Kinematic Aspects Research Articles

Deployment dynamics of fluidic origami tubular structures

The application of origami in engineering has offered innovative solutions for deployable structures, such as in space exploration, civil construction, robotics, and medical devices, due to its ability to enable compact folding and expansive deployment. Despite its great potential, prior studies have predominantly focused on the static or kinematic aspects of the origami, leaving the dynamic deployment behaviors underexplored. This research addresses this gap by, for the first time, investigating the dynamics of deployment of origami tubular structures actuated by fluidic pressure induced by air or liquids. We introduce a novel dynamic model that incorporates and combines panel inertia and elastic properties, critical for capturing the complex behaviors of origami deployment that rigid kinematic models overlook, as well as the fluidic pressure effects on the structural mechanics and dynamics. Our findings, derived from non-dimensionalized models, reveal the profound influences of the structural and input parameters on the dynamic responses, marking a significant new advancement in origami research. Our study on fluidic origami tubes, where internal pressure is varied, uncovers how the pressurization level and rate affect the transient dynamics and final configuration of the system. The introduction of a space-invariant fluidic pressure, applied as either a step or ramp function, demonstrates the system's sensitivity to pressure adjustments, affecting its stiffness, damping ratio, and transient response. This feature leads to a rich multistability landscape, offering the ability to achieve various stable configurations through input pressure control, and uncovering unique dynamic responses such as snap-through and snap-back actions that have not been observed in the past. All these outcomes and insights are especially valuable in raising awareness of nontraditional behaviors and expanding our comfort zone in origami engineering.Overall, the research efforts not only propel new understanding of pressure actuated tubular origami's dynamic behaviors but also lay a novel foundational framework for developing origami-based systems for a wide array of applications, which will greatly enhance the design and operational possibilities of reconfigurable and deployable adaptive structures.

Kinematic Analysis of Elite Indian National-level Sprinters: a Comprehensive Analysis

A comprehensive research study was undertaken involving ten national-level sprinters selected purposively from the athletics ground of Jawaharlal Nehru Stadium in New Delhi. The primary objective was to identify the key angles influencing movement during predefined steps in sprinting. The age range of the participants was 19 to 27 years, and the selection process followed purposive sampling. Descriptive statistics were employed to interpret the collected data, providing a summary of the sprinters' performances. The study considered various biomechanical aspects, including angles related to knee movement, hip articulation, and other relevant variables. The correlation between angular and linear variables was explored, and KINOVEA software was utilized for precise angle measurements, ensuring high accuracy in recording sprinters' movements. This technological approach facilitated a thorough examination of the kinematic aspects of their performance. Data collection employed a judgmental sampling method, and the results revealed significant relationships. Notably, there was a significant correlation between the angle at the right ankle joint and the angle at the right wrist joint at the 1st step. Additionally, a significant correlation was observed at the right knee joint at the 3rd step, indicating its contribution to the athletes' overall performance.

GAIT PATTERN INVESTIGATIONS OF BIONIC PIEZOELECTRIC ROBOT

The development of micro-robots based on bionic motion has garnered increasing attention with the advancement of bionic technology. These micro-robots can be employed in various tasks, such as military applications, disaster search and rescue, in vivo drug delivery, minimally invasive surgery, and tumor treatment. Robot joint motion is commonly achieved through actuators, which encompass motor, hydraulic, or pneumatic components that often carry excessive weight. To achieve the goal of miniaturizing robotic mechanisms, innovative actuators need to be developed. This study focuses on designing a four-limbed micro-robot that utilizes piezoelectric actuators. Automatic Dynamic Analysis of the Mechanical System is employed to investigate the kinematic aspects of the micro-robot’s motion, and finite element analysis is also used to obtain the resonant characteristics of the limbs actuated by piezoelectric bimorphs. The results indicate that the gait pattern of a piezoelectric robot changes according to the walking strategy and the robot dimension. The forward travel speed varies depending on the gait pattern, and adjustments in gait design can reduce the up/down oscillation and right/left offset. The robot’s travel speed increases with both trunk and limb length, although longer thigh and leg lengths might lead to greater offset and vertical oscillation. The resonant frequency and mode shapes change with the limb structure and affect the limb motion style. By adjusting the driving frequency of the bimorph actuators, the gait pattern can be manipulated. The information presented in this study contributes to a deeper understanding of micro-robot design.

