Combination of Annealing Particle Filter and Belief Propagation for 3D Upper Body Tracking

3D upper body pose estimation is a topic greatly studied by the computer vision society because it is useful in a great number of applications, mainly for human robots interactions including communications with companion robots. However there is a challenging problem: the complexity of classical algorithms that increases exponentially with the dimension of the vectors’ state becomes too difficult to handle. To tackle this problem, we propose a new approach that combines several annealing particle filters defined independently for each limb and belief propagation method to add geometrical constraints between individual filters. Experimental results on a real human gestures sequence will show that this combined approach leads to reliable results

Computer aided ergonomics and workspace design

Computer aided ergonomics and workspace desig

Numerical-experimental characterisation of a hand prosthesis: pilot project built by additive manufacturing

Dissertação de mestrado integrado em Engenharia Biomédica (especialização em Biomateriais, Reabilitação e Biomecânica)The loss of one hand affects significantly the level of autonomy and the ability to carry out activities of daily living, work and social activities. Since the dawn of humanity, the use of prostheses has been used to compensate for this loss. Despite technological advances in the manufacture of prostheses, hand prostheses currently marketed have a high cost, making access impossible for many users. One alternative to these prostheses is produce them by fused filament fabrication, allowing for the improvement of low-cost prosthetic hands. A powerful tool that allows making accurate predictions of the mechanical behaviour of discrete and continuous media is the finite element method. The simulation of grip movements of a hand prosthesis pro totype using this method was used in the present study, whose objective is the numerical and experimental characterisation of this prototype. In the context of this work, the numerical model that aims to obtain the deformed configuration of the prosthesis in the regions of contact with an object was successfully obtained. The displacement, strain and stress fields in critical regions of the prosthesis are relevant and were consistent with the mechanism kine matics. Moreover, the characterisation of the material constituting the prosthesis (polylactic acid) implies the 3D printing of specimens with different processing conditions, four filament orientations and two infill percentages. Mechanical tests were performed, namely three-point bending and uniaxial tensile tests, as well as the respective numerical simulations. The results obtained demonstrated high reproducibility for the different processing conditions with a clear differences between them. The modulus of elasticity and Pois son’s ratio determined were always higher for the specimens printed with a 100% infill than for those with 30%. Regarding the orientations, no significant trend was observed. The mechanical responses obtained through numerical simulations were very close to the ones obtained experimentally.A perda de uma das mãos afeta significativamente o nível de autonomia e a capacidade de realizar atividades diárias, de trabalho e sociais. Desde os primórdios da humanidade que se recorre à utilização de próteses para compensar essa perda. Apesar dos avanços tecnológicos no fabrico de próteses, as próteses de mão comercializadas atualmente têm um custo elevado, inviabilizando o acesso a vários utilizadores. Uma alternativa a estas próteses é a sua produção através do fabrico de filamentos fundidos, permitindo aprimorar mãos prostéticas de baixo custo. Uma ferramenta poderosa que permite realizar previsões precisas do comportamento mecânico de meios discretos e contínuos é o método dos elementos finitos. A simulação de um movimento de preensão de um protótipo de prótese da mão utilizando este método foi empregue no presente estudo, cujo objetivo é a caracterização numérica e experimental desse protótipo. No contexto deste trabalho, a modelação numérica que visa obter a configuração deformada da prótese nas regiões de contacto com um objeto, foi obtida com sucesso. Os campos de deslocamento, deformação e tensão em regiões críticas da prótese são relevantes e apresentaram-se coerentes com a cinemática do mecanismo. Além disso, a caracterização do material que constitui a prótese (poliácido lático) compreen deu a impressão 3D de provetes combinando diferentes condições de processamento, quatro orientações do filamento e duas taxas de enchimento. Foram realizados ensaios mecânicos, nomeadamente de flexão em três pontos e uniaxiais de tração, bem como as respetivas simulações numéricas. Os resultados obti dos demonstraram elevadas reprodutibilidade para as diferentes condições de processamento com uma clara diferença entre estas. O módulo de elasticidade e coeficiente de Poisson determinados foram sempre superiores para os provetes impressos com uma taxa de enchimento de 100% face aos de 30%. Relativa mente às orientações, não foi verificada nenhuma tendência significativa. As respostas mecânicas obtidas através das simulações numéricas encontraram-se bastante próximas dos resultados experimentais

