Motion Device Research Articles

PhysiCan - a device for automatic CPM exercises implementation over canines: Design and analysis

Continuous Passive Motion (CPM) devices have been used to assist physicians conducting human rehabilitation; however, similar machines specific for canine rehabilitation have not been found in the reviewed literature. This research performed a physical analysis of the hind limb of dogs to design a device for implementing automated CPM exercises. The device proved to comply with the guidelines to perform CPM exercises, allowing a proper setting of parameters to generate rehabilitation routines customized for different rehabilitation requirements. Also, an electromyography acquisition module was incorporated into the system, with surface electrodes to visualize and provide feedback to the user for muscle activation. Limitations were encountered with a range of motion of 80° and an error of approximately 2% for angular position accuracy.

Comparison of Data Classification Results for Leap Motion Recovery Gestures.

Static and dynamic gestures are frequently used in activities supporting learning, recovery healthcare, engineering, and 3D games to increase the interactivity between man and machine. The gestures are detected via hardware devices and data is processed using different software methods. This paper presents the manner of detection and interpretation of two gestures, a hand rotation gesture and a palm closing and opening gesture, using the Leap Motion device. These two dynamic gestures are very often used in hand recovery exercises. For comparing the two gestures we use data classification methods, Support Vector Machine (SVM) and Multilayer Perceptron (MLP). The data for the gesture classification were 80% training data and 20% testing data. The metrics for comparison are precision, recall, F1-score, and the total number of testing cases (support). The SVM classifier gives an accuracy of 99.4% and the MLP classifier a 96.2%. We built two confusion matrices for better visualizing the results.

Anomalous domain wall dynamics in Ir50Mn50/Fe2CoSi bilayers

We report on the evidenced anomalous saw-tooth and curved domains in the Si/SiO2/IrMn/Fe2CoSi/Ta bilayers. The existence of saw-tooth domains is attributed to higher magnetic charge density at the domain boundary induced by the IrMn layer, while curved domains are apparent due to Dzyaloshinskii-Morya interaction (DMI). On the other hand, straight domain walls are apparent as a result of uni–axial anisotropy and four-fold anisotropy along the easy axis. The curvature for the domain walls decreases upon changing the angle between sample edge and the magnetic field. We believe that the present results would indeed be helpful for the development of the domain wall motion devices.

Non-Contact Hand Movement Analysis for Optimal Configuration of Smart Sensors to Capture Parkinson's Disease Hand Tremor.

Parkinson’s disease affects millions worldwide with a large rise in expected burden over the coming decades. More easily accessible tools and techniques to diagnose and monitor Parkinson’s disease can improve the quality of life of patients. With the advent of new wearable technologies such as smart rings and watches, this is within reach. However, it is unclear what method for these new technologies may provide the best opportunity to capture the patient-specific severity. This study investigates which locations on the hand can be used to capture and monitor maximal movement/tremor severity. Using a Leap Motion device and custom-made software the volume, velocity, acceleration, and frequency of Parkinson’s (n = 55, all right-handed, majority right-sided onset) patients’ hand locations (25 joints inclusive of all fingers/thumb and the wrist) were captured simultaneously. Distal locations of the right hand, i.e., the ends of fingers and the wrist showed significant trends (p < 0.05) towards having the largest movement velocities and accelerations. The right hand, compared with the left hand, showed significantly greater volumes, velocities, and accelerations (p < 0.01). Supplementary analysis showed that the volumes, acceleration, and velocities had significant correlations (p < 0.001) with clinical MDS-UPDRS scores, indicating the potential suitability of using these metrics for monitoring disease progression. Maximal movements at the distal hand and wrist area indicate that these locations are best suited to capture hand tremor movements and monitor Parkinson’s disease.

Single-Step-Lithography Micro-Stepper Based on Frictional Contact and Chiral Metamaterial.

Stepper motors and actuators are among the main constituents of control motion devices. They are complex multibody systems with rather large overall volume due to their multifunctional parts and elaborate technological assembly processes. Miniaturization of individual parts is still posing assembly problems. In this paper, a single-step lithography process to fabricate a micro-stepper engine with an accurate micrometric rotation axis and an overall sub-millimeter size is demonstrated. The device is based on the frictional contacts and chiral metamaterials to get rid of the dependence on the accuracy of parts. The functional aspects of fabricated samples are discussed for many rotation cycles and for different frictional surfaces.

