scholarly journals Development of a Low-Cost Wearable Data Glove for Capturing Finger Joint Angles

Micromachines ◽  
2021 ◽  
Vol 12 (7) ◽  
pp. 771
Author(s):  
Changcheng Wu ◽  
Keer Wang ◽  
Qingqing Cao ◽  
Fei Fei ◽  
Dehua Yang ◽  
...  
Keyword(s):  
Joint Angle ◽  
Angle Measurement ◽  
Finger Joint ◽  
Experimental Results ◽  
Function Evaluation ◽  
Generalized Regression Neural Network ◽  
Joint Angles ◽  
Joint Measurement ◽  
Data Glove ◽  
Proximal Phalange

Capturing finger joint angle information has important applications in human–computer interaction and hand function evaluation. In this paper, a novel wearable data glove is proposed for capturing finger joint angles. A sensing unit based on a grating strip and an optical detector is specially designed for finger joint angle measurement. To measure the angles of finger joints, 14 sensing units are arranged on the back of the glove. There is a sensing unit on the back of each of the middle phalange, proximal phalange, and metacarpal of each finger, except for the thumb. For the thumb, two sensing units are distributed on the back of the proximal phalange and metacarpal, respectively. Sensing unit response tests and calibration experiments are conducted to evaluate the feasibility of using the designed sensing unit for finger joint measurement. Experimental results of calibration show that the comprehensive precision of measuring the joint angle of a wooden finger model is 1.67%. Grasping tests and static digital gesture recognition experiments are conducted to evaluate the performance of the designed glove. We achieve a recognition accuracy of 99% by using the designed glove and a generalized regression neural network (GRNN). These preliminary experimental results indicate that the designed data glove is effective in capturing finger joint angles.

scholarly journals Radiographic measurement of canine stifle joint angles using four different landmark methods

2021 ◽  
Vol 90 (4) ◽  
pp. 399-406
Author(s):  
Karol Ševčík ◽  
Marian Hluchý ◽  
Marieta Ševčíková ◽  
Valent Ledecký
Keyword(s):  
Joint Angle ◽  
Cruciate Ligament ◽  
Angle Measurement ◽  
Radiographic Measurement ◽  
Joint Angles ◽  
Cranial Cruciate Ligament ◽  
Stifle Joint ◽  
Ligament Rupture ◽  
Kinematic Method ◽  
Cranial Cruciate Ligament Rupture

This study was conducted to compare angles physically set on the stifle joints of cadaveric limbs of dogs with the results by four different radiographic methods for stifle angle measurement. Thirteen pelvic limbs from various large breeds and skeletally-mature dogs were used. The stifles were fixed at four angles: 125°, 130°, 135° and 140°. Altogether 52 radiographs were done. Each stifle angle set on the cadaver limbs was radiographically measured using four sets of landmarks (the goniometric, long axis, eminence and kinematic methods). We found similarity between angles physically set on cadaver limbs and radiographically measured using the long axis method (P > 0.05). The goniometric method showed similarity in group of limbs with the stifle fixed at 140° (P > 0.05), and other measurements differed significantly (P < 0.05). Eminence and kinematic method measurements were different compared to the angle of fixation of the stifle on the cadaver (P < 0.05) but similar compared to each other (P > 0.05). The method of stifle joint angle measurement should be considered when comparing similar studies, and also in pre-operative measurements for some tibial osteotomies aimed at stabilizing the joint after cranial cruciate ligament rupture.