Additive manufacturing in bespoke interactive devices-a thematic analysis

Additive Manufacturing (AM) facilitates product development due to the various native advantages of AM when compared to traditional manufacturing processes. Efficiency, customisation, innovation, and ease of product modifications are a few advantages of AM. This manufacturing process can therefore be applied to fabricate customisable devices, such as bespoke interactive devices for rehabilitation purposes. In this context, a two-day workshop titled Design for Additive Manufacturing: Future Interactive Devices (DEFINED) was held to discuss the design for AM issues encountered in the development of an innovative bespoke controller and supporting platform, in a Virtual Reality (VR)-based environment, intended for people with limited dexterity in their hands. The workshop sessions were transcribed, and a thematic analysis was carried out to identify the main topics discussed. The themes were Additive Manufacturing, Generative Design Algorithms, User-Centred Design, Measurement Devices for Data Acquisition, Virtual Reality, Augmented Reality, and Haptics. These themes were then discussed in relation to the available literature. The main conclusion of this workshop was that a coherent design for AM tools is needed by designers to take AM considerations throughout the design process, since they lack the AM knowledge required to develop bespoke interactive devices

Robot Assisted Shoulder Rehabilitation: Biomechanical Modelling, Design and Performance Evaluation

The upper limb rehabilitation robots have made it possible to improve the motor recovery in stroke survivors while reducing the burden on physical therapists. Compared to manual arm training, robot-supported training can be more intensive, of longer duration, repetitive and task-oriented. To be aligned with the most biomechanically complex joint of human body, the shoulder, specific considerations have to be made in the design of robotic shoulder exoskeletons. It is important to assist all shoulder degrees-of-freedom (DOFs) when implementing robotic exoskeletons for rehabilitation purposes to increase the range of motion (ROM) and avoid any joint axes misalignments between the robot and human’s shoulder that cause undesirable interaction forces and discomfort to the user. The main objective of this work is to design a safe and a robotic exoskeleton for shoulder rehabilitation with physiologically correct movements, lightweight modules, self-alignment characteristics and large workspace. To achieve this goal a comprehensive review of the existing shoulder rehabilitation exoskeletons is conducted first to outline their main advantages and disadvantages, drawbacks and limitations. The research has then focused on biomechanics of the human shoulder which is studied in detail using robotic analysis techniques, i.e. the human shoulder is modelled as a mechanism. The coupled constrained structure of the robotic exoskeleton connected to a human shoulder is considered as a hybrid human-robot mechanism to solve the problem of joint axes misalignments. Finally, a real-scale prototype of the robotic shoulder rehabilitation exoskeleton was built to test its operation and its ability for shoulder rehabilitation

Book of Abstracts 15th International Symposium on Computer Methods in Biomechanics and Biomedical Engineering and 3rd Conference on Imaging and Visualization

In this edition, the two events will run together as a single conference, highlighting the strong connection with the Taylor & Francis journals: Computer Methods in Biomechanics and Biomedical Engineering (John Middleton and Christopher Jacobs, Eds.) and Computer Methods in Biomechanics and Biomedical Engineering: Imaging and Visualization (JoãoManuel R.S. Tavares, Ed.). The conference has become a major international meeting on computational biomechanics, imaging andvisualization. In this edition, the main program includes 212 presentations. In addition, sixteen renowned researchers will give plenary keynotes, addressing current challenges in computational biomechanics and biomedical imaging. In Lisbon, for the first time, a session dedicated to award the winner of the Best Paper in CMBBE Journal will take place. We believe that CMBBE2018 will have a strong impact on the development of computational biomechanics and biomedical imaging and visualization, identifying emerging areas of research and promoting the collaboration and networking between participants. This impact is evidenced through the well-known research groups, commercial companies and scientific organizations, who continue to support and sponsor the CMBBE meeting series. In fact, the conference is enriched with five workshops on specific scientific topics and commercial software.info:eu-repo/semantics/draf

Integrated Methodologies and Technologies for the Design of Advanced Biomedical Devices

Biomedical devices with tailored properties were designed using advanced methodologies and technologies. In particular, design for additive manufacturing, reverse engineering, material selection, experimental and theoretical analyses were properly integrated. The focus was on the design of: i) 3D additively manufactured hybrid structures for cranioplasty; ii) technical solutions and customized prosthetic devices with tailored properties for skull base reconstruction after endoscopic endonasal surgery; iii) solid-lattice hybrid structures with optimized properties for biomedical applications. The feasibility of the proposed technical solutions was also assessed through virtual and physical models

