Features of an elastic wheel motion along a curvilinear and rectilinear trajectory with a slip

The results of the study of the motion of an elastic wheel as an integral mechanism along a curvilinear and a rectilinear trajectory with a slip on the ground plane having a high adhesion coefficient are presented. The previous researches analysis has shown that the most complete theory of wheel skidless rolling without slipping on elastic pneumatics was formulated by Keldysh V. M. who proposed the equation for calculating the curvature of the motion trajectory. Due to the difficulty of this equation coefficients determining, its use is currently limited. In this paper, the dependences for determining the components of the equation of the elastic wheel motion trajectory curvature have been proposed. According to the shimmy theory, during an elastic wheel rolling along a curvilinear trajectory, the rim turn and its lateral displacement relative to the tire-ground contact patch occur simultaneously. The rim turn causes tire body torsion, and the lateral displacement causes the elastic wheel moving with a slip angle. It is established that the absolute value of the tire body torsion angle is equal to the slip angle, and their values depend on the trajectory curvature, on the tire-ground contact patch longitudinal axis, and on the existence of traction there. The condition, under which the tire body energy distribution on the rim relative rotation and on its lateral displacement during the movement along a curved trajectory is uniform, has been determined. The experimental confirmation of the hypothesis of uniform distribution of the energy supplied to the elastic wheel during its movement along a curvilinear trajectory on the rim relative turning and its lateral displacement has been obtained. When the elastic wheel moves along a rectilinear trajectory with a slip, only the rim lateral displacement occurs, this displacement is accompanied by a cornering force applied in the center of the tire-ground contact patch and by the tire alining torque relative to the vertical axis passing through the contact patch geometric center. The energy consumption for the rim lateral displacement during the wheel rolling along a rectilinear trajectory with a slip has been also determined. The results of the research can be useful to professionals improving the wheeled vehicles performance characteristics, including maneuverability, handling, and road stability.

Control of Thruster-Assisted, Bipedal Legged Locomotion of the Harpy Robot

Fast constraint satisfaction, frontal dynamics stabilization, and avoiding fallovers in dynamic, bipedal walkers can be pretty challenging. The challenges include underactuation, vulnerability to external perturbations, and high computational complexity that arise when accounting for the system full-dynamics and environmental interactions. In this work, we study the potential roles of thrusters in addressing some of these locomotion challenges in bipedal robotics. We will introduce a thruster-assisted bipedal robot called Harpy. We will capitalize on Harpy’s unique design to propose an optimization-free approach to satisfy gait feasibility conditions. In this thruster-assisted legged locomotion, the reference trajectories can be manipulated to fulfill constraints brought on by ground contact and those prescribed for states and inputs. Unintended changes to the trajectories, especially those optimized to produce periodic orbits, can adversely affect gait stability and hybrid invariance. We will show our approach can still guarantee stability and hybrid invariance of the gaits by employing the thrusters in Harpy. We will also show that the thrusters can be leveraged to robustify the gaits by dodging fallovers or jumping over large obstacles.

Development, evaluation and application of a novel markerless motion analysis system to understand push-start technique in elite skeleton athletes

This study describes the development, evaluation and application of a computer vision and deep learning system capable of capturing sprinting and skeleton push start step characteristics and mass centre velocities (sled and athlete). Movement data were captured concurrently by a marker-based motion capture system and a custom markerless system. High levels of agreement were found between systems, particularly for spatial based variables (step length error 0.001 ± 0.012 m) while errors for temporal variables (ground contact time and flight time) were on average within ± 1.5 frames of the criterion measures. Comparisons of sprinting and pushing revealed decreased mass centre velocities as a result of pushing the sled but step characteristics were comparable to sprinting when aligned as a function of step velocity. There were large asymmetries between the inside and outside leg during pushing (e.g. 0.22 m mean step length asymmetry) which were not present during sprinting (0.01 m step length asymmetry). The observed asymmetries suggested that force production capabilities during ground contact were compromised for the outside leg. The computer vision based methods tested in this research provide a viable alternative to marker-based motion capture systems. Furthermore, they can be deployed into challenging, real world environments to non-invasively capture data where traditional approaches are infeasible.