Joint Angle Measurement Using Strategically Placed Accelerometers and Gyroscope

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Vishesh Vikas ◽  
Carl D. Crane
Keyword(s):  
Joint Angle ◽  
Angle Measurement ◽  
Robot Dynamics ◽  
Accelerometer Data ◽  
Joint Angles ◽  
Mems Accelerometer ◽  
Novel Approach ◽  
Angular Velocities ◽  
Measurement Units ◽  
Joint Parameters

Optical and magnetic encoders are widely used to measure joint angles. These sensors are required to be installed at the axes of rotation (joint centers). However, microelectromechanical system (MEMS) accelerometer and gyroscope-based joint angle measurement sensors possess the advantage of being flexible with regard to the point of installation. Inertial measurement units (IMUs) are capable of providing orientation and are also used for joint angle estimation. They conventionally fuse gyroscope and accelerometer data using Kalman filter-like algorithm to estimate the joint angles. This research presents a novel approach of measuring joint parameters—joint angles, angular velocities, and accelerations, of two links joined by revolute or universal joint. The gravity-invariant vestibular dynamic inclinometer (VDI) and planar VDI (pVDI) are used on each link to measure the joint parameters of links joined by revolute and universal joints, respectively. The VDI consists of two dual-axis accelerometers and an uniaxial gyroscope, while the pVDI consists of four strategically placed dual-axis accelerometers and a triaxial gyroscope. The measurements of joint parameters using the presented algorithms are independent of integration errors/drift, do not require knowledge of robot dynamics, and are computationally less burdensome.

scholarly journals A Mechanical Sensor Designed for Dynamic Joint Angle Measurement

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Congo Tak-Shing Ching ◽  
Su-Yu Liao ◽  
Teng-Yun Cheng ◽  
Chih-Hsiu Cheng ◽  
Tai-Ping Sun ◽  
...  
Keyword(s):  
Gait Analysis ◽  
Linear Correlation ◽  
Lower Limb ◽  
Joint Angle ◽  
Intraclass Correlation ◽  
Reliability And Validity ◽  
Angle Measurement ◽  
Joint Angles ◽  
Rehabilitation Programs ◽  
Analysis System

Background. The measurement of the functional range of motion (FROM) of lower limb joints is an essential parameter for gait analysis especially in evaluating rehabilitation programs.Aim. To develop a simple, reliable, and affordable mechanical goniometer (MGR) for gait analysis, with six-degree freedom to dynamically assess lower limb joint angles.Design. Randomized control trials, in which a new MGR was developed for the measurements of FROM of lower limb joints.Setting. Reliability of the designed MGR was evaluated and validated by a motion analysis system (MAS).Population. Thirty healthy subjects participated in this study.Methods. Reliability and validity of the new MGR were tested by intraclass correlation coefficient (ICC), Bland-Altman plots, and linear correlation analysis.Results. The MGR has good inter- and intrarater reliability and validity withICC≥0.93(for both). Moreover, measurements made by MGR and MAS were comparable and repeatable with each other, as confirmed by Bland-Altman plots. Furthermore, a very high degree of linear correlation (R≥0.92for all joint angle measurements) was found between the lower limb joint angles measured by MGR and MAS.Conclusion. A simple, reliable, and affordable MGR has been designed and developed to aid clinical assessment and treatment evaluation of gait disorders.

scholarly journals IMU sensor-based data glove for finger joint measurement

2020 ◽  
Vol 20 (1) ◽  
pp. 82
Author(s):  
Muhammad Ajwad Wa’ie Hazman ◽  
Ili Najaa Aimi Mohd Nordin ◽  
Faridah Hanim Mohd Noh ◽  
Nurulaqilla Khamis ◽  
M. R. M. Razif ◽  
...  
Keyword(s):  
Range Of Motion ◽  
Inertial Measurement Unit ◽  
Finger Joint ◽  
Measurement Unit ◽  
Joint Measurement ◽  
Data Glove ◽  
Inertial Measurement ◽  
Motion Data ◽  
Distal Interphalangeal ◽  
Reliable Solution