MOSAR: A Soft-Assistive Mobilizer for Upper Limb Active Use and Rehabilitation

In this study, a soft assisted mobilizer called MOSAR from (Mobilizador Suave de Asistencia y Rehabilitación) for upper limb rehabilitation was developed for a 11 years old child with right paretic side. The mobilizer provides a new therapeutic approach to augment his upper limb active use and rehabilitation, by means of exerting elbow (flexion-extension), forearm (pronation-supination) and (flexion-extension along with ulnar-radial deviations) at the wrist. Preliminarily, the design concept of the soft mobilizer was developed through Reverse Engineering of his upper limb: first casting model, silicone model, and later computational model were obtained by 3D scan, which was the parameterized reference for MOSAR development. Then, the manufacture of fabric inflatable soft actuators for driving the MOSAR system were carried out. Lastly, a law close loop control for the inflation-deflation process was implemented to validate FISAs performance. The results demonstrated the feasibility and effectiveness of the FISAs for being a functional tool for upper limb rehabilitation protocols by achieving those previous target motions similar to the range of motion (ROM) of a healthy person or being used in other applications

A novel musculoskeletal joint modelling for orthopaedic applications

This thesis was submitted for the degree of Docter of Philosophy and awarded by Brunel University.The objective of the work carried out in this thesis was to develop analytical and computational tools to model and investigate musculoskeletal human joints. It was recognised that the FEA was used by many researchers in modelling human musculoskeletal motion, loading and stresses. However the continuum mechanics played only a minor role in determining the articular joint motion, and its value was questionable. This is firstly due to the computational cost and secondly due to its impracticality for this application. On the other hand, there isn’t any suitable software for precise articular joint motion analysis to deal with the local joint stresses or non standard joints. The main requirement in orthopaedics field is to develop a modeller software (and its associated theories) to model anatomic joint as it is, without any simplification with respect to joint surface morphology and material properties of surrounding tissues. So that the proposed modeller can be used for evaluating and diagnosing different joint abnormalities but furthermore form the basis for performing implant insertion and analysis of the artificial joints. The work which is presented in this thesis is a new frame work and has been developed for human anatomic joint analysis which describes the joint in terms of its surface geometry and surrounding musculoskeletal tissues. In achieving such a framework several contributions were made to the 6DOF linear and nonlinear joint modelling, the mathematical definition of joint stiffness, tissue path finding and wrapping and the contact with collision analysis. In 6DOF linear joint modelling, the contribution is the development of joint stiffness and damping matrices. This modelling approach is suitable for the linear range of tissue stiffness and damping properties. This is the first of its kind and it gives a firm analytical basis for investigating joints with surrounding tissue and the cartilage. The 6DOF nonlinear joint modelling is a new scheme which is described for modelling the motion of multi bodies joined by non-linear stiffness and contact elements. The proposed method requires no matrix assembly for the stiffness and damping elements or mass elements. The novelty in the nonlinear modelling, relates to the overall algorithmic approach and handling local non-linearity by procedural means. The mathematical definition of joint stiffness is also a new proposal which is based on the mathematical definition of stiffness between two bodies. Based on the joint stiffness matrix properties, number of joint stiffness invariants was obtained analytically such as the centre of stiffness, the principal translational stiffnesses, and the principal rotational stiffnesses. In corresponding to these principal stiffnesses, their principal axes have been also obtained. Altogether, a joint is assessed by six principal axes and six principal stiffnesses and its centre of stiffness. These formulations are new and show that a joint can be described in terms of inherent stiffness properties. It is expected that these will be better in characterising a joint in comparison to laxity based characterisation. The development of tissue path finding and wrapping algorithms are also introduced as new approaches. The musculoskeletal tissue wrapping involves calculating the shortest distance between two points on a meshed surface. A new heuristic algorithm was proposed. The heuristic is based on minimising the accumulative divergence from the straight line between two points on the surface and the direction of travel on the surface (i.e. bone). In contact and collision based development, the novel algorithm has been proposed that detects possible colliding points on the motion trajectory by redefining the distance as a two dimensional measure along the velocity approach vector and perpendicular to this vector. The perpendicular distance determines if there are potentially colliding points, and the distance along the velocity determines how close they are. The closest pair among the potentially colliding points gives the “time to collision”. The algorithm can eliminate the “fly pass” situation where very close points may not collide because of the direction of their relative velocity. All these developed algorithms and modelling theories, have been encompassed in the developed prototype software in order to simulate the anatomic joint articulations through modelling formulations developed. The software platform provides a capability for analysing joints as 6DOF joints based on anatomic joint surfaces. The software is highly interactive and driven by well structured database, designed to be highly flexible for the future developments. Particularly, two case studies are carried out in this thesis in order to generate results relating to all the proposed elements of the study. The results obtained from the case studies show good agreement with previously published results or model based results obtained from Lifemod software, whenever comparison was possible. In some cases the comparison was not possible because there were no equivalent results; the results were supported by other indicators. The modelling based results were also supported by experiments performed in the Brunel Orthopaedic Research and Learning Centre