Joint Angular Velocity Research Articles

1P1-C14 人間共存型ロボットのためのメカニカル安全装置の開発 : 安全装置の振動解析

Human safety is one of the most important issues in human-friendly robotics. We have proposed the safety device to improve the safety for humans in the robot's workspace. The safety device consists of only mechanical components without actuators, controllers and batteries. The safety device locks the robot's joint after detecting the overdrive on the basis of the joint's angular velocity. In this paper, first, the mechanism of the safety device is explained. Second, the effect of vibration to the safety device is theoretically analyzed. Third, the safety device is designed and developed on the basis of the analysis results. Finally, the effect of vibration to the safety device is experimentally examined.

Gait Recognition Using Joint Moments, Joint Angles, and Segment Angles

Recognition of gait patterns has been studied only moderately during the last decades. Different gait strategies have been described by applying different waveform anal- ysis techniques to biomechanical gait data and it has been shown that individuals can be identified using joint angles in the sagittal plane. However, little is known about addi- tional variables for gait recognition. We examined which biomechanical variables (joint moments, joint angles, and segment angles from the lower extremities) obtained in a gait lab could be used to distinguish between 21 subjects on two different days. A systematic dc-offset between days was often observed. This could be removed by taking the first derivative to the displacement data. Especially the joint angular and segment angular velocities (first derivative) in the sagittal and frontal planes provided high recognition rates and 100% subjects could be recognized by combining three of these variables.

The Relation between the Skill Level and the Sensitivity Involved in Movement Observation

The purpose of this study was to investigate, in an experimental setting, the relation between the skill level and the sensitivity involved in movement observation. We selected a ball-throwing task since there is a significant difference in the required skill level for the movement involved in the task among individuals even though such a movement is ordinarily seen in various sports. In experiment 1, 40 participants attempted to throw a ball and were divided into 2 groups on the basis of the temporal phase difference between the elbow and wrist joints during the task of throwing the ball. Group A; skilled: An increase in the joint angular velocity for extension at the elbow is observed earlier than that in the wrist. Group B; unskilled: The relation of Group A is reversed. In experiment 2, a movie comprising 15 sets of stick pictures was created by systematic manipulation of the temporal phase difference on the basis of a skilled thrower's movement referred to as the model, and 20 participants in the 2 groups observed the stick picture movie starring the model and the created movie; the set number at which they detected the differences in their movements was recorded. As a result, Group A participants detected it significantly earlier than Group B participants (p

Gait Parameters Associated With Responsiveness to Treadmill Training With Body-Weight Support After Stroke: An Exploratory Study

Task-specific training programs after stroke improve walking function, but it is not clear which biomechanical parameters of gait are most associated with improved walking speed. The purpose of this study was to identify gait parameters associated with improved walking speed after a locomotor training program that included body-weight-supported treadmill training (BWSTT). A prospective, between-subjects design was used. Fifteen people, ranging from approximately 9 months to 5 years after stroke, completed 1 of 3 different 6-week training regimens. These regimens consisted of 12 sessions of BWSTT alternated with 12 sessions of: lower-extremity resistive cycling; lower-extremity progressive, resistive strengthening; or a sham condition of arm ergometry. Gait analysis was conducted before and after the 6-week intervention program. Kinematics, kinetics, and electromyographic (EMG) activity were recorded from the hemiparetic lower extremity while participants walked at a self-selected pace. Changes in gait parameters were compared in participants who showed an increase in self-selected walking speed of greater than 0.08 m/s (high-response group) and in those with less improvement (low-response group). Compared with participants in the low-response group, those in the high-response group displayed greater increases in terminal stance hip extension angle and hip flexion power (product of net joint moment and angular velocity) after the intervention. The intensity of soleus muscle EMG activity during walking also was significantly higher in participants in the high-response group after the intervention. Only sagittal-plane parameters were assessed, and the sample size was small. Task-specific locomotor training alternated with strength training resulted in kinematic, kinetic, and muscle activation adaptations that were strongly associated with improved walking speed. Changes in both hip and ankle biomechanics during late stance were associated with greater increases in gait speed.

