SPATIO-TEMPORAL PARAMETERS AND INSTANTANEOUS VELOCITY OF SPRINT RUNNING USING A WEARABLE INERTIAL MEASUREMENT UNIT

INTRODUCTION: Wearable inertial measurement units (IMU) provide movement-related data without any space limitation or cumbersome setup. They can be proficiently used to perform an in-field biomechanical analysis of sprint running providing information useful for performance optimisation and injury prevention. Mechanical key quantities characterizing sprint running performance are instantaneous velocity and displacement of the athlete (Cavagna et al., 1971). However, the process of determining velocity and position by numerical integration of acceleration is jeopardized by the noise characterizing the signal of micro-machined accelerometers (Thong et al., 2002). The aim of this study was to compensate these errors by reducing the integration interval, taking advantage of a priori known laws of motion, and by cyclically determining the initial conditions of the integration process, in order to yield reliable spatio-temporal parameters during sprint running. METHODS: A male subject (26 yrs, 73 kg, 1.73 m) performed 7 in-lab sprints, starting from a standing position. Due to limited lab volume (12*9*4 m) only the first 3 steps were considered. 3D linear acceleration and orientation of a wearable IMU positioned on the upper back trunk (MTx, Xsens; m=30g) were collected and the following parameters were estimated over each cycle: 1) stance time (ST); 2) centre of mass progression displacement (d); 3) variation of vertical and progression velocity (Δvv, Δvp). Reference data were obtained as follows: ST from a contact-sensitive mat (stance 1) and two force platforms (Bertec) (stance 2-3); Δv and d from stereophotogrammetry (Vicon MX, Plug-in-Gait protocol). The average of the absolute percentage difference (eabs%=|(reference-inertial)*100/reference|), referred to as error (e%), was calculated for each parameter. RESULTS: Reference and sensor estimates and percentage error are reported in Table 1. DISCUSSION AND CONCLUSION: The obtained Δv percentage errors are consistent with respect to the literature (Vetter et al., 2008). Even though these errors still increase at each stance phase, the methodology is sensitive to the variations of velocity determined by the reference measurement system. As regards ST and d, no similar previous study has been reported. However since the methodology relies on the identification of foot contact timings for reducing the integration interval, small errors in the determination of these parameters, are encouraging. Future developments concern in-field sprint running experimental sessions

An acoustic multi-touch sensing method using amplitude disturbed ultrasonic wave diffraction patterns

This paper proposes an acoustic multi-touch tactile sensing method. The proposed method is based on an amplitude disturbed ultrasonic wave diffraction pattern. An A0 Lamb wave transmitted in a thin finite copper plate is processed to provide tactile information, for one or two fingers. A touch event is localized by identifying the diffraction signals among a database of diffracted Lamb wave references. Statistic models are used to improve the localization reliability. An artificial silicone finger is used in the calibration procedure. This touch interface is evaluated as a 2-touch interface

A model-based residual approach for human-robot collaboration during manual polishing operations

A fully robotized polishing of metallic surfaces may be insufficient in case of parts with complex geometric shapes, where a manual intervention is still preferable. Within the EU SYMPLEXITY project, we are considering tasks where manual polishing operations are performed in strict physical Human-Robot Collaboration (HRC) between a robot holding the part and a human operator equipped with an abrasive tool. During the polishing task, the robot should firmly keep the workpiece in a prescribed sequence of poses, by monitoring and resisting to the external forces applied by the operator. However, the user may also wish to change the orientation of the part mounted on the robot, simply by pushing or pulling the robot body and changing thus its configuration. We propose a control algorithm that is able to distinguish the external torques acting at the robot joints in two components, one due to the polishing forces being applied at the end-effector level, the other due to the intentional physical interaction engaged by the human. The latter component is used to reconfigure the manipulator arm and, accordingly, its end-effector orientation. The workpiece position is kept instead fixed, by exploiting the intrinsic redundancy of this subtask. The controller uses a F/T sensor mounted at the robot wrist, together with our recently developed model-based technique (the residual method) that is able to estimate online the joint torques due to contact forces/torques applied at any place along the robot structure. In order to obtain a reliable residual, which is necessary to implement the control algorithm, an accurate robot dynamic model (including also friction effects at the joints and drive gains) needs to be identified first. The complete dynamic identification and the proposed control method for the human-robot collaborative polishing task are illustrated on a 6R UR10 lightweight manipulator mounting an ATI 6D sensor

