Joint Synergies Research Articles

Joint angle synergy-based humanoid robot motion generation with fascia-inspired nonlinear constraints

AbstractWhen generating simultaneous joint movements of a humanoid with multiple degrees of freedom to replicate human-like movements, the approach of joint synergy can facilitate the generation of whole-body robotic movement with a reduced number of control inputs. However, the trade-off of minimizing control inputs and keeping characteristics of movements makes it difficult to improve movement performance in a simple control manner. In this paper, we introduce an approach by connecting and constraining these joints. It is inspired by the fascia network of the human body, which constrains the whole-body movements of a human. Compared to when only joint synergy is used, the effectiveness of the proposed method is verified by calculating the errors of joint positions of generated movements and human movements. The paper provides a detailed exploration of the proposed method, presenting simulation-experimental results that affirm its effectiveness in generated movements that closely resemble human movements. Furthermore, we provide one possible method on how these concepts can be implemented in actual robotic hardware, offering a pathway to improve movement control in humanoid robots within their mechanical limitations.

Joint synergy and muscle activity in the motion of the ankle-foot complex.

The movement of the ankle-foot complex joints is coupled as a result of various physiological and physical constraints. This study introduces a novel approach to the analysis of joint synergies and their physiological basis by focusing on joint rotational directions and the types of muscle contractions. We developed a biomimetic model of the ankle-foot complex with seven degrees of freedom, considering the skeletal configuration and physiological axis directions. Motion capture experiments were conducted with eight participants performing dorsiflexion and plantarflexion in open-chain states, as well as various walking tasks in closed-chain states, across different ground inclinations (±10, ±5, 0deg) and walking speeds (3 and 4 km h-1). Hierarchical cluster analysis identified joint synergy clusters and motion primitives, revealing that in open-chain movements, plantarflexion of the ankle, tarsometatarsal and metatarsophalangeal joints exhibited synergy with the inversion of the remaining joints in the complex; meanwhile, dorsiflexion was aligned with eversion. During closed-chain movements, the synergies grouping was exchanged in the subtalar, talonavicular and metatarsophalangeal joints. Further analysis showed that in open-chain movements, synergy patterns influenced by multi-joint muscles crossing oblique joint axes contribute to foot motion. In closed-chain movements, these changes in synergistic patterns enhance the propulsion of the center of mass towards the contralateral leg and improve foot arch compliance, facilitating human motion. Our work enhances the understanding of the physiological mechanisms underlying synergistic motion within the ankle-foot complex.

A triple-synergistic small-molecule sulfur cathode promises energetic Cu-S electrochemistry

Metal-sulfur batteries have received great attention for electrochemical energy storage due to high theoretical capacity and low cost, but their further development is impeded by low sulfur utilization, poor electrochemical kinetics, and serious shuttle effect of the sulfur cathode. To avoid these problems, herein, a triple-synergistic small-molecule sulfur cathode is designed by employing N, S co-doped hierarchical porous bamboo charcoal as a sulfur host in an aqueous Cu-S battery. Expect the enhanced conductivity and chemisorption induced by N, S synergistic co-doping, the intrinsic synergy of macro-/meso-/microporous triple structure also ensures space-confined small-molecule sulfur as high utilization reactant and effectively alleviates the volume expansion during conversion reaction. Under a further joint synergy between hierarchical structure and heteroatom doping, the resulting sulfur cathode endows the Cu-S battery with outstanding electrochemical performance. Cycled at 5 A g-1, it can deliver a high reversible capacity of 2,509.8 mAh g-1 with a good capacity retention of 97.9% after 800 cycles. In addition, a flexible hybrid pouch cell built by a small-molecule sulfur cathode, Zn anode, and gel electrolytes can firmly deliver high average operating voltage of about 1.3 V with a reversible capacity of over 2,500 mAh g-1 under various destructive conditions, suggesting that the triple-synergistic small-molecule sulfur cathode promises energetic metal-sulfur batteries.