슬관절 등속성 근력에 대한 전통적 굴/신근 비율과 기능적 굴/신근 비율

Purpose: The purpose of this study was to investigate the conventional and functional ratios for isokinetic hamstring: quadriceps strength in college students. Method: The subjects for this study were composed of 31 healthy college students who had no medical history of the lower extremity such as surgery of knee and ankle. The measurement was performed by use of Biodex system 3 model in angular velocity 60, 180°/s and 4 repetitions. Maximal concentric and eccentric quadriceps and hamstring muscle strength was obtained by measuring maximal force moment during isokinetic knee extension and flexion movements. The variables of measure were peak torque % body weight, conventional and functional ratios. Conventional hamstring: quadriceps ratios were calculated as dividing the maximal concentric knee flexor moment by concentric knee extensor moment obtained at a given joint angular velocity. Whereas functional hamstring: quadriceps ratios were calculated as dividing the maximal eccentric knee extensor moment by concentric knee extensor moment obtained at a given joint angular velocity. Result: As this study, it was the higher eccentric hamstring strength than concentric hamstring strength in both male and female. The functional ratios were higher than the conventional ratios. In both male and female, conventional and functional ratios increased as velocity increased. Range of the conventional ratios by concentric contraction(Hamcon/Quadecc) were about 53~55% at 60°/s and 63~64% at 180°/s. However, range of the functional ratios(Hamecc/Quadcon) were 80~88% at 60°/s and 105~115% at 180°/s. There were no significant difference between male and female in both conventional and functional ratios. Conclusion: The agonist-antagonist strength relationship strength for knee extension and flexion may better described by the more functional ratios of eccentric hamstring to concentric quadriceps.

Differences in the electromyographic activity of the hamstring muscles during maximal eccentric knee flexion

This study investigated the effects of the knee joint angle and angular velocity on hamstring muscles' activation patterns during maximum eccentric knee flexion contractions. Ten healthy young males (23.4 +/- 1.3 years) performed eccentric knee flexion at constant velocities of 10, 60, 180, and 300 deg/s in random order. The eccentric knee flexion torque and the surface electromyographic (EMG) activity of the biceps femoris (BF), semitendinosus (ST), and semimembranosus (SM) muscles were measured. The results of torque during 10 deg/s were lower than the faster velocities. No significant change was found in eccentric torque output and the EMG amplitude with change in the faster test velocities, although those values showed a decreasing tendency as the knee approached extension. Furthermore, the EMG amplitude of the BF decreased significantly as the knee approached extension, although the EMG activity of the ST and SM remained constant. These results suggest that the neural inhibitory mechanism might be involved in decreasing in maximal voluntary force and hamstring muscles activation toward the knee extension during high-velocity eccentric movement and therefore subjects have difficulties to maintain high eccentric force level throughout the motion. Moreover, the possible mechanism reducing the BF muscle activation as the knee approaches extension was architectural differences in the hamstring muscles, which might reflect each muscle's function.

3D joint dynamics analysis of healthy children's gait

The 3D joint moments and 2D joint powers have been largely explored in the literature of healthy children's gait, in particular to compare them with pathologic subjects’ gait. However, no study reported on 3D joint power in children which could be due to the difficulties in interpreting the results. Recently, the analysis of the 3D angle between the joint moment and the joint angular velocity vectors has been proposed in order to help 3D joint power interpretation. Our hypothesis is that this 3D angle may help in characterizing the level of gait maturation. The present study explores 3D joint moments, 3D joint power and the proposed 3D angle for both children's and adults’ gaits to highlight differences in the strategies used. The results seem to confirm that children have an alternative strategy of mainly ankle stabilization and hip propulsion compared to the adults’ strategy of mainly ankle resistance and propulsion and hip stabilization. In the future, the same 3D angle analysis should be applied to different age groups for better describing the evolution of the 3D joint dynamic strategies during the growth.