Intrarater reliability of cervical range of motion device in measuring cervical active range of motion in patients with chronic neck pain and respiratory dysfunction

Methodology: We enrolled 30 patients (14 males and 16 females) with chronic neck pain and respiratory dysfunction fulfilling inclusion criteria. Two trials of CAROM measurement for flexion, extension, left and right lateral flexion and left and right rotation were performed, with a gap of one week to measure test retest reliability of CROM device. Intraclass correlation coefficient (ICC), standard errors of measurement (SEM) and minimal detectable change (MDC) were calculated to test the intrarater reliability.&#x0D; Results: Intrarater reliability of repeated measurements of CAROM using the CROM device was found to be good. The ICC values ranged between 0.88-0.97 for flexion, 0.93-0.98 for extension, 0.92-0.98 for right lateral flexion,0.93-0.98 for left lateral flexion. For right rotation it was 0.88-0.97, for left lateral rotation it was 0.95-0.99. The standard error of measurement for these movements ranged from 1.5° to 2.9°. Minimal detectable change ranged from 3.5°for extension to 6.8°for left lateral flexion.&#x0D; Conclusion: Cervical range of motion device is a reliable tool for measuring cervical active range of motion in patients simultaneously suffering from chronic neck pain and respiratory dysfunction.&#x0D; Abbreviations: CAROM - cervical active range of motion; CROM - cervical range of motion; ICC - Intraclass correlation coefficient; SEM - standard errors of measurement; MDC - minimal detectable change&#x0D; Key words: Adult; Exercise Therapy / methods; Female; Humans; Male; Neck Pain / physiopathology; Neck Pain / therapy; Pain Measurement; Pulmonary function; Range of Motion, Articular; Reliability&#x0D; Citation: Anwar S, Arsalan SA, Zafar H, Ahmad A, Gillani SA, Hanif A. Intrarater reliability of cervical range of motion device in measuring cervical active range of motion in patients with chronic neck pain and respiratory dysfunction. Anaesth. pain intensive care 2022;26(4):503-509; DOI: 10.35975/apic.v26i4.1957&#x0D; Received: September 29, 2021; Reviewed: April 21, 2022; Accepted: May 10, 2022

Cervical Joint Position Sense in Individuals With Type 2 Diabetes and Its Correlations With Glycated Hemoglobin Levels: A Cross-Sectional Study

ObjectiveThis study aimed to compare cervical joint position sense (JPS) between individuals with type 2 diabetes (T2D) and healthy individuals and to assess the correlation between glycated hemoglobin (HbA1c) values and cervical JPS in individuals with T2D. MethodsNinety-seven individuals with T2D (mean age: 59.0 ± 6.8 years; men = 63 [67.02%], women = 34 [32.98%], and 117 healthy individuals without T2D (mean age: 57.3 ± 6.9 years; men = 70 [79.80%], women = 44 [20.20%]) were recruited into this study. Cervical JPS was evaluated using a cervical range of motion device in cervical flexion, extension, and rotation in left and right directions. Participants were required to relocate their heads actively to a predefined target position with eyes closed, and their reposition accuracy was measured in degrees as joint reposition error (JRE). The HbA1c test was performed on all participants with T2D to determine their average blood sugar level over the previous 2 to 3 months. Cervical JREs were compared and correlated with HbA1c values. ResultsThe participants with T2D showed significantly larger cervical JREs in all directions compared with the healthy group (flexion: d = 1.23, P < .001; extension: d = 1.85, P < .001; left rotation: d = 1.70, P < .001; right rotation: d = 2.60, P < .001). Pearson correlation coefficient (r) showed significant moderate positive association between HbA1c and cervical JREs in flexion (r = 0.41, P = .001), extension (r = 0.48, P < .001), left rotation (r = 0.38, P < .001), and right rotation (r = 0.37, P < .001) in participants with T2D. ConclusionThe magnitude of cervical JPS impairment was significant in individuals with T2D. In addition, HbA1c levels showed a significant negative correlation with cervical JPS.