AI-assisted 3D analysis of grasping and reaching behavior of squirrel monkeys during recovery from cervical spinal cord injury

We have previously demonstrated that machine learning-based video analysis, conducted via DeepLabCut, is more sensitive for detecting subtle deficits in hand grasping behavior than traditional end-point performance assessments. This superiority was observed in a nonhuman primate (NHP) model of cervical spinal cord injury, specifically a dorsal column lesion (DCL). The current study aims to further characterize the kinematic aspects of the deficits in hand reaching, grasping, and retrieving behavior from a 3D perspective following a DCL. Squirrel monkeys were trained to retrieve sugar pellets from eight wells, which were located either on a flat plate or a raised tube with varying well depths. This setup was designed to require coordinated finger movements during the task. Immediately after the DCL, the animals exhibited measurable behavioral deficits. These were characterized by significant increases in grasping speed squared and trial completion time, markedly widened movement trajectories of individual fingers, and abnormalities in inter-finger distance and orientation. Increased task difficulty was associated with more pronounced behavioral deficits. By three months post-DCL, video-based measurements indicated no significant recovery, even though global end-point performance had returned to baseline levels. Our findings demonstrate that deprivation of tactile information results in impaired dexterous hand behavior involving coordinated finger movements, and the impairment is sustained for 20 weeks. This spinal cord injury (SCI) model, along with DeepLapCut analysis, provides a valuable platform for separately evaluating sensory and motor functions and their contributions to dexterous hand behavior and may be used for evaluating therapeutic interventions using more sensitive behavioral outcome readouts.

The Role of Human Factors, Ergonomics, and 3D Modeling When Evaluating Incidents Involving Micromobility Devices: An E-Scooter Fall Case Study

Micromobility devices—encompassing a range of lightweight devices such as bicycles, pedal-assist bicycles, e-bikes, e-scooters, mopeds, and electronic skateboards—are promising as a complement to existing modes of travel. Human factors and ergonomics professionals can leverage available technology, education, and experience to assess aspects of human behavior, perception, expectations, performance, and kinematics when interacting with micromobility devices. This study discusses the application of Human Factors and 3D modeling when assessing micromobility devices during real-world incident investigations and showcases various tools that can be used for these types of assessments. This article outlines an incident case study involving an operator-owned e-scooter purchased from the manufacturer.

Advancements in Performance Monitoring: A Systematic Review of Sensor Technologies in Rowing and Canoeing Biomechanics.

A comprehensive understanding of sports biomechanics is essential for optimizing athletic performance. Recent advancements in sensor technology, particularly inertial sensors, have transformed the landscape of sports performance analysis. These sensors offer profound insights into the kinematic and kinetic aspects of sports, with a particular impact on water-based sports such as rowing and canoeing. This systematic review aims to establish a comprehensive framework for examining sensor technologies and evaluating biomechanical performance in rowing and canoeing. The authors systematically searched four prominent databases (Web of Science, Scopus, Science Direct, and Sage Journals), concentrating on research that has employed sensors to analyze critical performance variables in rowing and canoeing. Our exclusion criteria included manuscripts that exclusively addressed ergometer-based studies, those lacking sensor-related content, unrelated subjects, and publications dating back more than 15 years. The authors used the National Heart, Lung, and Blood Institute Quality Assessment Tools to assess study quality and bias risk. A total of 11 studies were included in this review. This review also acknowledges the limitations, such as the exclusion of gray literature and studies in languages other than English, which may have limited the scope of the research. The studies were synthesized qualitatively, focusing on key variables, including oar/paddle force, boat speed, and technique, and were analyzed, providing quantitative insights. Sensor technology has ushered in a new era of rowing and canoeing performance analysis.