On line estimation of rolling resistance for intelligent tires

The analysis of a rolling tire is a complex problem of nonlinear elasticity. Although in the technical literature some tire models have been presented, the phenomena involved in the tire rolling are far to be completely understood. In particular, small knowledge comes even from experimental direct observation of the rolling tire, in terms of dynamic contact patch, instantaneous dissipation due to rubber-road friction and hysteretic behavior of the tire structure, and instantaneous grip. This paper illustrates in details a new powerful technology that the research group has developed in the context of the project OPTYRE. A new wireless optical system based on Fiber Bragg Grating strain sensors permits a direct observation of the inner tire stress when rolling in real conditions on the road. From this information, following a new suitably developed tire model, it is possible to identify the instant area of the contact patch, the grip conditions as well the instant dissipation, which is the object of the present work

Rotor-to-stator Partial Rubbing and Its Effects on Rotor Dynamic Response

Results from experimental and analytical studies on rotor to stationary element partial rubbings at several locations and their effects on rotor dynamic responses are presented. The mathematical model of a rubbing rotor is given. The computer program provides numerical results which agree with experimentally obtained rotor responses

Experimental study of thin part vibration modes in machining

The machining of thin walls generally generates milling chatter, that damage surface roughness and manufacturing tools. Stability lobes which include natural frequencies are successful in case of tool chatter. When milling thin webs models are less adequate, because the interaction with the tool disrupts the behaviour of the work piece. The modal approach generally used for stability charts may be not adequate enough because of neglecting the tool and the work piece contact. This paper presents the experimental phase of a work aiming at analyse vibration modes of a thin web during machining. A finite element calculation shows the influence of a contact on natural frequencies of the part. For a better investigation, field displacements of the work piece are analysed. This work eventually aims at better knowledge of the contact between the tool and the part to improve the hardiness of models

Morphologies of three-dimensional shear bands in granular media

We present numerical results on spontaneous symmetry breaking strain localization in axisymmetric triaxial shear tests of granular materials. We simulated shear band formation using three-dimensional Distinct Element Method with spherical particles. We demonstrate that the local shear intensity, the angular velocity of the grains, the coordination number, and the local void ratio are correlated and any of them can be used to identify shear bands, however the latter two are less sensitive. The calculated shear band morphologies are in good agreement with those found experimentally. We show that boundary conditions play an important role. We discuss the formation mechanism of shear bands in the light of our observations and compare the results with experiments. At large strains, with enforced symmetry, we found strain hardening.Comment: 6 pages 5 figures, low resolution figures

Inconsistency in 9 mm bullets : correlation of jacket thickness to post-impact geometry measured with non-destructive X-ray computed tomography

Fundamental to any ballistic armour standard is the reference projectile to be defeated. Typically, for certification purposes, a consistent and symmetrical bullet geometry is assumed, however variations in bullet jacket dimensions can have far reaching consequences. Traditionally, characteristics and internal dimensions have been analysed by physically sectioning bullets – an approach which is of restricted scope and which precludes subsequent ballistic assessment. The use of a non-destructive X-ray computed tomography (CT) method has been demonstrated and validated Kumar et al., 2011); the authors now apply this technique to correlate bullet impact response with jacket thickness variations. A set of 20 bullets (9 mm DM11) were selected for comparison and an image-based analysis method was employed to map jacket thickness and determine the centre of gravity of each specimen. Both intra- and inter-bullet variations were investigated, with thickness variations of the order of 200 um commonly found along the length of all bullets and angular variations of up to 50 um in some. The bullets were subsequently impacted against a rigid flat plate under controlled conditions (observed on a high-speed video camera) and the resulting deformed projectiles were re-analysed. The results of the experiments demonstrate a marked difference in ballistic performance between bullets from different manufacturers and an asymmetric thinning of the jacket is observed in regions of pre-impact weakness. The conclusions are relevant for future soft armour standards and provide important quantitative data for numerical model correlation and development. The implications of the findings of the work on the reliability and repeatability of the industry standard V50 ballistic test are also discussed