A Multivariate Polynomial Regression to Reconstruct Ground Contact and Flight Times Based on a Sine Wave Model for Vertical Ground Reaction Force and Measured Effective Timings

Effective contact (tce) and flight (tfe) times, instead of ground contact (tc) and flight (tf) times, are usually collected outside the laboratory using inertial sensors. Unfortunately, tce and tfe cannot be related to tc and tf because the exact shape of vertical ground reaction force is unknown. However, using a sine wave approximation for vertical force, tce and tc as well as tfe and tf could be related. Indeed, under this approximation, a transcendental equation was obtained and solved numerically over a tce x tfe grid. Then, a multivariate polynomial regression was applied to the numerical outcome. In order to reach a root-mean-square error of 0.5 ms, the final model was given by an eighth-order polynomial. As a direct application, this model was applied to experimentally measured tce values. Then, reconstructed tc (using the model) was compared to corresponding experimental ground truth. A systematic bias of 35 ms was depicted, demonstrating that ground truth tc values were larger than reconstructed ones. Nonetheless, error in the reconstruction of tc from tce was coming from the sine wave approximation, while the polynomial regression did not introduce further error. The presented model could be added to algorithms within sports watches to provide robust estimations of tc and tf in real time, which would allow coaches and practitioners to better evaluate running performance and to prevent running-related injuries.

Detection of Ground Contact Times with Inertial Sensors in Elite 100-m Sprints under Competitive Field Conditions

This study describes a method for extracting the stride parameter ground contact time (GCT) from inertial sensor signals in sprinting. Five elite athletes were equipped with inertial measurement units (IMU) on their ankles and performed 34 maximum 50 and 100-m sprints. The GCT of each step was estimated based on features of the recorded IMU signals. Additionally, a photo-electric measurement system covered a 50-m corridor of the track to generate ground truth data. This corridor was placed interchangeably at the first and the last 50-ms of the track. In total, 863 of 889 steps (97.08%) were detected correctly. On average, ground truth data were underestimated by 3.55 ms. The root mean square error of GCT was 7.97 ms. Error analyses showed that GCT at the beginning and the end of the sprint was classified with smaller errors. For single runs the visualization of step-by-step GCT was demonstrated as a new diagnostic instrument for sprint running. The results show the high potential of IMUs to provide the temporal parameter GCT for elite-level athletes.

Association of Performance in Strength and Plyometric Tests with Change of Direction Performance in Young Female Team-Sport Athletes

The change of direction (COD) ability is a task-specific skill dependent on different factors such as the degree of the turn, which has led to differentiating CODs as more force- (>90°) or velocity-oriented (<90°). Considering force and velocity requirements is of importance when designing sport-specific training programs for enhancing COD performance. Thus, 25 female handball and soccer players participated in this study, which investigated the association between three different strength and plyometric exercises and force- and velocity-oriented COD performance. By utilizing the median split analysis, the participants were further divided into a fast (n = 8) and a slow (n = 8) COD group, to investigate differences in step kinematics between fast and slow performers. The correlational analysis revealed that the bilateral back squat and unilateral quarter squat were significantly associated with several force- and velocity-oriented COD performance (r = −0.46 to −0.64), while the association between plyometric and COD performance was limited (r < 0.44). The fast COD group revealed higher levels of strength, jump height, peak velocities, higher step frequencies, shorter ground contact times, and greater acceleration and braking power (d > 1.29, p < 0.03). It was concluded that the observed correlation between strength and COD performance might be due to stronger athletes being able to produce more workload in a shorter time, which was supported by the step kinematics.