아이언 페이드샷의 운동학적 특성 분석

본 연구는 골프 기술 가운데 하나인 페이드샷에 대하여 3차원 영상분석을 시도하여 비교분석한 연구이다. 연구 대상은 남자 프로 골프선수 3명을 대상으로 하였으며 7번 아이언으로 국한하여 실험을 실시하였다. 이때 운동학적 주요 변인들을 산출하여 그 변인들에 대한 특성을 파악하고 지도자와 선수들에게 자료를 제공함으로써 효과적인 지도 방법 및 원리를 제공하는데 목적을 두었다. 그 결과 클럽헤드의 궤도는 아웃사이드에서 인사이드의 형태로 나타나 클럽헤드의 궤적이 이상적인 패이드 샷에 영향을 미치는 것으로 판단된다. 신체중심은 후방으로의 움직임이 나타날 때 실패의 가능성이 높은 것으로 나타나 전방으로의 중심이동이 성공요인에 긍정적인 영향을 미치는 것으로 판단된다. 코킹은 임팩트 후 자연스럽게 팔로스로우를 하여 손목을 풀어 주었으며 움직임의 순서에서 어깨 동작이 먼저 이루어지고 허리가 따라가는 형태로 나타났다. 고관절 각속도는 지연히팅으로 인한 자연스러운 페이드샷이 이루어지는 형태와 일치되었으며 클럽헤드의 속도 또한 임팩트시 코킹이 풀리면서 빠른 것으로 나타났다. Using the 3-D analysis, this study winpared and analyzed the 'fade-shot swing' which is one of the golf technique. The subjects of this study were 3 male pro golfers they experimented with only a 7 iron. The purpose was to enhance their performance by producing the important kinematical parameters, finding out the features in them and providing the data to a coach and players. As a result, the position of the club head showed from the outside orbit to the inside orbit. When position of the center of mass moved backwards, the probability of the failure of the fade-shot increased. Cocking angle had an effect on easing the wrist for a smooth follow-through after the impact. It showed that the changes in the shoulder movement was made first and followed by the waist. The hip joint angular velocity achieved a smooth fade-shot motion due to the hitting delay also the velocity of the club-head was faster when uncocking was released at the time of impact.

Effect of landing height on frontal plane kinematics, kinetics and energy dissipation at lower extremity joints

Lack of the necessary magnitude of energy dissipation by lower extremity joint muscles may be implicated in elevated impact stresses present during landing from greater heights. These increased stresses are experienced by supporting tissues like cartilage, ligaments and bones, thus aggravating injury risk. This study sought to investigate frontal plane kinematics, kinetics and energetics of lower extremity joints during landing from different heights. Eighteen male recreational athletes were instructed to perform drop-landing tasks from 0.3- to 0.6-m heights. Force plates and motion-capture system were used to capture ground reaction force and kinematics data, respectively. Joint moment was calculated using inverse dynamics. Joint power was computed as a product of joint moment and angular velocity. Work was defined as joint power integrated over time. Hip and knee joints delivered significantly greater joint power and eccentric work ( p<0.05) than the ankle joint at both landing heights. Substantial increase ( p<0.05) in eccentric work was noted at the hip joint in response to increasing landing height. Knee and hip joints acted as key contributors to total energy dissipation in the frontal plane with increase in peak ground reaction force (GRF). The hip joint was the top contributor to energy absorption, which indicated a hip-dominant strategy in the frontal plane in response to peak GRF during landing. Future studies should investigate joint motions that can maximize energy dissipation or reduce the need for energy dissipation in the frontal plane at the various joints, and to evaluate their effects on the attenuation of lower extremity injury risk during landing.

Influence of optimization constraints in uneven parallel bar dismount swing simulations