Tablet-based Rey–Osterrieth Complex Figure copy task: a novel application to assess spatial, procedural, and kinematic aspects of drawing in children

The paper-and-pencil Rey–Osterrieth Complex Figure (ROCF) copy task has been extensively used to assess visuo-constructional skills in children and adults. The scoring systems utilized in clinical practice provide an integrated evaluation of the drawing process, without differentiating between its visuo-constructional, organizational, and motor components. Here, a tablet-based ROCF copy task capable of providing a quantitative assessment of the drawing process, differentiating between visuo-constructional, organizational, and motor skills, is trialed in 94 healthy children, between 7 and 11 years of age. Through previously validated algorithms, 12 indices of performance in the ROCF copy task were obtained for each child. Principal component analysis of the 12 indices identified spatial, procedural, and kinematic components as distinct dimensions of the drawing process. A composite score for each dimension was determined, and correlation analysis between composite scores and conventional paper-and-pencil measures of visuo-constructional, procedural, and motor skills performed. The results obtained confirmed that the constructional, organizational, and motor dimensions underlie complex figure drawing in children; and that each dimension can be measured by a unique composite score. In addition, the composite scores here obtained from children were compared with previsions results from adults, offering a novel insight into how the interplay between the three dimensions of drawing evolves with age.

Simulation Analysis and Key Performance Index for Experimental Verification of a New Type of Press Transmission Mechanism

In this paper, the characteristics of special stamping process requirements and the shortcomings of existing application technology are studied. Through repeated motion simulation analysis and size optimization calculation, a kind of inertia-controlled molding press is proposed to make up for this technical vacancy. This paper first describes the working principle and structure scheme of the main transmission mechanism of the inertia-controlled molding press. With the help of Adams-View x64 2013, the main transmission mechanism is simulated and analyzed from the aspects of kinematics and dynamics, and a physical prototype is made to test the key reliability indexes of the main transmission mechanism. According to the test data, the static strength, stiffness, vibration characteristics, and dynamic characteristics of the 200 t inertia-controlled molding press are evaluated, which provides a reference for the design of this kind of machine tool.

Spatial distribution and regional tectonic significance of the newly discovered Kalawenguquan fault in the interior of the Tian Shan Mountain Range, Western China

Quantifying the geometrical and kinematic aspects of faults within the Tian Shan Mountain Range is crucial for investigating the tectonic deformation patterns in the region. Through remote sensing image analysis using GaoFen-7 (GF-7) data and field geological surveys, we determined the geometric distribution and fault properties of the Kalawenguquan fault. The newly discovered Kalawenguquan fault spans more than 400 km and mainly strikes in the NEE direction, with some localized segments in the NE direction. The fault plane dips southward at angles ranging from 55° to 85°. The Kalawenguquan fault is a recently discovered Holocene active fault in the Tian Shan and is a thrust and left-lateral strike-slip fault. Based on geological survey findings and sediment dating data from the late Quaternary, the Kalawenguquan fault has a vertical sliding rate of approximately 0.41 mm/a. The left-lateral strike-slip rate was calculated to be 0.6–1.4 mm/a. We detected that at least two paleoseismic events occurred on the fault since 5.4 ± 0.4 ka. In the range of 41°-45° latitude, 45 % of the crustal shortening in the Tian Shan is absorbed by the internal structure.

Kinematic and Physiological Analysis of Medieval Combat Sport Using Motion Analysis, Blood Lactate Measurement, and Heart Rate Monitoring: A Case Study.

Medieval combat sport is a form of mixed martial art in which combatants engage in fighting using offensive and defensive equipment while dressed in full armor. The sport is considered extremely taxing, making it nearly impossible to maintain the same level of performance. However, this form of sport has not been thoroughly analyzed, and its impact on human physical response is largely unknown. To address this gap, the study reported here aimed to introduce and test a procedure for analyzing human physical responses within the framework of the sport. To accomplish this, two experienced combatants were asked to engage in a series of strikes, performed in the form of a set duel simulating a professional fight competition. The kinematic aspect of the procedure was examined using motion analysis with the help of an IMU suit, while the physiological aspect was evaluated based on blood lactate levels and heart rate measurements. Furthermore, an ergometer test conducted in a laboratory setting aimed to determine the lactate threshold. The duel results showed noticeable decreases in the kinematic aspects of the strikes, such as the velocity of impact, and a dramatic rise in physiological aspects, such as heart rate and blood lactate levels. During the duel sets, the blood lactate surpassed the threshold level, and at the end, the heart rate exceeded the maximum age-related level. Practicing medieval combat sport has been shown to impose an extreme physical load on the bodies of combatants, noticeably affecting their performance levels.