Development and Evaluation of a Passive Multiloop Wearable Hand Device for Natural Motion

Abstract This article describes the development and evaluation of our passively actuated closed-loop articulated wearable (CLAW) that uses a common slider to passively drive its exo-fingers for use in physical training of people with limited hand mobility. Our design approach utilizes physiological tasks for dimensional synthesis and yields a variety of design candidates that fulfill the desired fingertip precision grasping trajectory. Once it is ensured that the synthesized fingertip motion is close to the physiological fingertip grasping trajectories, performance assessment criteria related to user–device interference and natural joint angle movement are taken into account. After the most preferred design for each finger is chosen, minor modifications are made related to substituting the backbone chain with the wearer’s limb to provide the skeletal structure for the customized passive device. Subsequently, we evaluate it for natural joint motion based on a novel design candidate assessment method. A hand prototype is printed, and its preliminary performance regarding natural joint motion, wearability, and scalability are assessed. The pilot experimental test on a range of healthy subjects with different hand/finger sizes shows that the CLAW hand is easy to operate and guides the user’s fingers without causing any discomfort. It also ensures both precision and power grasping in a natural manner. This study establishes the importance of incorporating novel design candidate assessment techniques, based on human finger kinematic models, on a conceptual design level that can assist in finding design candidates for natural joint motion coordination.

An Inverse Dynamics-Based Control Approach for Compliant Control of Pneumatic Artificial Muscles

Rehabilitation is an area of robotics in which human–robot collaboration occurs, requiring adaptation and compliance. Pneumatic artificial muscles (PAM) are soft actuators that have built-in compliance making them usable for rehabilitation robots. Conversely, compliance arises from nonlinear characteristics and generates obstructions in modeling and controlling actions. It is a critical issue limiting the use of PAM. In this work, multi-input single-output (MISO) inverse modeling and inverse dynamics model learning approaches are combined to obtain a novel nonlinear adaptive control scheme for single PAM-actuated 1-DoF rehabilitation devices, for instance, continuous passive motion (CPM) devices. The objective of the proposed system is to bring an alternative solution to the compliant operation of PAM while performing exercise trajectories, to satisfy requirements such as larger range of motion (ROM) and adaptability to external load impedance variations. The control system combines the operation of a nonlinear autoregressive network with exogenous inputs (NARX)-based inverse dynamics estimator used as a global range controller and cascade PIDs for local position and pressure loops. Implementation results demonstrated the efficacy of the introduced method in terms of compliant operation for dynamic external load variations as well as a stable operation in case of impulsive disturbances. To summarize, a simple but efficient method is illustrated to facilitate the common use of PAM.

Analysis of Intensities Using Inertial Motion Devices in Female Soccer: Do You Train like You Compete?

Intensity research in female soccer is limited. This study aimed to investigate whether female professional soccer players train with external and internal intensities similar to those recorded in real competition. The specific players’ position, the game situation and training task type were analyzed in a total of 18 female players (26.25 ± 3.89 years). The empirical, descriptive and associative study was structured into two parts. Part 1: characterizing the training sessions (n = 13) and official matches (n = 3) using the Integral Analysis System of Training Tasks. The association between sports planning variables was evaluated using adjusted standardized residuals from contingency tables, Chi-Square and Fisher tests, as well as the Phi and Cramer’s V coefficients. The main findings show that the coach and/or physical trainer predominantly planned training sessions using small-sided games, which integrate physical fitness and tactical-technical behaviors of the game and imply a medium-high subjective external intensity (20.63 ± 5.79 points). The subjective external intensity of the matches was very high (30.00 ± 0.00 points). Part 2: quantifying the external and internal intensity through the inertial motion devices and heart rate monitors. Differences in the intensities according to the type of session (training session and match), specific position of the players, game situation and type of the training task were assessed through different statistical tests. By specific position (Kruskal–Wallis H and one-factor ANOVA tests), defenders performed fewer accelerations/min and decelerations/min, while they recorded higher heart rates in training sessions and official matches. In contrast, the wingbacks performed higher accelerations/min and decelerations/min in training sessions and official matches. The wingers had the lowest heart rate in official matches. Regarding the game situation (Kruskal–Wallis H test) measured during training sessions, the unopposed tasks recorded higher accelerations/min and decelerations/min, while the small-sided games and full games recorded higher values in the rest of the intensities (both subjective and objective). With regard to the type of training task (Kruskal–Wallis H test), the simple application exercises recorded higher accelerations/min and decelerations/min. Distance in meters/min was greater in the complex application exercises. High-intensity activity/min and player load/min were higher in the simple specific game. In addition, modified sport and real game recorded higher subjective external intensity*min, sprints/min and heart rate. Furthermore, training sessions differed statistically (Mann–Whitney U test) from official matches in terms of subjective intensity and the objective external and internal intensity variables weighted by minutes. For all these reasons, female players do not train (training sessions) as they compete (official matches). The use of inertial motion devices has made it possible to quantify intensities during training sessions and real competition in soccer.

