126 research outputs found

    Neuromuscular Control Strategy during Object Transport while Walking: Adaptive Integration of Upper and Lower Limb Movements

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    When carrying an object while walking, a significant challenge for the central nervous system (CNS) is to preserve the object’s stability against the inter-segmental interaction torques and ground reaction forces. Studies documented several strategies used by the CNS: modulation of grip force (GF), alterations in upper limb kinematics, and gait adaptations. However, the question of how the CNS organizes the multi-segmental joint and muscle coordination patterns to deal with gait-induced perturbations remains poorly understood. This dissertation aimed to explore the neuromuscular control strategy utilized by the CNS to transport an object during walking successfully. Study 1 examined the inter-limb coordination patterns of the upper limbs when carrying a cylinder-shaped object while walking on a treadmill. It was predicted that transporting an object in one hand would affect the movement pattern of the contralateral arm to maintain the overall angular momentum. The results showed that transporting an object caused a decreased anti-phase coordination, but it did not induce significant kinematic and muscle activation changes in the unconstrained arm. Study 2 examined muscle synergy patterns for upper limb damping behavior by using non-negative matrix factorization (NNMF) method. Four synergies were identified, showing a proximal-to-distal pattern of activation preceding heel contacts. Study 3 examined the effect of different precision demands (carrying a cup with or without a ball) and altered visual information (looking forward vs. looking at an object) on the upper limb damping behavior and muscle synergies. Increasing precision demand induced stronger damping behavior and increased the electromyography (EMG) activation of wrist/hand flexors and extensors. The NNMF results replicated Study 2 in that the stabilization of proximal joints occurred before the distal joints. The results indicated that the damping incorporates tonic and phasic muscle activation to ensure object stabilization. Overall, three experiments showed that the CNS adopts a similar synergy pattern regardless of task constraint or altered gaze direction while modulating the amount of muscle activation for object stabilization. Kinematic changes can differ depending on the different levels of constraint, as shown in the smaller movement amplitude of the shoulder joint in the transverse plane during the task with higher precision demand

    The Future of Humanoid Robots

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    This book provides state of the art scientific and engineering research findings and developments in the field of humanoid robotics and its applications. It is expected that humanoids will change the way we interact with machines, and will have the ability to blend perfectly into an environment already designed for humans. The book contains chapters that aim to discover the future abilities of humanoid robots by presenting a variety of integrated research in various scientific and engineering fields, such as locomotion, perception, adaptive behavior, human-robot interaction, neuroscience and machine learning. The book is designed to be accessible and practical, with an emphasis on useful information to those working in the fields of robotics, cognitive science, artificial intelligence, computational methods and other fields of science directly or indirectly related to the development and usage of future humanoid robots. The editor of the book has extensive R&D experience, patents, and publications in the area of humanoid robotics, and his experience is reflected in editing the content of the book

    Humanoid Robots

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    For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion

    Engineering Dynamics and Life Sciences

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    From Preface: This is the fourteenth time when the conference “Dynamical Systems: Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and Ministry of Science and Higher Education of Poland. It is a great pleasure that our invitation has been accepted by recording in the history of our conference number of people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcomed over 180 persons from 31 countries all over the world. They decided to share the results of their research and many years experiences in a discipline of dynamical systems by submitting many very interesting papers. This year, the DSTA Conference Proceedings were split into three volumes entitled “Dynamical Systems” with respective subtitles: Vibration, Control and Stability of Dynamical Systems; Mathematical and Numerical Aspects of Dynamical System Analysis and Engineering Dynamics and Life Sciences. Additionally, there will be also published two volumes of Springer Proceedings in Mathematics and Statistics entitled “Dynamical Systems in Theoretical Perspective” and “Dynamical Systems in Applications”

    The 1st International Conference on Computational Engineering and Intelligent Systems

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    Computational engineering, artificial intelligence and smart systems constitute a hot multidisciplinary topic contrasting computer science, engineering and applied mathematics that created a variety of fascinating intelligent systems. Computational engineering encloses fundamental engineering and science blended with the advanced knowledge of mathematics, algorithms and computer languages. It is concerned with the modeling and simulation of complex systems and data processing methods. Computing and artificial intelligence lead to smart systems that are advanced machines designed to fulfill certain specifications. This proceedings book is a collection of papers presented at the first International Conference on Computational Engineering and Intelligent Systems (ICCEIS2021), held online in the period December 10-12, 2021. The collection offers a wide scope of engineering topics, including smart grids, intelligent control, artificial intelligence, optimization, microelectronics and telecommunication systems. The contributions included in this book are of high quality, present details concerning the topics in a succinct way, and can be used as excellent reference and support for readers regarding the field of computational engineering, artificial intelligence and smart system