Anisotropy in Stratified and Equivalent Media: Kinematic and Amplitude Analysis

We implemented an elastic-anisotropic seismic modeling algorithm via synthetic models to evaluate different geological scenarios, where intercalations of sandstones and shales, carbonates and shales and halite and high-speed salt were simulated. These lithologies were selected based on their abundance in the sedimentary record and the importance they have in the composition of petroleum systems. We analyzed the results relative to kinematic and dynamic aspects to broaden the understanding of how these elements act in the presence of anisotropy. Additionally, the elastic and anisotropic parameters of intercalations composed by the referred lithologies were analytically estimated, thus obtaining the characteristics of several equivalent media. The results confirm previous postulations that the intercalation of layers with different properties can generate extrinsic anisotropy, contributing to the perspective of different wavelength(λ)/thickness ratios favorable to such effects. The results indicate that λ/thickness ratios greater than 6 are propitious for extrinsic anisotropy generation and the use of equivalent media as substitutes for stratified layers are ratified for thicknesses lower than 10 meters. Also, it was observed that in most cases, intrinsic anisotropy has a main role over extrinsic anisotropy.

Effortful Swallow Maneuver and Modifications on Swallow Dynamics in Healthy Adults

Introduction: Effortful swallow (ES) is a widely used technique in dysphagia management, believed to strengthen oropharyngeal muscles and enhance swallowing safety and efficiency. Although its impact on the oral phase of swallowing is well documented, its effects on pharyngeal swallowing physiology remain inconsistent. This study aimed to elucidate the effects of ES on swallowing kinematics and timing, addressing existing inconsistencies in the literature. Methods: This study involved 22 healthy adults using archived videofluoroscopic swallowing studies. Participants performed three swallow trials of 10 mL puree under regular conditions and with the ES maneuver. The outcome measures comprised swallow timing and kinematic measures. Swallow timing parameters included time to maximum hyoid and laryngeal excursion, laryngeal vestibule closure (LVC) reaction and duration, pharyngeal constriction duration, pharyngoesophageal segment (PES) opening duration, and swallow duration. Swallow kinematic parameters encompassed hyoid and laryngeal excursions, pharyngeal constriction ratio, and maximum PES width. All variables were analyzed via videofluoroscopy. Paired t tests were used to examine the effect of ES on each outcome measure, with a significance threshold set at p < 0.004. Results: The ES maneuver significantly increased the duration of LVC, pharyngeal constriction, PES opening, and overall swallow duration. It also improved the pharyngeal constriction ratio. However, there were no significant changes in hyoid and laryngeal excursions. Submental muscle activity showed a notable increase during ES. Conclusion: The study demonstrates that ES can effectively modify certain temporal and kinematic aspects of swallowing, particularly by prolonging key phases and enhancing pharyngeal constriction. These findings suggest the potential utility of ES in dysphagia rehabilitation, especially in cases that require prolonged pharyngeal constriction, LVC, and PES opening. However, the limited impact on hyoid and laryngeal excursions along with LVC reaction time indicates that ES may not address all aspects of dysphagia. The findings highlight the need for tailored therapeutic approaches in dysphagia management, considering individual physiological impairment profiles.

Disentangling developmental effects of play aspects in rat rough-and-tumble play.

Animal play encompasses a variety of aspects, with kinematic and social aspects being particularly prevalent in mammalian play behaviour. While the developmental effects of play have been increasingly documented in recent decades, understanding the specific contributions of different play aspects remains crucial to understand the function and evolutionary benefit of animal play. In our study, developing male rats were exposed to rough-and-tumble play selectively reduced in either the kinematic or the social aspect. We then assessed the developmental effects of reduced play on their appraisal of standardized human-rat play ('tickling') by examining their emission of 50 kHz ultrasonic vocalizations (USVs). Using a deep learning framework, we efficiently classified five subtypes of these USVs across six behavioural states. Our results revealed that rats lacking the kinematic aspect in play emitted fewer USVs during tactile contacts by human and generally produced fewer USVs of positive valence compared with control rats. Rats lacking the social aspect did not differ from the control and the kinematically reduced group. These results indicate aspects of play have different developmental effects, underscoring the need for researchers to further disentangle how each aspect affects animals.