Comparison and correlation of cervical proprioception and muscle endurance in general joint hypermobility participants with and without non-specific neck pain-a cross-sectional study.

BackgroundCervical proprioception and muscle endurance are essential for maintaining cervical functional joint stability. Proprioception and muscle endurance may be impaired in those with general joint hypermobility (GJH). Examining these aspects is crucial. This study’s aims are to (1) compare the cervical joint position error (JPE) and muscle endurance holding capacities in GJH individuals with and without non-specific neck pain (NSNP) (2) to assess the relationship between hypermobility Beighton scores, cervical JPE’s, and muscle endurance in GJH individuals with and without NSNP.MethodsIn this cross-sectional comparative study, 33 GJH participants with NSNP (mean age 21.7 ± 1.8 years) and 35 asymptomatic participants GJH (mean age 22.42 ± 1.7 years) participated. Beighton’s score of ≥4 of 9 tests was used as criteria to diagnose GJH. Cervical JPEs were estimated in degrees using a cervical range of motion device, and muscle endurance (flexor and extensor) were estimated in seconds using a stopwatch.ResultsGJH participants with NSNP showed significantly larger cervical JPEs (p < 0.001) and decreased muscle endurance holding times (p < 0.001) compared to asymptomatic participants. Beighton hypermobility scores showed a significant moderate positive correlation with cervical JPEs (flexion: r = 0.43, p = 0.013), left rotation: r = 0.47, p = 0.005, right rotation: r = 0.57, p = 0.001) in NSNP individuals. Also, Beighton hypermobility scores showed a moderate negative correlation with muscle endurance in NSNP (flexor muscles: r = −0.40, p = 0.020, extensor muscles: r = −0.41, p = 0.020, and asymptomatic individuals (flexor muscles: −0.34, p = 0.045, extensor muscles: r = −0.45, p = 0.007).ConclusionGJH individuals with NSNP showed increased cervical JPEs and reduced muscle endurance compared to asymptomatic. Individuals with GJH with higher Beighton scores demonstrated increased cervical JPEs and reduced neck muscle endurance holding ability. In clinical practice, therapists should be aware of these findings, incorporate proprioceptive and muscle endurance assessments, and formulate rehabilitation strategies for NSNP individuals with GJM.

Interexaminer Reliability and Validity of Quantity of Cervical Mobility during Online Dynamic Inspection.

Background: Physical therapists routinely measure range of motion (ROM) of cervical spine. The reliability of the cervical range of motion (CROM) device has been demonstrated in several studies, but current evidence on the validity and reliability of the visual inspection is contradictory. The aim is to assess the validity and interexaminer reliability of the online visual inspection of active cervical ROM in physiotherapy students. Methods: Flexion, extension, both lateral flexions and rotations of a single participant were measured using CROM. Online visual inspection of 18 physiotherapy students against CROM was registered. Results: The validity, against CROM, of the online visual inspection of the active ROM ranged from good to excellent (Intraclass Correlation Coefficient (ICC) 0.83–0.97). Interexaminer reliability of the online visual inspection had favorable outcomes in all cervical movements in the three physiotherapy courses (ICC 0.70–0.96), with the visual inspection of the rotations being the most reliable (ICC 0.93–0.97). Interexaminer reliability of the classification of mobility was poor to good (Kappa 0.03–0.90). Conclusions: The interexaminer reliability and validity of the quantification of active cervical movement during online visual inspection was shown to be good to excellent for flexion-extension and lateral flexions and excellent for rotations.