Forward dynamics simulations of a dismount preparation swing on the uneven parallel bars were optimized to investigate the sensitivity of dismount revolution potential to the maximum bar force before slipping, and to low-bar avoidance. All optimization constraints were classified as 1-anatomical/physiological; limiting maximum hand force on the high bar before slipping, joint ranges of motion and maximum torques, muscle activation/deactivation timing and 2-geometric; avoiding low-bar contact, and requiring minimum landing distance. The gymnast model included torso/head, arm and two leg segments connected by a planar rotating, compliant shoulder and frictionless ball-and-socket hip joints. Maximum shoulder and hip torques were measured as functions of joint angle and angular velocity. Motions were driven by scaling maximum torques by a joint torque activation function of time which approximated the average activation of all muscles crossing the joint causing extension/flexion, or adduction/abduction. Ten joint torque activation values, and bar release times were optimized to maximize dismount revolutions using the downhill simplex method. Low-bar avoidance and maximum bar-force constraints are necessary because they reduce dismount revolution potential. Compared with the no low-bar performance, optimally avoiding the low bar by piking and straddling (abducting) the hips reduces dismount revolutions by 1.8%. Using previously reported experimentally measured peak uneven bar-force values of 3.6 and 4.0 body weight (BW) as optimization constraints, 1.40 and 1.55 revolutions with the body extended and arms overhead were possible, respectively. The bar-force constraint is not active if larger than 6.9 BW, and instead performances are limited only by maximum shoulder and hip torques. Bar forces accelerate the mass center (CM) when performing muscular work to flex/extend the joints, and increase gymnast mechanical energy. Therefore, the bar-force constraint inherently limits performance by limiting the ability to do work and reducing system energy at bar release.

An algorithm for directly fitting a moment-angle-angular velocity model to maximum voluntary muscular moments measured with an isokinetic dynamometer

Joint kinematics influence maximum voluntary muscular moment of force about ajoint, and can thereby have substantial effects on available muscle moment during dynamic activities. A model of maximum voluntary muscle moment as a function of joint angle and angular velocity has been described previously. Originally, a computational optimization approach was used to fit this model to muscle moment data collected using an isokinetic dynamometer. To make this model more practical and accessible, an algorithm was developed to directly determine the model parameters without requiring optimization. This algorithm was compared with the optimization method for fitting measured muscle moment data from six different lower limb exertions in 14 healthy adults. Both methods produced models that fit the measured moment data reasonably well (r2 typically > 0.75), and the direct calculation method reduced r2 only slightly compared to optimization (by an average of 1.14%). The direct calculation algorithm presented here may be preferable to the optimization approach used previously, as it displays comparable performance but requires less time and expertise to employ.

REAL-TIME GAIT PLANNING FOR THE HUMANOID ROBOT Rh-1 USING THE LOCAL AXIS GAIT ALGORITHM

This paper presents the 3D foot and center of gravity motion planning for the humanoid robot called the "local axis gait" (LAG) algorithm. It permits walking on different kinds of surfaces, such as planes, ramps or stairs. Furthermore, continuous change of the step length and orientation in real time will be possible, due to the real-time linear dynamics model of the walking pattern of the humanoid. The robot model is based on the cart table formulation for planning the center of gravity (COG) and zero moment point (ZMP) motion. The proposed algorithm takes into account physical robot constraints such as joint angles, angular velocity and torques. Torques are computed by the Lagrange method under screws and Lie groups. The LAG is divided into several stages: computation of the footprints; the decision of the ZMP limits around the footprints; the dynamic humanoid COG motion generation based on the cart table model; and joining the footprints of the swing foot by splines. In this way it is possible to generate each step online, using the desired footprints as input. In order to compute the joint torque limits, the Lagrangian method is used under the Lie groups and screw theory. The paper presents and discusses some successful results on the LAG in the full-size humanoid robot Rh-1 developed in the Roboticslab of University Carlos III of Madrid.

Influence of Resistance Load on Neuromuscular Response to Vibration Training

The purpose of this study was to examine the influence of resistance load on the acute and acute residual effects of vibration training, with vibration applied directly to the bicep tendon in a maximal-effort dynamic resistance exercise (3 sets of maximal-effort bicep curls). Eleven participants were exposed to 4 training conditions in random order: exercise with 1 of 2 different loads (40% 1-repetition maximum [RM] or 70% 1RM load) combined with 1 of 2 vibration conditions (vibration [1.2 mm, 65 Hz] or sham vibration). Five minutes before and after the exercise, a set of maximal-effort bicep curls with a load of either 40 or 70% 1RM was performed as the pre- and posttraining test. Concentric elbow joint angular velocity, moment and power, and bicep root mean square electromyography (EMGrms) were measured during training and in the pre- and posttraining tests. The results show that during training (acute effect) and at 5 minutes after training (acute residual effect), vibration did not induce a significant change in EMGrms, mean and peak angular velocities, moment and power, time to peak power, and initial power at 100 milliseconds after the start of the concentric phase for either resistance load. Therefore, in aiming to train neuromuscular output using maximal-effort dynamic contractions (40 and 70% 1RM), there is no benefit in employing direct vibration, at least with a 1.2-mm amplitude and 65-Hz frequency. However, the amplitude of 1.2 mm may be too high to effectively stimulate neuromuscular output in maximal-effort dynamic contractions per se.