The Rapid Detection of Trash Content in Seed Cotton Using Near-Infrared Spectroscopy Combined with Characteristic Wavelength Selection

Herein, we propose a new method based on Fourier-transform near-infrared spectroscopy (FT-NIR) for detecting impurities in seed cotton. Based on the spectral data of 152 seed cotton samples, we screened the characteristic wavelengths in full-band spectral data with regard to potential correlation with the trash content of seed cotton. Then, we applied joint synergy interval partial least squares (siPLS) and combinatory algorithms with the competitive adaptive reweighted sampling method (CARS) and the successive projection algorithm (SPA). In addition, we used the sparrow search algorithm (SSA), gray wolf algorithm (GWO), and eagle algorithm (BES) to optimize parameters for support vector machine (SVM) analysis. Finally, the feature wavelengths optimized via the six feature wavelength extraction algorithms were modeled and analyzed via partial least squares (PLS), SSA-SVM, GWO-SVM, and BES-SVM, respectively. The correlation coefficients, Rc and Rp, of the calibration and prediction sets were subsequently used as model evaluation indices; comparative analysis highlighted that the preferred option was the inverse estimation model as this could accurately predict the trash content of seed cotton. Subsequently, we found that the accuracy of predicting the content of impurities in seed cotton when applying the optimized SVM model of SSA combined with the feature wavelengths screened via siPLS-SPA was optimal. Thus, the optimal modeling method for inverse impurity content was siPLS-SPA-SSA-SVM, with an Rc value of 0.9841 and an Rp value of 0.9765. The rapid application development (RPD) value was 6.7224; this is >3, indicating excellent predictive ability. The spectral inversion model for determining the impurity rate of mechanized harvested seed cotton samples established herein can, therefore, determine the impurity rate in a highly accurate manner, thus providing a reference for the subsequent construction of a portable spectral detector of impurity rate. This will help objectively and quantitatively characterize the impurity rate of mechanized harvested seed cotton and provide a new tool for rapidly detecting impurities in mechanized harvested wheat. Our findings are limited by the small sample size and the fact that the model developed for estimating the impurity content of seed cotton was specific to a local experimental field and certain varieties of cotton.

Slackline training for Paralympic alpine sit skiers: Development of human-device multi-joint coordination.

Para-alpine sit skiers face unique challenges in balance control due to their disabilities and the use of sit skis. This study assessed their multi-joint coordination before and after slackline training. Nine alpine sit skiers (6 M/3 F; 27 ± 8 years; height: 168.3 ± 6.0 cm; body mass: 55.4 ± 6.9 kg) with different disabilities (LW10-LW12) volunteered for the experiment. All subjects performed slackline training for 5 weeks (20 sessions). Joint kinematics were captured by vision-based markerless motion analysis. Root mean square (RMS) amplitude, mean velocity and mean power frequency (MPF) were evaluated. After training, performance improved significantly with an increase in balance time (1041%, p = 0.002), and a decrease in joint angular velocities and RMS amplitude of the sit ski foot (p < 0.05). Joint synergies were developed through in- or anti-phase movements between joint pairs, particularly involving the hip joints (continuous relative phase angles ~0° or 180°, p < 0.001). Multi-joint coordination shifted from large-RMS amplitude of elbows to low-MPF large-RMS amplitude of the hip and shoulders (p < 0.05), with a significant increase of hip weighting (77.61%, p = 0.031) in the principal component analysis. The coordination was maintained with the change of slackline tension (p < 0.05). Athletes with severe trunk disabilities (LW10) had shorter balance time and poorer coordination than athletes with full trunk functions (LW12). Our findings showed the development of joint coordination involving better control of the hip and sit skis during the challenging slackline training task.

Improving the quality of life for premature infants through the continuity of care approach: A literature review