Kinematic and Dynamic Structure of the 18 May 2020 Squall Line over South Korea

The diagonal squall line that passed through the Korean Peninsula on the 18 May 2020 was examined using wind data retrieved from multiple Doppler radar synthesis focusing on its kinematic and dynamic aspects. The low-level jet, along with warm and moist air in the lower level, served as the primary source of moisture supply during the initiation and formation process. The presence of a cold pool accompanying the squall line played a role in retaining moisture at the surface. As the squall line approached the Korean Peninsula, the convective bands in the northern segment (NS) and southern segment (SS) of the squall line exhibited distinct evolutionary patterns. The vertical wind shear in the NS area was more pronounced compared to that in the SS. The ascending inflow associated with the tilted updraft in the NS reached an altitude of 7 km, whereas it was only up to 4 km in the SS. The difference was caused by the strong descending rear flow, which obstructed the ascending inflow and let to significant updraft in the SS.

Posterior thigh muscles activity during the active H-test: An electromyographic and kinematic analysis

The Askling's H-test is considered a useful return to play criterion after a hamstring muscle injury (HMI). However, it assesses only the active and passive flexibility of posterior thigh muscles. This may lead the practitioner to underestimate a compensation or abnormal movement pattern. The aim of this study was to analyze these kinematic aspects and their reliability, and evaluate the hamstring (HM) and gluteus maximus (GM) muscles' activities. Twelve healthy male volunteers were tested during two session of three trials for passive and active tests. Dynamic flexibility (97.2 ± 6.0°) was significantly greater than the passive one (70.5 ± 14.7°) (p < 0.001), and good intra-individual reproductibility for most kinematic characteristics was observed. Biceps Femoris long head, semitendinosus and GM mean activities (20.1 ± 11.2%; 14.3 ± 7.3% and 25.2 ± 22.1%, respectively) were found to be low to moderate, indicating that only a moderate level of activity occurred during the active H-test, in comparison to other movements such as sprinting itself. In addition, the activity of the posterior thigh muscles during the active H-test appeared to be variable among the volunteers. These findings suggest that the H-test should be interpreted on an individual basis rather than relying on general characteristics, and be considered as an intermediate tool before more strenuous activities such as returning to sprint. With this comprehensive approach, clinicians can gain a more accurate understanding of their patients' progress and make more informed decisions about their readiness to return to play.

High-order kinematics of uniform flexures

In the last decades, many efforts have been made to analyze and model small and large deflections of flexures, considering complex load cases and different solution techniques. However, few investigations focused on the kinematic aspects related to the deflection analysis of the flexible elements, and limited the study to the second-order kinematics. In this paper, an analytical formulation based on the instantaneous geometric invariants is developed to give deep kinematic insight, up to the fourth order, into the motion generated by the deflections. The problem is addressed from a geometrical point of view, defining the fundamental geometric entities that characterize the motion, that are inflection circle, cubic of stationary curvature and its derivative, Ball’s point, and Burmester’s points. Thanks to these special points on the plane, straight and circular paths can be approximated to the third and to the fourth order, respectively. The proposed formulation defines the geometric characteristics of flexures with different curvatures. An application regarding the definition of pseudo-rigid body models is discussed. Finite element simulations are performed to validate the results.

A Research of Analytical Solution on Tubular Structure which is Subjected to an Axis Expansion in Different Contributions

In this research paper, we proposed a classical mechanical study of the behavior of a tubular structure which is subjected to an expansion following the axis of the material. The first part, is focused on kinematic and dynamic aspects, Gradient tensor, left Cauchy-Green tensor ant isotropic invariants are used to proceed to find an analytical exact logarithmic solution function of the radius, of the problem at the limits through a system of partial differential equations in equilibrium condition. The simulations show that in the case of a sinusoidal, logarithmic and exponential function of time, the solution has a strong dependence to the radius. As a results, sinusoidal function of time has a big influence in the shape of the solution graphic which is negative or positive depending to the value of the time and radius. But logarithmic and exponential contribution has not a big influence in the arc shape of the solution graphic but a great influence in the values and it remains positive whatever the value of the radius.