Dynamic balancing of planar mechanisms using toric geometry

A mechanism is statically balanced if for any motion, it does not apply forces on the base. Moreover, if it does not apply torques on the base, the mechanism is said to be dynamically balanced. In this paper, a new method for determining the complete set of dynamically balanced planar four-bar mechanisms is presented. Using complex variables to model the kinematics of the mechanism, the static and dynamic balancing constraints are written as algebraic equations over complex variables and joint angular velocities. After elimination of the joint angular velocity variables, the problem is formulated as a problem of factorization of Laurent polynomials. Using tools from toric geometry including toric polynomial division, necessary and sufficient conditions for static and dynamic balancing of planar four-bar mechanisms are derived.

Determination of the complete set of shaking force and shaking moment balanced planar four-bar linkages

A mechanism is said to be force balanced if, for any arbitrary motion, it does not apply reaction forces on the base. Moreover, if it does not apply torques on the base, the mechanism is said to be moment balanced or dynamically balanced. In this paper, a new method to determine the complete set of force and moment balanced planar four-bar linkages is presented. Using complex variables to model the kinematics of the linkage, the force and moment balancing constraints are written as algebraic equations over complex variables and joint angular velocities. Using polynomial division, necessary and sufficient conditions for the balancing of planar four-bar linkages are derived.

The effect of angular velocity and cycle on the dissipative properties of the knee during passive cyclic stretching: A matter of viscosity or solid friction

Background The mechanisms behind changes in mechanical parameters following stretching are not understood clearly. This study assessed the effects of joint angular velocity on the immediate changes in passive musculo-articular properties induced by cyclic stretching allowing an appreciation of viscosity and friction, and their contribution to changes in torque that occur. Methods Ten healthy subjects performed five passive knee extension/flexion cycles on a Biodex dynamometer at five preset angular velocities (5–120 deg/s). The passive torque and knee angle were measured, and the potential elastic energy stored during the loading and the dissipation coefficient were calculated. Findings As the stretching velocity increased, so did stored elastic energy and the dissipation coefficient. The slope of the linear relationship between the dissipation coefficient and the angular velocity was unchanged across repetitions indicating that viscosity was unlikely to be affected. A difference in the y-intercept across repetitions 1 and 5 was indicative of a change in processes associated with solid friction. Electromyographical responses to stretching were low across all joint angular velocities. Interpretation Torque changes during cyclic motion may primarily involve solid friction which is more indicative of rearrangement/slipping of collagen fibers rather than the redistribution of fluid and its constituents within the muscle. The findings also suggest that it is better to stretch slowly initially to reduce the amount of energy absorption required by tissues, but thereafter higher stretching speeds can be undertaken.

Kinematic analyses during stair descent in young women with patellofemoral pain

Background Compensatory movement strategies may develop in response to pain to avoid stress on the affected area. Patellofemoral pain is characterised by intermittent periods of pain and the present study addresses whether long-term pain leads to compensatory movement strategies that remain even when the pain is absent. Method Lower extremity kinematics in three dimensions was studied in stair descent in 17 women with patellofemoral and in 17 matched controls. A two-dimensional geometric model was constructed to normalise kinematic data for subjects with varying anthropometrics when negotiating stairs of fixed proportions. Results There were minor differences in movement patterns between groups. Knee joint angular velocity in the stance leg at foot contact was lower and the movement trajectory tended to be jerkier in the patellofemoral group. The two-dimensional model showed greater plantar flexion in the swing leg in preparation for foot placement in the patellofemoral group. Interpretation The results indicate that an altered stair descent strategy in the patellofemoral group may remain also in the absence of pain. The biomechanical interpretation presumes that the strategy is aimed to reduce knee joint loading by less knee joint moment and lower impact force.