&lt;p&gt;&lt;strong&gt;&lt;em&gt;Background:&lt;/em&gt;&lt;/strong&gt;&lt;em&gt; The agenda for strengthening the global health architecture is to improve quality of life for premature infants. Premature births increase the morbidity and mortality of newborns, necessitating innovation in primary health care. &lt;/em&gt;&lt;/p&gt;&lt;p&gt;&lt;strong&gt;&lt;em&gt;Objectives:&lt;/em&gt;&lt;/strong&gt;&lt;em&gt; This study was conducted to examine innovation programs with a continuity of care approach in primary health care for premature infants in an effort to strengthen the global health architecture. &lt;/em&gt;&lt;/p&gt;&lt;p&gt;&lt;strong&gt;&lt;em&gt;Methods:&lt;/em&gt;&lt;/strong&gt;&lt;em&gt; A literature review method was used to analyze articles obtained using databases such as Science Direct and Google Scholar. The researcher used the key words “continuity of care” and “premature infants”. The inclusion criteria were full-text journal articles published from January 2020-December 2022 in English-language journals. &lt;/em&gt;&lt;/p&gt;&lt;p&gt;&lt;strong&gt;&lt;em&gt;Results:&lt;/em&gt;&lt;/strong&gt;&lt;em&gt; This study obtained ten articles that correspond to the continuity of care approach for premature infants. The articles included four qualitative studies, three quantitative studies, one mixed-method study, one literature review, and one systematic review. There are three themes related to the continuity of care for premature infants, including (1) Primary healthcare with information continuity, relationships continuity, and management continuity; (2) Continuity of care in the antenatal, natal, and postnatal periods; (3) The continuity of care on premature infant approach improves the outcome of premature infant care, the ability of parents, and health service quality. &lt;/em&gt;&lt;/p&gt;&lt;p&gt;&lt;strong&gt;&lt;em&gt;Conclusions:&lt;/em&gt;&lt;/strong&gt;&lt;em&gt; A continuity of care approach can increase the achievement of adequacy, equity, efficiency, and effectiveness in primary health care for premature infants. Joint synergy between the community, health services, and health policymakers is essential in efforts to strengthen the quality of life for premature infants.&lt;/em&gt;&lt;/p&gt;

Drawing transformation pathways for making use of joint effects of food and energy production with biodiversity agriphotovoltaics and electrified agricultural machinery

The achievement of the Sustainable Development Goals is being pursued worldwide. While energy production and consumption are to be oriented towards renewable energies, ecologically and socially sustainable agriculture is also a target for science and society. Due to the expansion of renewable energies, agricultural land in particular is the focus of various interest groups, from food production to energy production. In this interdisciplinary study, we show the opportunities and limits of joint synergies from the nexus of food production, energy production, energy consumption, biodiversity protection and social acceptance of renewable energies in a scenario. Biodiversity agriphotovoltaics, i.e. agriphotovoltaics in combination with biodiversity protection measures, such as flower strips, can make a valuable contribution to promoting biotope connectivity in addition to significant energy production. We show this in a GIS-based regional assessment for Lower Saxony in northern Germany. This rough spatial assessment is followed by a modelling of energy production and consumption during the cultivation of a characteristic agricultural field in the loess region of Lower Saxony. Our focus here is on the possibilities of using cable electricity or battery storage for carrying out the cultivation. In an accompanying survey of farmers regarding the use of agriphotovoltaics, we collected and evaluated their prior knowledge, experiences, and attitudes towards this technology. Finally, we show which advantages agriphotovoltaics and electrified agricultural machinery can also have for the sustainable transformation of agriculture and which challenges exist for a truly sustainable use of these technologies.

Proposed Stress Management Strategies to Accelerate Organizational Change at Greeneration Foundation: A Change Management Approach

Nowadays, climate change and other forms of environmental degradation area among defining challenges at present. Moreover, these several things are not only experienced in Indonesia, as well as other countries experiencing the same problem. To overcome the existing problems, of course, there needs to be joint synergies from all elements of society and the government to answer them. Greeneration Foundation (GF) as a a member of Indonesian Philanthropy aims to advance philanthropy and contribute to the goals of social justice and sustainable development in Indonesia. In 2022, the Greeneration Foundation is rearranging and consolidating its business foundations, product research and development, and business ideas based on funding sources coming from the individuals themselves. Furthermore, this changing of organization foundations doesn’t mean it doesn’t cause problems for the employee at Greeneration Foundation. Meanwhile, in undergoing these changes not all individual organizations are able to adapt or cope with the changes made, so of course there are impacts felt by individuals such as tension or stress. Therefore, the authors conducted research related to the correlation of work stress and organizational changes carried out by the Greeneration Foundation to serve as evaluation material for the Greeneration Foundation. This research was conducted on Greeneration Foundation employees with the aim of knowing the correlation between work stress and organizational changes faced by employees at Greeneration Foundation. In this study the authors collected data using a questionnaire with a total sample of 30 respondents and used a type of sample that is saturated sample. The data analysis technique used is quantitative analysis with the linear regression method using the help of the IBM SPSS Statistics program. Based on the results of the research conducted, it shows a level of work stress of 59.0% and organizational change of 68.0% which is in a fairly high category. Based on the following results, work stress and organizational change have a positive and significant correlation with a correlation value of 63.9%. Based on this research, the high level of work stress certainly has the potential to become even higher if proper management is not carried out, especially in the individual and organizational aspects. So that the Greeneration Foundation needs to manage the stress level of employees in order to accelerate organizational changes.