Prototype of a Continuous Passive Motion Device for the Knee Joint with a Function of Active Exercise

In this study, an active exercise function was added to a continuous passive motion device, which is widely used in rehabilitation therapy for function enhancement. The objective is to reduce physical overwork on the part of physical therapists and promote self-rehabilitation in patients. Impedance control based on position control was applied to provide active exercise load. Various active exercise loads are required to reproduce daily life muscle activity. Accordingly, a friction load model was introduced in the impedance control system. The effects of increasing the types of active exercise loads were evaluated by analysis of muscle activity during experimental tests, and a new muscle activity that could not be attained by the conventional spring-mass-damper load model was confirmed.

A comparative analysis of two immersive virtual reality systems in the integration and visualization of natural hand interaction

It is generally accepted that the use of natural interaction provides a positive impact in Virtual Reality (VR) applications. Therefore, it is important to understand what is the best way to integrate and visualize this feature in VR. For this reason, this paper presents a comparative study of the integration of natural hand interaction in two immersive VR systems: a Cave Audio Visual Experience (CAVE) system –where users’ real hands are visible– and a non-see-through Head-Mounted Display (HMD) system –where only a virtual representation of the hands is possible–. In order to test the suitability of using this type of interaction in a CAVE and compare it to an HMD, we raise six research questions related to task performance, usability and perception differences regarding natural hand interaction with these two systems. To answer these questions, we designed an experiment where users have to complete a pick-and-place task with virtual balls and a text-typing task with virtual keyboards. In both systems, the same tracking technology, based on a Leap Motion device, was used. To the best of our knowledge this is the first academic work addressing a comparison of this type. Objective and subjective data were collected during the experiments. The results show that the HMD has a performance, preference and usability advantage over the CAVE with respect to the integration of natural hand interaction. Nevertheless, the results also show that the CAVE system can be, as well, successfully used in combination with an optical hand tracking device.

Modulus adaptive lubricating prototype inspired by instant muscle hardening mechanism of catfish skin

In nature, living organisms evolve unique functional components with mechanically adaptive compatibility to cater dynamic change of interface friction/lubrication. This mechanism can be used for developing intelligent artificial lubrication-regulation systems. Inspired by the muscle hardening-triggered lubrication of longsnout catfish, here we report a modulus adaptive lubricating hydrogel prototype consisting of top mucus-like hydrophilic lubricating layer and muscle-like bottom hydrogel that can stiffen via thermal-triggered phase separation. It exhibits instant switch from soft/high frictional state (~0.3 MPa, μ~0.37) to stiff/lubricating state (~120 MPa, μ~0.027) in water upon heating up. Such switchable lubrication is effective for wide range of normal loads and attributed to the modulus-dominated adaptive contact mechanism. As a proof-of-concept, switchable lubricating hydrogel bullets and patches are engineered for realizing controllable interface movements. These important results demonstrate potential applications in the fields of intelligent motion devices and soft robots.

Photon-Counting Detector CT-Based Vascular Calcium Removal Algorithm: Assessment Using a Cardiac Motion Phantom.