Drop Landing Biomechanics in Individuals With and Without a Concussion History

Research has identified an increased risk of lower extremity injury postconcussion, which may be due to aberrant biomechanics during dynamic tasks. The purpose of this study was to compare the drop landing biomechanics between individuals with and without a concussion history. Twenty-five individuals with and 25 without a concussion history were matched on age (±3 y), sex, and body mass index (±1 kg/m2). Three-dimensional landing biomechanics were recorded to obtain dependent variables (peak vertical ground reaction force, loading rate, knee flexion angle and external moment, knee abduction angle and external moment, and knee flexion and abduction angle at ground contact). A 1-way multivariate analysis of variance compared outcomes between groups. There was no difference in drop landing biomechanics between individuals with and without a concussion history (F10,39 = 0.460, P = .877, Wilk Λ = .918). There was an effect of time since concussion on knee flexion characteristics. Time since most recent concussion explained a significant amount of variation in both peak (ΔR2 = .177, β = −0.305, ΔP = .046) and initial ground contact (ΔR2 = .292, β = −0.204, ΔP = .008) knee flexion angle after covarying for sex and body mass index. Therefore, time since concussion should be considered when evaluating biomechanical patterns.

Relationship between dynamic foot-ground contact area and balance impairments in adolescents with down syndrome

PURPOSE: Down Syndrome (DS) is characterized by intellectual disability, hypotonia, and joint laxity. Physical disability can be an additional problem and manifests as reduced lower limb muscle strength and impaired balance. The objectives of this study were to characterize DS dynamic foot-ground contact area and to study its relationship with balance impairment among adolescents with DS. METHODS: Twenty-eight children and adolescents with DS and 28 non-DS adolescents/children were matched for age and sex. The Oxford Ankle Foot Questionnaire (parents’ version) was used to measure disability related to ankle/foot problems in all subjects. A pressure-sensitive mat was used to assess the contact area and arch index. Also, a Biodex balance system was used for measuring postural stability. RESULTS: There were significant differences between both groups in all domains of the Oxford Ankle Foot Questionnaire, overall contact area, and arch index (p < 0.05). Overall postural stability index was significantly decreased in subjects with DS (p < 0.05). There was a nonsignificant correlation between contact area and postural stability (p > 0.05). CONCLUSION: Adolescents with DS exhibited larger mid-foot and forefoot contact areas with respect to non-DS matched children. Impairment of balance in adolescents with DS is a multifactorial problem not related to changes in the foot contact area.

Evaluation of Heartwood Extracts Combined with Linseed Oil as Wood Preservatives in Field Tests in Southern Mississippi, USA

Heartwood extracts of naturally durable wood species are often evaluated as alternatives to chemical wood preservatives, but field data from long-term performance testing are lacking. The current study evaluated the long-term (five-year) performance of two non-durable wood species treated with heartwood extracts of either Tectona grandis, Dalbergia sissoo, Cedrus deodara, or Pinus roxburghii alone or combined with linseed oil. Stakes (45.7 × 1.9 × 1.9 cm) and blocks (12.5 × 3.75 × 2.5 cm) cut from the sapwood of cottonwood and southern pine were vacuum-pressure impregnated with the individual heartwood species extract, linseed oil, or a mixture of each individual wood extract and linseed oil. For comparison, solid heartwood stakes and blocks of the wood species used to obtain extracts were also included in the tests. All samples were exposed for five years to decay and termites at a test site in southern Mississippi using ground contact (AWPA E7) and ground proximity (AWPA E26) tests. Results showed that extract-oil mixtures imparted higher termite and decay resistance in cottonwood and southern pine than linseed oil only or the individual heartwood species extract in both tests. However, these treatments were as not effective as to commercially used wood preservatives, copper naphthenate (CuN) or disodium octaborate tetrahydrate (DOT) in either test. Moreover, solid heartwood P. roxburghii stakes were completely decayed and attacked by termites after five years in the ground contact test. In contrast, C. deodara stakes were slightly attacked by termites and moderately attacked by decay fungi. However, T. grandis and D. sissoo stakes showed slight to superficial attack by termites and decay fungi in ground contact test. In contrast, T. grandis and D. sissoo blocks showed slight decay fungi attack in above-ground tests. However, termites did not attack T. grandis, D. sissoo, and C. deodara blocks. However, decay fungi moderately attacked C. deodara blocks, and P. roxburghii blocks were severely attacked by decay fungi and termites in the above-ground test.