Bojový potenciál a bojová sila

The terms "fighting power" and "combat power" are directly related to the ability to employ military force. They express the capabilities and possibilities of action capacity of the military force, the scope of which is defined by the mission of the military units. The similarity of the definitions of both terms in the military doctrinal framework creates a condition for confusing the understanding of their different meanings, which causes inefficient use of the offered possibilities of fighting power and combat power and the ability to create their joint synergy to achieve the success. The correct understanding of their differences, but also of their interdependence, could be a key aspect of achieving success in military operations.

Angular Velocity Profiles of Upper Limb Joint Synergies in Reaching Movements: a pilot study.

The spatiotemporal kinematic synergy, a coupling of multiple degrees of freedom (DoF), runs through human activities of daily living (ADL). And it is an entry point for exploring the central nervous system's (CNS) control process of musculoskeletal system by analyzing the time-varying kinematic synergy. The aim of this study was to find more physiological properties from the angular velocity profiles of synergy. Ten healthy right-handed subjects were asked to reach target button at different locations. During reaching movement, the motion data of five right upper limb joints were recorded, and the synergistic patterns were extracted by PCA algorithm. Our results showed that the combinations of the first four synergies were sufficient to explain raw data. As far as possible to exclude the effects of individual and information differences, we found shoulder flexion/extension and elbow flexion/extension made distinct contribution in a period of time to the control procedure performed by CNS after targets were confirmed. Our preliminary results implied that reaching movements required comparatively constant scheduling of shoulder horizontal abduction/adduction, shoulder internal/external rotation and wrist ulnar/radial deviation by CNS, while scheduling of SFE and EFE depends on the objectives.Clinical relevance- The findings of this paper may provide a novel dynamic control evidence based on CNS for realizing near-natural control of assistive devices in motor rehabilitation area.

Gait Recognition for Human-Exoskeleton System in Locomotion Based on Ensemble Empirical Mode Decomposition

As exoskeleton robots are more frequently applied to impaired people to regain mobility, detection and recognition of human gait motions is important to prepare suitable control modes for exoskeletons. This paper proposes to explore the potential of the ensemble empirical mode decomposition (EEMD) method to help analyze and recognize gait motions for human subjects who wear the exoskeleton to walk. The intrinsic mode functions (IMFs) extracted from the original gait signals by EEMD are utilized to act as inputs for classification algorithms. Evident correlations are found between some IMFs and original gait kinematic sequences. Experimental results on gait phase recognition performance on 14 able-bodied subjects are shown. The performance of the composing signals extracted from the original signals as IMF 1 ∼ IMF 8 is investigated, which indicates that IMF 8 might be helpful when wearing exoskeleton and IMF 5 might be helpful when walking without exoskeleton on gait recognition. And the similarity of joint synergy between wearing and without wearing exoskeleton is analyzed, and the result shows that the joint synergy might change between with and without wearing exoskeleton. The quantitative results show that based on some IMFs of the same orders, these machine learning algorithms can achieve promising performances.

Methodological foundations for the analysis of organizational and technological perfection of building public administration bodies

The methodological foundations for the analysis of the perfection of the organizational and technological structure of public administration bodies and the organization of their management activities are presented. The analysis methodology consists of two relatively independent blocks: a block for analyzing the organizational structure of the constituent elements of public administration bodies, a structural decomposition of their elements with the identification of the functions and tasks performed to achieve the set goals and a block for analyzing the technological and process support for the implementation of administrative work in public administration. Both blocks are formed and implemented by the authorities empowered to control the timeliness of the completeness and quality of the functions and tasks performed, the results of which depend on the organizational excellence and organizational maturity of public authorities. A model for analyzing the organizational structure of public administration bodies and the organization of their activities is proposed. For the analysis of organizational excellence and technological and process support for the implementation of management activities, which form organizational maturity, the definition and decomposition of the content of management activities according to the model of an agreed technological process is proposed. It is presented as a combination of agreed, harmonized types, content, state of development and methodological support of their related elements, the joint implementation of which ensures the achievement of target results of the tasks being solved due to their joint synergy. The analysis involves the determination of the main types of existing technological processes and their grouping according to the main types of activity, the time and qualifications of the performers, the determination of the structure of the performers of work in terms of the number and professional composition, the labor intensity of work, the factors of the emergence of self-organization processes, the ratio of labor and financial resources spent with their standard level and planned results of work and other indicators. It is proposed to use the results of the analysis to obtain new scientific knowledge and practical skills to modernize the structures of government bodies, maintain the level of organizational maturity and organizational perfection of the public administration system, increase and ensure the productivity and efficiency of management activities. The analysis technique can be used to analyze the organizational excellence of not only public administration authorities, but also the analysis of any managed systems.