    ITAP: Clinical outcomes and implant design optimisation using numerical modelling

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    Redistribution of the flow of forces through the body, such as that after amputation and/or implantation of a skeletally anchored amputation prostheses, leads to bone remodelling. Periprosthetic bone resorption can destabilise skeletally anchored amputation prostheses. Therefore, implants that minimise bone resorption will achieve a more successful long term bone fixation. Bone remodelling outcome measures rely on implant design using mechanoregulatory bone remodelling theory. Mechanoregulation is implemented by functions that link a local mechanical stimulus to a local change in the structure or properties of bone material. This thesis uses the strain adaptive remodelling theory at the time of implantation with periprosthetic strain energy density as the outcome parameter. Clinical trial data was collected from a patient with a skeletally anchored amputation prostheses; The Intraosseous Transcutaneous Amputation Prosthesis (ITAP). The clinical trial ran from 2008 – 2019, the data was investigated for patterns between implant design and fixation success. This thesis reports trends in fixation success and bone change using a developed fixation success score. There was an ideal implant length to bone length ratio range and a straight, tapered stem with a flared bone collar growth shape were beneficial to fixation success. Conversely, one or more parameters associated with pressfit fixation were detrimental to fixation success. Results between the clinical and numerical data compared favourably; clinically, regions of periprosthetic bone growth were also observed by regions of high strain energy density in the finite element analysis and vice versa at the implant tip and osteotomy face. This thesis provides skeletally anchored amputation prostheses design guidelines that will minimise bone resorption when measured with strain energy density. Moreover, that future skeletally anchored amputation prostheses parameterised design can and should be used as a tool to assess bone fixation outcome in pre-clinical assessments

    Tennis racket performance studies and the design of a novel test machine

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    The investigation was instigated by a growing concern from the International Tennis Federation (ITF) that the contribution of racket technology in the modem game of tennis might be changing the nature of the game by making it too fast. The serve was earmarked as the most critical stroke influencing the speed of the game, resulting in the decision to build a test machine, which would investigate racket performance under realistic serve conditions. In order to determine the design specifications for the machine the following studies were performed. [Continues.

    Results of the life sciences DSOs conducted aboard the space shuttle 1981-1986

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    Results are presented for a number of life sciences investigations sponsored by the Space Biomedical Research Institute at the NASA Lyndon B. Johnson Space Center and conducted as Detailed Supplementary Objectives (DSOs) on Space Shuttle flights between 1981 and 1986. An introduction and a description of the DSO program are followed by summary reports on the investigations. Reports are grouped into the following disciplines: Biochemistry and Pharmacology, Cardiovascular Effects and Fluid Shifts, Equipment Testing and Experiment Verification, Microbiology, Space Motion Sickness, and Vision. In the appendix, the status of every medical/life science DSO is presented in graphical form, which enables the flight history, the number of subjects tested, and the experiment results to be reviewed at a glance

    Agricultural Structures and Mechanization

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    In our globalized world, the need to produce quality and safe food has increased exponentially in recent decades to meet the growing demands of the world population. This expectation is being met by acting at multiple levels, but mainly through the introduction of new technologies in the agricultural and agri-food sectors. In this context, agricultural, livestock, agro-industrial buildings, and agrarian infrastructure are being built on the basis of a sophisticated design that integrates environmental, landscape, and occupational safety, new construction materials, new facilities, and mechanization with state-of-the-art automatic systems, using calculation models and computer programs. It is necessary to promote research and dissemination of results in the field of mechanization and agricultural structures, specifically with regard to farm building and rural landscape, land and water use and environment, power and machinery, information systems and precision farming, processing and post-harvest technology and logistics, energy and non-food production technology, systems engineering and management, and fruit and vegetable cultivation systems. This Special Issue focuses on the role that mechanization and agricultural structures play in the production of high-quality food and continuously over time. For this reason, it publishes highly interdisciplinary quality studies from disparate research fields including agriculture, engineering design, calculation and modeling, landscaping, environmentalism, and even ergonomics and occupational risk prevention
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