design and control of system for elbow rehabilitation preliminary findings

n/

Multibody approach to musculoskeletal and joint loading

Joint and muscular loads are the major internal loads in the human body. Knowing or being able to estimate those loads is of importance in multiple instances, such as in designing implants, predicting surgical outcomes, in estimating occupational loading, and in designing interventions. Unfortunately, the direct measurement of the body\u27s internal forces is difficult, rather invasive, and requires surgical operations. Therefore, the need is growing for computational tools for muscular, bone and joint loading estimation. This article will present a review of the computational methods that can be utilized for musculoskeletal and joint system loading estimation. © 2014 CIMNE, Barcelona, Spain

Flexible multibody approach in forward dynamic simulation of locomotive strains in human skeleton with flexible lower body bones

A method for bone strain estimation is examined in this article. The flexibility of a single bone in an otherwise rigid human skeleton model has been studied previously by various authors. However, in the previous studies, the effect of the flexibility of multiple bones on the musculoskeletal model behavior was ignored. This study describes a simulation method that can be used to estimate the bone strains at both tibias and femurs of a 65-year old Caucasian male subject. The verification of the method is performed by the comparison of the results with other studies available in literature. The results of the study show good correlation with the results of previous empirical studies. A damping effect of the flexible bones on the model is also studied in this paper.<br /

An application of the flexible multibody approach used to estimate human skeleton loading

Skeletal loading can be estimated using several approaches. The most common approach is based on utilizing mechanical principles and ground reaction forces as predictors for skeletal loading. This method can be considered as a relatively simple approach since it cannot account for muscle forces. Flexible multibody approach allows for estimating skeletal loading and strains within the bones; once bone flexibility, muscle forces, ground reaction forces and the natural motion of a subject have been accounted for. This paper presents a summary that describes how deformable bodies can be introduced to the standard multibody formulation and explains the benefits and drawbacks. As an example of application, models used to assess tibial strains among two subjects are presented. The results of the multibody simulations are compared to in vivo studies, showing acceptable correlation and method performance

The use of the flexible multibody approach for lower body skeletal loading analysis

AbstractSkeletal loading can be estimated using several approaches. The most common approach is based on utilizing mechanical principles and ground reaction forces as predictors for skeletal loading. This method can be considered as a relatively simple approach since it cannot account for muscle forces. Flexible multibody approach allows forestimating skeletal loading and strains within the bones; once bone fexibility, muscle forces, ground reaction forces and the natural motion of a subject have been accounted for. This paper presents a summary that describes how deformable bodies can be introduced to the standard multibody formulation and explains the benefits and drawbacks. As an example of application, models used to assess tibial strains among two subjects are presented. The results of the multibody simulations are compared to in-vivo studies, showing acceptable correlation and method performance

Recent Advances in Bipedal Walking Robots: Review of Gait, Drive, Sensors and Control Systems

Currently, there is an intensive development of bipedal walking robots. The most known solutions are based on the use of the principles of human gait created in nature during evolution. Modernbipedal robots are also based on the locomotion manners of birds. This review presents the current state of the art of bipedal walking robots based on natural bipedal movements (human and bird) as well as on innovative synthetic solutions. Firstly, an overview of the scientific analysis of human gait is provided as a basis for the design of bipedal robots. The full human gait cycle that consists of two main phases is analysed and the attention is paid to the problem of balance and stability, especially in the single support phase when the bipedal movement is unstable. The influences of passive or active gait on energy demand are also discussed. Most studies are explored based on the zero moment. Furthermore, a review of the knowledge on the specific locomotor characteristics of birds, whose kinematics are derived from dinosaurs and provide them with both walking and running abilities, is presented. Secondly, many types of bipedal robot solutions are reviewed, which include nature-inspired robots (human-like and birdlike robots) and innovative robots using new heuristic, synthetic ideas for locomotion. Totally 45 robotic solutions are gathered by thebibliographic search method. Atlas was mentioned as one of the most perfect human-like robots, while the birdlike robot cases were Cassie and Digit. Innovative robots are presented, such asslider robot without knees, robots with rotating feet (3 and 4 degrees of freedom), and the hybrid robot Leo, which can walk on surfaces and fly. In particular, the paper describes in detail the robots&rsquo; propulsion systems (electric, hydraulic), the structure of the lower limb (serial, parallel, mixed mechanisms), the types and structures of control and sensor systems, and the energy efficiency of the robots. Terrain roughness recognition systems using different sensor systems based on light detection and ranging or multiple cameras are introduced. A comparison of performance, control and sensor systems, drive systems, and achievements of known human-like and birdlike robots is provided. Thirdly, for the first time, the review comments on the future of bipedal robots in relation to the concepts of conventional (natural bipedal) and synthetic unconventional gait. We critically assess and compare prospective directions for further research that involve the development of navigation systems, artificial intelligence, collaboration with humans, areas for the development of bipedal robot applications in everyday life, therapy, and industry