Social and Cultural Factors Influencing Gender Disparity in Farmers Field Schools Approach among Smallholder Farmers in Kilifi North Sub-County, Kilifi County

The status of women in agriculture has received extensive attention in literature in the recent decades, however, a research gap persists regarding the state of gender disparity in Farmers Field Schools (FFS) in Kilifi South Sub-County. The study of gender disparity in FFS, an experiential learning approach whose outcome is to empower both men and women farmers with agricultural technologies is fundamental. Five FDGs comprising of a total of 75 participants were drawn from five FFS purposively selected for the study. Data were collected qualitatively through Focus Group Discussion and analyzed using Content Analysis. The results reveal that over 90% group members in FFS are women. Women are the mangers of productive resources and custodians of household food stores. The less than 10% men are due to the socio-cultural norms that dictate that as household heads, they should engage in activities for immediate household monetary needs. Men find FFS approach inclined more to farming, an activity considered to be women's primary obligation and engaging in it will compromise their status as household heads. These findings imply that FFS provides a conducive environment for farmer empowerment through experiential learning on new agricultural technologies for increased agricultural productivity for food security. However, gender disparity caused by social and cultural norms and values impede its achievement. Development agencies should hold education fora to sensitize communities that achieving food security is a mirage without joint synergies from both women and men.

Bearded capuchin monkeys use joint synergies to stabilize the hammer trajectory while cracking nuts in bipedal stance.

The transition from occasional to obligate bipedalism is a milestone in human evolution. However, because the fossil record is fragmentary and reconstructing behaviour from fossils is difficult, changes in the motor control strategies that accompanied this transition remain unknown. Quadrupedal primates that adopt a bipedal stance while using percussive tools provide a unique reference point to clarify one aspect of this transition, which is maintaining bipedal stance while handling massive objects. We found that while cracking nuts using massive stone hammers, wild bearded capuchin monkeys (Sapajus libidinosus) produce hammer trajectories with highly repeatable spatial profiles. Using an uncontrolled manifold analysis, we show that the monkeys used strong joint synergies to stabilize the hammer trajectory while lifting and lowering heavy hammers. The monkeys stringently controlled the motion of the foot. They controlled the motion of the lower arm and hand rather loosely, showing a greater variability across strikes. Overall, our findings indicate that while standing bipedally to lift and lower massive hammers, an arboreal quadrupedal primate must control motion in the joints of the lower body more stringently than motion in the joints of the upper body. Similar changes in the structure of motor variability required to accomplish this goal could have accompanied the evolutionary transition from occasional to obligate bipedalism in ancestral hominins.

Learning Augmented Joint-Space Task-Oriented Dynamical Systems: A Linear Parameter Varying and Synergetic Control Approach

In this letter, we propose an asymptotically stable joint-space dynamical system (DS) that captures desired behaviors in joint-space while converging toward a task-space attractor in both position and orientation. To encode joint-space behaviors while meeting the stability criteria, we propose a DS constructed as a linear parameter varying system combining different behavior synergies and provide a method for learning these synergy matrices from demonstrations. Specifically, we use dimensionality reduction to find a low-dimensional embedding space for modulating joint synergies, and then estimate the parameters of the corresponding synergies by solving a convex semidefinite optimization problem that minimizes the joint velocity prediction error from the demonstrations. Our proposed approach is empirically validated on a variety of motions that reach a target in position and orientation, while following a desired joint-space behavior.

