabilitation programmes and the corresponding motion graphs of the rehabilitation equipment sliding block.

A Method of Lower Limb Joint Points Extraction Based on Pendulum Model under Arbitrary Gesture Walk

2014 ◽  
Vol 556-562 ◽  
pp. 4347-4351
Author(s):  
Ning Yang ◽  
Jin Tao Li ◽  
Rong Wang
Keyword(s):  
Human Body ◽  
Lower Limb ◽  
Extraction Method ◽  
Gait Recognition ◽  
Human Gait ◽  
Step Cycle ◽  
Joint Point ◽  
Pendulum Model ◽  
Real Time Tracking ◽  
Body Joints

The position extraction of lower limb joint points is important for gait recognition because the feature data is always based on the position of lower limb joint points. Since the detection of motion information of human body can affect the gait recognition directly, we propose a position extraction method of lower limb joint points in this paper. Through the study on the human body centroid tracking, and positioning of human lower limb joint point, we can obtain the step cycle information. It has been demonstrated via plenty experiments that the proposed method is feasible and easy for implement, since it can achieve real-time tracking and improve positioning accuracy of the human body joints, and can provide feature data for human gait recognition.

Develop a Flexible Regenerative Exoskeleton to Assist Walking

2018 ◽  
Author(s):  
Longhan Xie ◽  
Xiaodong Li
Keyword(s):  
Kinetic Energy ◽  
Human Body ◽  
Lower Limb ◽  
Metabolic Cost ◽  
Lower Limbs ◽  
Metabolic Energy ◽  
Lower Limb Exoskeleton ◽  
Negative Work ◽  
Lower Limb Muscles ◽  
Assisting Device

During walking, human lower limbs accelerate and decelerate alternately, during which period the human body does positive and negative work, respectively. Muscles provide power to all motions and cost metabolic energy both in accelerating and decelerating the lower limbs. In this work, the lower-limb biomechanics of walking was analyzed and it revealed that if the negative work performed during deceleration can be harnessed using some assisting device to then assist the acceleration movement of the lower limb, the total metabolic cost of the human body during walking can be reduced. A flexible lower-limb exoskeleton was then proposed; it is worn in parallel to the lower limbs to assist human walking without consuming external power. The flexible exoskeleton consists of elastic and damping components that are similar to physiological structure of a human lower limb. When worn on the lower limb, the exoskeleton can partly replace the function of the lower limb muscles and scavenge kinetic energy during lower limb deceleration to assist the acceleration movement. Besides, the generator in the exoskeleton, serving as a damping component, can harvest kinetic energy to produce electricity. A prototype of the flexible exoskeleton was developed, and experiments were carried out to validate the analysis. The experiments showed that the exoskeleton could reduce the metabolic cost by 3.12% at the walking speed of 4.5 km/h.

Design of a novel walking assistance device for people with walking disabilities

2017 ◽  
Vol 6 (4) ◽  
pp. 191
Author(s):  
Mohammad Rafighi ◽  
Abdulkadir Güllü
Keyword(s):  
Human Body ◽  
Lower Limb ◽  
Body Motion ◽  
High Price ◽  
Light Weight ◽  
The Novel ◽  
Software Module ◽  
Heavy Weight ◽  
The People

Moving independently is very important for people with walking disability, thus, in this paper the novel walking assistance device is designed based on strategies derived from optimization of available walking assistance devices for ‎the people with walking disabilities. Available walking assistance device like ReWalk has high price and heavy weight disadvantages. Therefore, the main aim of this study is optimization of available devices by new design and analyses to make them cheaper and lighter. The presented device is a simulator of a human body motion in lower limb which consists of ‎ hip, shank and knee. All parts were designed and assembled in software module and after manufacturing, it could be used as a rehabilitation device for the people with walking disability to support their sitting, standing and walking. As a result, regarding to aforementioned issues, in this study the new walking assistance device was designed which is inexpensive and light weight.

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