Evaluation of a subject-specific female gymnast model and simulation of an uneven parallel bar swing

A gymnast model and forward dynamics simulation of a dismount preparation swing on the uneven parallel bars were evaluated by comparing experimental and predicted joint positions throughout the maneuver. The bar model was a linearly elastic spring with a frictional bar/hand interface, and the gymnast model consisted of torso/head, arm and two leg segments. The hips were frictionless balls and sockets, and shoulder movement was planar with passive compliant structures approximated by a parallel spring and damper. Subject-specific body segment moments of inertia, and shoulder compliance were estimated. Muscles crossing the shoulder and hip were represented as torque generators, and experiments quantified maximum instantaneous torques as functions of joint angle and angular velocity. Maximum torques were scaled by joint torque activations as functions of time to produce realistic motions. The downhill simplex method optimized activations and simulation initial conditions to minimize the difference between experimental and predicted bar-center, shoulder, hip, and ankle positions. Comparing experimental and simulated performances allowed evaluation of bar, shoulder compliance, joint torque, and gymnast models. Errors in all except the gymnast model are random, zero mean, and uncorrelated, verifying that all essential system features are represented. Although the swing simulation using the gymnast model matched experimental joint positions with a 2.15 cm root-mean-squared error, errors are correlated. Correlated errors indicate that the gymnast model is not complex enough to exactly reproduce the experimental motion. Possible model improvements including a nonlinear shoulder model with active translational control and a two-segment torso would not have been identified if the objective function did not evaluate the entire system configuration throughout the motion. The model and parameters presented in this study can be effectively used to understand and improve an uneven parallel bar swing, although in the future there may be circumstances where a more complex model is needed.

Effect of vibration training on neuromuscular output with ballistic knee extensions

The aim of the study was to determine whether vibration applied directly to a muscle-tendon could enhance neuromuscular output during and 1.5 and 10 min after a bout of ballistic resistance training. Fourteen participants were exposed to two training conditions in random order: exercise with vibration and exercise with sham vibration. The exercise comprised three sets of ballistic knee extensions with a load of 60–70% of one-repetition maximum. Vibration (1.2 mm amplitude, 65 Hz frequency) was applied with a portable vibrator strapped over the distal tendon of the quadriceps. Knee joint angular velocity, moment, and power, and rectus femoris and vastus lateralis electromyography root-mean-squared were measured during knee extension. During and after training, the vibration did not induce significant changes in peak angular velocity, time to peak angular velocity, peak moment, time to peak moment, peak power, time to peak power, or average EMG of the rectus femoris and vastus lateralis. We conclude that direct vibration, at the selected amplitude and frequency, does not enhance these neuromuscular variables in ballistic knee extensions during or immediately after training.

평균대 옆공중돌기 동작의 운동역학적 분석

The purpose of this study is to examine the success or failure on the balance beam in element group requirements posture which is bending salto side-ward tucked through kinetic analysis. The national team players were participated. The goal was to present training methods to coaches and athletes so as to provide scientifically useful information. The results from this study were summarized as below. When the performance was successful, the features of the body`s center of gravity during the side somersault motion showed to spread from the center of the balance beam and the center of the gravity moved to the direction of the body`s rotation. In the spring sections - event2 and 3, when the performance was successful, up/down fluctuation became more wider and increased air time. It supported the result that the projecting variable was higher than in failure trial. In addition, the right side hip joint angles and speed, and angular velocity as jumping up for a leap were larger than in failure trial. Those variables showed the optimal conditions for a leap. By increasing the speed of the upper limb from the shoulder and the speed of the shoulder joint angular velocity, the momentum was increased. Especially the right side shoulder joint angular velocity increased dramatically because the right leg was held. As to the side somersault motion, the angular momentum of successful trial with respect to x-axis was bigger than failed trial. It indicated that the increasing angular momentum with respect to x-axis was an important factor in flying motion. Besides, as to side somersault, the appropriate proportion of angular momentum with respect to y-axis and z-axis was a key to successful trails.