Sold Below Value? Why Takeover Offers Can Have Negative Premiums

AbstractMany studies have acknowledged the existence of negative offer premiums where the initial bid undercuts the target's preannouncement market price. However, this phenomenon has not been explained. Negative premiums occur frequently and are no measurement error. We demonstrate theoretically and empirically that “hidden earnouts,” where target shareholders participate in the bidder's share of joint synergies, and corrections of overvaluation explain negative premiums. We find that target shareholders profit from the consummation of a takeover even if the announced offer has a negative premium. Our theory generalizes to low positive premiums with predictive power for the bottom 25% of all premiums.

THE IMPACT OF ICT USAGE ON COLLABORATIVE PRODUCT INNOVATION PERFORMANCE

Manufacturers are increasingly adopting collaborative product development (CPD) to achieve competitive advantage through joint synergies in introducing new products. Partners involved in CPD may be external such as suppliers and customers or internal cross-functional teams. As the number of dispersed partners increases, substantial rises in the use of information and communication technology (ICT) are evidenced in firms. Since most ICT implementations cost significantly to firms, uncovering a detailed picture of the effect of ICT usage on CPD performance would be immensely useful. Drawing on the relational resource-based view (RRBV), this study explores ICT impact on CPD performance comprising project performance and collaboration performance. Data collected from 244 collaborative product innovation projects were used. The study reveals positive direct and indirect impact of overall ICT usage on new product quality, commercial success, and time performance, through collaboration performance. The observed impact of three ICT usage aspects (frequency, proficiency, and intensity) and individual ICT types significantly contribute to extant literature while providing useful implications to product development practitioners.

歩行中の下肢関節間シナジーにおける足関節の寄与

歩行中の下肢関節間シナジーにおける足関節の寄与

Coordination of Reach-to-Grasp Kinematics in Individuals With Childhood-Onset Dystonia Due to Hemiplegic Cerebral Palsy.

Functional reaching is impaired in dystonia. Here, we analyze upper extremity kinematics to quantify timing and coordination abnormalities during unimanual reach-to-grasp movements in individuals with childhood-onset unilateral wrist dystonia. Kinematics were measured during movements of both upper limbs in a patient group ( n = 11, age = 17.5 ±5 years), and a typically developing control group ( n = 9, age = 16.6 ±5 years). Hand aperture was computed to study the coordination of reach and grasp. Time-varying joint synergies within one upper limb were calculated using a novel technique based on principal component analysis to study intra-limb coordination. In the non-dominant arm, results indicate reduced coordination between reach and grasp in patients who could not lift the grasped object compared to those who could lift it. Lifters exhibit incoordination in distal upper extremity joints later in the movement and non-lifters lacked coordination throughout the movement and in the whole upper limb. The amount of atypical coordination correlates with dystonia severity in patients. Reduced coordination during movement may reflect deficits in the execution of simultaneous movements, motor planning, or muscle activation. Rehabilitation efforts can focus on particular time points when kinematic patterns deviate abnormally to improve functional reaching in individuals with childhood-onset dystonia.

Multi-data reservoir history matching for enhanced reservoir forecasting and uncertainty quantification

Reservoir simulations and history matching are critical for fine-tuning reservoir production strategies, improving understanding of the subsurface formation, and forecasting remaining reserves. Production data have long been incorporated for adjusting reservoir parameters. However, the sparse spatial sampling of this data set has posed a significant challenge for efficiently reducing uncertainty of reservoir parameters. Seismic, electromagnetic, gravity and InSAR techniques have found widespread applications in enhancing exploration for oil and gas and monitoring reservoirs. These data have however been interpreted and analyzed mostly separately, rarely exploiting the synergy effects that could result from combining them. We present a multi-data ensemble Kalman filter-based history matching framework for the simultaneous incorporation of various reservoir data such as seismic, electromagnetics, gravimetry and InSAR for best possible characterization of the reservoir formation. We apply an ensemble-based sensitivity method to evaluate the impact of each observation on the estimated reservoir parameters. Numerical experiments for different test cases demonstrate considerable matching enhancements when integrating all data sets in the history matching process. Results from the sensitivity analysis further suggest that electromagnetic data exhibit the strongest impact on the matching enhancements due to their strong differentiation between water fronts and hydrocarbons in the test cases. • Joint incorporation of multiple geophysical data for history matching applications. • Joint synergy effects lead to considerable improvements in history matching. • 2D and a realistic 3D reservoir were considered. • Ensemble Kalman Filtering based history matching technique. • Quantification of the impact of each geophysical technique on the history matching improvements.