<p>The methods used to quantify finger range of motion significantly influence how hand disability is reported. To date, the accuracy of sensors being utilized in data gloves from the literature has been ascertained yet need further analysis. This paper presents an inertial measurement unit sensor-based data glove for finger joint measurement developed for collecting a range of motion data of distal interphalangeal, proximal interphalangeal and metacarpophalangeal finger joints of an index finger. In this study, three inertial measurement sensors, MPU-6050 and two flexible bend sensors which are capable to detect angle displacement were attached to the distal interphalangeal, proximal interphalangeal and metacarpophalangeal finger joint points on the glove. The data taken from inertial measurement unit sensors and flexible bend sensors were acquired using Arduino and MATLAB software interface. The data obtained were compared with the reference data measured from goniometer to allow for accurate comparative measurement. The percentage of error resulted from MPU-6050 sensor unit were ranged from 0.81 % to 5.41 % were very low which indicates high accuracy when compared with the measurements obtained using goniometer. On the other hand, flexible bend sensor shows low accuracy (11.11 % to 19.35 % error). In conclusion, the inertial measurement unit sensor-based data glove using MPU-6050 sensors can be a reliable solution for tracking the progress of finger rehabilitation exercises. In order to motivate patients to adhere to the therapy exercises, interactive rehabilitation game will be developed in the future incorporating  MPU-6050 sensors on all five fingers.</p>

scholarly journals Dataglove measurement of joint angles in sign language handshapes

2012 ◽  
Vol 15 (1) ◽  
pp. 39-72 ◽  
Author(s):  
Petra Eccarius ◽  
Rebecca Bour ◽  
Robert A. Scheidt
Keyword(s):  
Sign Language ◽  
Quantitative Measurement ◽  
Joint Angle ◽  
Comprehensive Analysis ◽  
Joint Angles ◽  
Phonetic Variation ◽  
Data Glove ◽  
Finger Joints ◽  
Language Research ◽  
Research Questions

In sign language research, we understand little about articulatory factors involved in shaping phonemic boundaries or the amount (and articulatory nature) of acceptable phonetic variation between handshapes. To date, there exists no comprehensive analysis of handshape based on the quantitative measurement of joint angles during sign production. The purpose of our work is to develop a methodology for collecting and visualizing quantitative handshape data in an attempt to better understand how handshapes are produced at a phonetic level. In this pursuit, we seek to quantify the flexion and abduction angles of the finger joints using a commercial data glove (CyberGlove; Immersion Inc.). We present calibration procedures used to convert raw glove signals into joint angles. We then implement those procedures and evaluate their ability to accurately predict joint angle. Finally, we provide examples of how our recording techniques might inform current research questions.

scholarly journals Radiographic Determination of the Canine Elbow Joint Angle in Collimated Views

2021 ◽  
Vol 71 (1) ◽  
pp. 1-12
Author(s):  
Alves-Pimenta Sofia ◽  
Colaço Bruno ◽  
Ginja Mário
Keyword(s):  
Confidence Interval ◽  
Elbow Joint ◽  
Joint Angle ◽  
Intraclass Correlation ◽  
Angle Measurement ◽  
Intersection Point ◽  
Anatomical Landmarks ◽  
Joint Angles ◽  
Elbow Angle ◽  
Measurement Methodology

Abstract The mediolateral flexed, extended, or neutral elbow radiographic views are commonly used in clinical practice. However, there is currently no standardized methodology to accurately measure the elbow joint angle in mediolateral images that include only the elbow joint and surrounding tissues. The main aim of this work is to compare elbow joint angles obtained from mediolateral radiographs that include the complete arm and forearm of the dog, with angles measured in radiographs including only the elbow. Ninety mediolateral views of elbow joints were obtained from 50 canine thoracic limbs, with 39 joints <90º, 30 ≥90 - ≤120º and 21 >120º. Radiographs were centered on the elbow joint and include the shoulder and carpal joints. For each complete forelimb radiographic image, the elbow angle was measured using the methodology described in previous studies. Then, the digital images were cut to obtain only the joint and surrounding tissues, establishing a new set of anatomical landmarks to measure the joint angles: the lateral humeral epicondyle was used as an angular point, with the linking points being the nutritional orifice of the radius at the antebrachial interosseous space and the intersection point of the lateral supracondylar crest with the cranial humeral endosteum. There was a good agreement observed between the two elbow angle measurement methodologies. The intraclass correlation coefficient was statistically significant, with the lower limits of the 95% confidence interval (CI) at >0.75, and with zero being included in the standard error of the mean 95% confidence interval in the Bland-Altman test. This elbow angle measurement methodology based on anatomic landmarks next to the elbow joint is accurate and may be used for clinical and research purposes.