ObjectivesThe diagnostic performance of coronary computed tomography angiography is known to be negatively affected by the presence of severely calcified plaques in the coronary arteries. In this article, the performance of a novel image reconstruction algorithm (PureLumen) based on spectral CT data of a first-generation dual-source photon-counting detector computed tomography (PCD-CT) system was assessed in a phantom study. PureLumen tries to remove only the calcified contributions from the image while leaving the rest unmodified.Materials and MethodsThe study uses 2 iodine contrast filled vessel phantoms (diameter 4 mm) filled with different concentrations of iodine and equipped with calcified stenosis inserts. Each phantom features 2 separate calcified lesions of 25% and 50% percentage diameter stenosis (PDS) size. The vessel phantoms were mounted inside an anthropomorphic thorax phantom attached to an artificial motion device, simulating realistic cardiac motion at heart rates between 50 beats per minute and 100 beats per minute. Acquisitions were performed using a prospectively electrocardiogram triggered dual-source sequence mode on a PCD-CT system (NAEOTOM Alpha, Siemens Healthineers). Images were reconstructed at 80% of the RR interval with virtual monoenergetic images (Mono) and with additional calcium-removal (PureLumen), both at 65 keV. PureLumen is based on a spectral base material decomposition into iodine and calcium, which aims to reconstruct images without calcium contributions, while leaving all other material contribution unchanged. Stenosis grade was assessed individually for each vessel insert in all reconstructed image series by 2 readers.ResultsThe measured median PDS values for the 50% lesion were 56.0% (52.0%, 57.0%) for the Mono case and 50.0% (48.5%, 51.0%) for PureLumen. The 25% lesion median PDS values were 36.0% (29.5%, 39.5%) for Mono and 31.5% (30.5%, 34.0%) for PureLumen. Both lesion sizes demonstrate a significant difference between Mono and PureLumen in their result (P < 0.05) with PureLumen median values being closer to the actual true stenosis size for the 50% and 25% lesion. A visual assessment of the image quality depending on the heart rate yielded good image quality up to a heart rate of 80 beats per minute in the PureLumen case.ConclusionsThis phantom study shows that a novel calcium-removal image reconstruction algorithm (PureLumen) using a first-generation dual-source PCD-CT effectively decreases blooming artifacts caused by heavily calcified plaques and improves image interpretability. It also shows that PureLumen retains its performance in the presence of motion with simulated heart rates up to 80 beats per minute. Future in vivo clinical studies are needed to confirm the benefits of this type of reconstruction in terms of coronary computed tomography angiography quality and accuracy.

Monolithic Fabrication of Mechatronic Devices in Additive Manufacturing with Multi-materials including Composite of Metal Wire and Shape Memory Polymer

Additive Manufacturing has an advantage in manufacturing monolithic fabrication. In this paper, a motion device by monolithic fabrication using Nichrome wire and Shape Memory Polymer (SMP) is proposed. The device is fabricated with Fused Filament Fabrication (FFF) using the wire-included filament, which was originally developed in author’s laboratory. The motion tests of device were conducted and the results showed that the device can be used to handle a soft object.

Development of a range of motion device for ankle joints and its operation test

We have developed a passive range of motion (ROM) exercise device for the ankle joints. We applied a pneumatic soft actuator as the drive source. Since the soft actuator has an inflatable structure using flexible materials, it operates with compressed air. In this device, the ankle joint is moved passively by pressing the toes and heels with the actuator. In addition to plantarflexion and dorsiflexion, the device aims to provide supination and pronation that existing equipment cannot provide. In this research, in order to subjectively evaluate the performance of the prototype device, we conducted an operation test on 13 healthy adults.

Development, Control Adjustment, and Gesture Recognition of a Quadrotor Helicopter

Quadrotor helicopters (quadcopters) have become popular in recent years; because they are simple to operate and steady, they are used in aerial photography, competitive flying, and search-and-rescue missions. In addition, wireless sensors have enabled gesture recognition, and therefore, this study investigated the use of gesture recognition to control a quadcopter. A quadcopter was built using Arduino NANO and MPU-6050 modules, which provided insights into the flight principles of a quadrotor system; furthermore, a proportional integrative derivative controller was modified for steady flight. A Leap Motion device was used to understand the logic behind hand gestures and test the success rate of each gesture, and was then combined with a Parrot AR.Drone 2.0 to achieve gesture recognition controls and uncover problems with connections between hand gestures. These problems were addressed by changing the code in the gesture control program. The results of the completed gesture control experiment demonstrated high gesture recognition performance as well as the ability to meet the requirements for controlling a quadcopter.

Development of a passive exercise device to turn the forearm pronation and supination using pneumatic soft actuators

The symptoms of joint range of motion limitation make life difficult and aggravate quality of life. Usually, physical therapists provide rehabilitation training to prevent it. In this study, we have developed a passive motion device for pronation and supination of the forearm. This paper describes the prototype and the evaluation test of the device. We used a pneumatic soft actuator that can press directly on the affected area to develop the device. The pneumatic soft actuator consists of aluminum laminate films and an air supply tube. The device performs these motions for the forearm by the actuator directly pushing the wrist. In the evaluation test, the force generated by the pneumatic soft actuator was measured and we had a questionnaire about performance of the device from 10 subjects. The all subjects were able to perform passive movements of internal and external rotation of the arms. The tests also revealed that the device could allow the subjects to move otherwise from 60% to 80% of their reference range of motion.