Digital-Twin-Based System for Foam Cleaning Robots in Spent Fuel Pools

This paper introduces a digital-twin-based system for foam cleaning robots in spent fuel pools, aiming to efficiently clean foam in spent fuel pools. The system adopts a four-layer architecture, including the physical entity layer, twin data layer, twin model layer, and application service layer. Initially, the robot was modeled in two dimensions, encompassing physical and kinematic aspects. Subsequently, data collection and fusion were carried out using laser radar and depth cameras, establishing a virtual model of the working scenario and mapping the physical entity to the digital twin model. Building upon this foundation, improvements were made in applying the full-coverage path planning algorithm by integrating a pure tracking algorithm, thereby enhancing the cleaning efficiency. Obstacle detection and localization were conducted using infrared and depth cameras positioned above the four corners of the spent fuel pool, with the digital twin platform transmitting coordinates to the robot for obstacle avoidance operations. Finally, comparative experiments were conducted on the robot’s full-coverage algorithm, along with simulation experiments on the robot’s position and motion direction. The experimental results indicated that this approach reduced the robot’s overall cleaning time and energy consumption. Furthermore, it enabled motion data detection for the digital twin robot, reducing the risk of collisions during the cleaning process and providing insights and directions for the intelligent development of foam cleaning robots.

The internal structure of handwriting proficiency in beginning writers.

Fluent and automatized handwriting frees cognitive resources for more complex elements of writing (i.e., spelling or text generation) or even math tasks (i.e., operating) and is therefore a central objective in primary school years. Most previous research has focused on the development of handwriting automaticity across the school years and characteristics of handwriting difficulties in advanced writers. However, the relative and absolute predictive power of the different kinematic aspects for typically developing beginning handwriting remains unclear. The purpose of the present study was to investigate whether and to what extent different kinematic aspects contribute to handwriting proficiency in typically developing beginning handwriters. Further, we investigated whether gender, socioeconomic background, or interindividual differences in executive functions and visuomotor integration contribute to children's acquisition of handwriting. Therefore, 853 first-grade children aged seven copied words on a digitized tablet and completed cognitive performance tasks. We used a confirmatory factor analysis to investigate how predefined kinematic aspects of handwriting, specifically the number of inversions in velocity (NIV), pen stops, pen lifts, and pressure on the paper, are linked to an underlying handwriting factor. NIV, pen stops, and pen lifts showed the highest factor loadings and therefore appear to best explain handwriting proficiency in beginning writers. Handwriting proficiency was superior in girls than boys but, surprisingly, did not differ between children from low versus high socioeconomic backgrounds. Handwriting proficiency was related to working memory but unrelated to inhibition, shifting, and visuomotor integration. Overall, these findings highlight the importance of considering different kinematic aspects in children who have not yet automatized pen movements. Results are also important from an applied perspective, as the early detection of handwriting difficulties has not yet received much research attention, although it is the base for tailoring early interventions for children at risk for handwriting difficulties.

Reliability and stability of tactile perception in the whisker somatosensory system.

Rodents rely on their whiskers as vital sensory tools for tactile perception, enabling them to distinguish textures and shapes. Ensuring the reliability and constancy of tactile perception under varying stimulus conditions remains a fascinating and fundamental inquiry. This study explores the impact of stimulus configurations, including whisker movement velocity and object spatial proximity, on texture discrimination and stability in rats. To address this issue, we employed three distinct approaches for our investigation. Stimulus configurations notably affected tactile inputs, altering whisker vibration's kinetic and kinematic aspects with consistent effects across various textures. Through a texture discrimination task, rats exhibited consistent discrimination performance irrespective of changes in stimulus configuration. However, alterations in stimulus configuration significantly affected the rats' ability to maintain stability in texture perception. Additionally, we investigated the influence of stimulus configurations on cortical neuronal responses by manipulating them experimentally. Notably, cortical neurons demonstrated substantial and intricate changes in firing rates without compromising the ability to discriminate between textures. Nevertheless, these changes resulted in a reduction in texture neuronal response stability. Stimulating multiple whiskers led to improved neuronal texture discrimination and maintained coding stability. These findings emphasize the importance of considering numerous factors and their interactions when studying the impact of stimulus configuration on neuronal responses and behavior.