scholarly journals Research on Joint-Angle Prediction Based on Artificial Neural Network for Above-Knee Amputees

Sensors ◽  
2021 ◽  
Vol 21 (21) ◽  
pp. 7199
Author(s):  
Jianyu Yang ◽  
Guanchao Li ◽  
Xiaofei Zhao ◽  
Hualong Xie
Keyword(s):  
Neural Network ◽  
Ankle Joint ◽  
Lower Limb ◽  
Plantar Pressure ◽  
Joint Angle ◽  
Golden Section ◽  
Prediction Method ◽  
Maximum Error ◽  
Generalized Regression Neural Network ◽  
Joint Angles

In the current study, our research group proposed an asymmetric lower extremity exoskeleton to enable above-knee amputees to walk with a load. Due to the absence of shank and foot, the knee and ankle joint at the amputation side of the exoskeleton lack tracking targets, so it is difficult to realize the function of assisted walking when going up and downstairs. Currently, the use of lower-limb electromyography to predict the angles of lower limb joints has achieved remarkable results. However, the prediction effect was poor when only using electromyography from the thigh. Therefore, this paper introduces hip-angle and plantar pressure signals for improving prediction effect and puts forward a joint prediction method of knee- and ankle-joint angles by electromyography of the thigh, hip-joint angle, and plantar pressure signals. The generalized regression neural network optimized by the golden section method is used to predict the joint angles. Finally, the parameters (the maximum error, the Root-Mean-Square error (RMSE), and correlation coefficient (γ)) were calculated to verify the feasibility of the prediction method.

scholarly journals Knee joint angle estimation by sequential correction of gyroscope bias

2021 ◽  
Author(s):  
AYUKO SAITO ◽  
YUTAKA TANZAWA ◽  
SATORU KIZAWA
Keyword(s):  
Knee Joint ◽  
Medical Care ◽  
Motion Analysis ◽  
Pose Estimation ◽  
Joint Angle ◽  
Angle Measurement ◽  
Motion Sensors ◽  
Joint Angles ◽  
Knee Joint Angle ◽  
Tangential Acceleration

Abstract Compact and lightweight nine-axis motion sensors have come to be used for motion analysis in a variety of fields such as medical care, welfare, and sports. Nine-axis motion sensors include a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer and can estimate joint angles using the gyroscope outputs. However, the bias of the gyroscope is often unstable depending on the measurement environment and the accuracy of the gyroscope itself, causing error to accumulate in the angle obtained by integrating the gyroscope output. Although several sensor fusions have been proposed for pose estimation, such as using an accelerometer and a magnetometer, sequentially estimating and correcting the bias of the gyroscope are desirable for more accurate pose estimation. In addition, considering accelerations other than the acceleration due to gravity is important for a sensor fusion method that utilizes the accelerometer to correct the gyroscope output. Therefore, in this study, an extended Kalman filter algorithm was developed to sequentially correct both the gyroscope bias and the centrifugal and tangential acceleration of an accelerometer. The gait measurement results indicate that the proposed method successfully suppresses drift in the estimated knee joint angle over the entire measurement time of knee angle measurement during gait. The knee joint angles estimated using the proposed method were generally consistent with results obtained from an optical 3D motion analysis system. The proposed method is expected to be useful for estimating motion in medical care and welfare applications.

scholarly journals Genome-Wide Association Studies Based on Equine Joint Angle Measurements Reveal New QTL Affecting the Conformation of Horses

Genes ◽  
2019 ◽  
Vol 10 (5) ◽  
pp. 370 ◽  
Author(s):  
Annik Imogen Gmel ◽  
Thomas Druml ◽  
Rudolf von Niederhäusern ◽  
Tosso Leeb ◽  
Markus Neuditschko
Keyword(s):  
Joint Angle ◽  
Association Studies ◽  
Genome Wide Association ◽  
Cranial Morphology ◽  
Genome Wide Association Studies ◽  
Joint Angles ◽  
Mineral Density ◽  
Mixed Effect ◽  
Stifle Joint ◽  
Genome Wide

The evaluation of conformation traits is an important part of selection for breeding stallions and mares. Some of these judged conformation traits involve joint angles that are associated with performance, health, and longevity. To improve our understanding of the genetic background of joint angles in horses, we have objectively measured the angles of the poll, elbow, carpal, fetlock (front and hind), hip, stifle, and hock joints based on one photograph of each of the 300 Franches-Montagnes (FM) and 224 Lipizzan (LIP) horses. After quality control, genome-wide association studies (GWASs) for these traits were performed on 495 horses, using 374,070 genome-wide single nucleotide polymorphisms (SNPs) in a mixed-effect model. We identified two significant quantitative trait loci (QTL) for the poll angle on ECA28 (p = 1.36 × 10−7), 50 kb downstream of the ALX1 gene, involved in cranial morphology, and for the elbow joint on ECA29 (p = 1.69 × 10−7), 49 kb downstream of the RSU1 gene, and 75 kb upstream of the PTER gene. Both genes are associated with bone mineral density in humans. Furthermore, we identified other suggestive QTL associated with the stifle joint on ECA8 (p = 3.10 × 10−7); the poll on ECA1 (p = 6.83 × 10−7); the fetlock joint of the hind limb on ECA27 (p = 5.42 × 10−7); and the carpal joint angle on ECA3 (p = 6.24 × 10−7), ECA4 (p = 6.07 × 10−7), and ECA7 (p = 8.83 × 10−7). The application of angular measurements in genetic studies may increase our understanding of the underlying genetic effects of important traits in equine breeding.

scholarly journals Experimental and Numerical Study of Fracture Behavior of Rock-Like Material Specimens with Single Pre-Set Joint under Dynamic Loading

Materials ◽  
2021 ◽  
Vol 14 (10) ◽  
pp. 2690
Author(s):  
Bo Pan ◽  
Xuguang Wang ◽  
Zhenyang Xu ◽  
Lianjun Guo ◽  
Xuesong Wang
Keyword(s):  
Crack Initiation ◽  
Crack Propagation ◽  
Joint Angle ◽  
Simulation Software ◽  
Dissipated Energy ◽  
Energy Structure ◽  
Joint Angles ◽  
Crack Penetration ◽  
Before And After ◽  
The Impact

The Split Hopkinson Pressure Bar (SHPB) is an apparatus for testing the dynamic stress-strain response of the cement mortar specimen with pre-set joints at different angles to explore the influence of joint attitudes of underground rock engineering on the failure characteristics of rock mass structure. The nuclear magnetic resonance (NMR) has also been used to measure the pore distribution and internal cracks of the specimen before and after the testing. In combination with numerical analysis, the paper systematically discusses the influence of joint angles on the failure mode of rock-like materials from three aspects of energy dissipation, microscopic damage, and stress field characteristics. The result indicates that the impact energy structure of the SHPB is greatly affected by the pre-set joint angle of the specimen. With the joint angle increasing, the proportion of reflected energy moves in fluctuation, while the ratio of transmitted energy to dissipated energy varies from one to the other. NMR analysis reveals the structural variation of the pores in those cement specimens before and after the impact. Crack propagation direction is correlated with pre-set joint angles of the specimens. With the increase of the pre-set joint angles, the crack initiation angle decreases gradually. When the joint angles are around 30°–75°, the specimens develop obvious cracks. The crushing process of the specimens is simulated by LS-DYNA software. It is concluded that the stresses at the crack initiation time are concentrated between 20 and 40 MPa. The instantaneous stress curve first increases and then decreases with crack propagation, peaking at different times under various joint angles; but most of them occur when the crack penetration ratio reaches 80–90%. With the increment of joint angles in specimens through the simulation software, the changing trend of peak stress is consistent with the test results.

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