Passive Joint Research Articles

Early pain findings in infants with brachial plexus birth injury: Relationship with function and comorbidities, and cut-off point for fractures

BackgroundInfants with birth brachial plexus injury (BPBI) may have various comorbidities such as fractures, torticollis, plagiocephaly, central nervous system disorders. In infants with BPBI, it is important to identify fractures, which are common among comorbidities, objectively assess pain, and investigate factors that may be associated with pain. AimThe aim of this study is to determine the pain level, comorbidities, and motor function in infants with BPBI and to examine the relationship between these parameters. The second aim is to determine the cut-off value of the pain score that may be a sign of fracture in patients with BPBI, in order to suspect and predict a fracture in the shoulder region and to request additional examinations. Subjects and measurements59 infants with BPBI aged 15–90 days were included in the study. Comorbidities, active joint movements, and total upper extremity function assessed with the Active Movement Scale and pain scores measured with the FLACC Pain Scale were retrospectively analyzed. In addition, pain, comorbidities and motor function were investigated according to types of Narakas, which indicates the degree of nerve injury. ResultsOf the 59 participants, 18 (30.5 %) had at least one comorbidity and 12 (20.3 %) had fractures. The number of comorbidities (p = 0.41), the number of fractures (p = 0.84), and the level of pain (p = 0.71) did not differ by types of Narakas. There was a moderate negative correlation between pain level and upper extremity motor function in upper trunk injuries (p < 0.5, −0.67 < r < −0.46). There was a difference in pain level measured by palpation (p < 0.01) and passive joint movement (p < 0.01) in infants with and without comorbidities. To suspect a fracture in the shoulder region and to request further evaluation, the cut-off value of the Flacc pain level, which may predict a fracture, was 3.5 points for palpation and passive shoulder abduction and 4.5 points for passive external rotation. ConclusionThis is the first study in the BPBI to measure pain in infants using a quantifiable and widely used assessment. Pain level was ranked from high to low as infants with fractures, infants with comorbidities other than fractures and infants without comorbidities. Increased pain adversely affects motor function and pain above the cut-off values is a predictor of fracture.

The Pericoracoid Tissue Release in Children With Brachial Plexus Birth Injury

In brachial plexus birth injury (BPBI), children with upper trunk injuries have multidirectional movement deficits, including global abduction and hand-to-neck, hand-to-abdomen, and hand-to-spine movements. The aim of this study was to evaluate the results of pericoracoid tissue release and postoperative structured physiotherapy as a first-step intervention to reduce the multidirectional movement deficit in children with BPBI. Thirty-four children with BPBI underwent pericoracoid tissue release, including coracohumeral and coracoacromial ligament release, pectoralis minor release, and coracoid process osteotomy. Patients were followed up with regular physiotherapy and a home exercise program for 1 year after surgery. Before surgery and at 3 and 12 months after surgery, upper-extremity function was measured using the modified Mallet classification and Active Movement Scale, passive shoulder and elbow joint movements were measured using goniometry, and the difference in the distance between the treatment table and the acromion was measured. There was an improvement in all movement tasks evaluated with modified Mallet classification, and there was increased shoulder flexion, abduction, and external and internal rotation movements as evaluated with Active Movement Scale. Increased passive joint movements were noted in abduction, external rotation, and internal rotation movements with the arm next to the body and with the limb in 90° abduction. There was a decrease in the distance difference between the acromion and the treatment table between both sides. Pericoracoid tissue release provided multidirectional improvement in shoulder joint movements in children with BPBI. Therapeutic IV.

Development of Self-Powered Prosthetic Finger with Pneumatic Passive Joints for Distal Interphalangeal Joint Amputees

Myoelectric prosthetic hands and fingers with grasping functions have challenges such as weight, cost, and grasping performance of flexible objects owing to the use of electric actuators. To resolve these problems, we propose a self-powered movable prosthetic finger using pneumatic pressure. This prosthetic finger utilizes the flexion/extension of the remaining finger of the user to drive a wire and flex or extend the finger joints. The use of a tendon (wire) and belt drives reduces the space occupied by the prosthetic finger unit compared with conventional linked prosthetic fingers. Furthermore, a sealed-air bellows is used for the joint for flexible grasping owing to passive variable-compliance and damping, which is impossible with only a tendon drive. These features have resulted in the stable grasping of various objects that are difficult to grasp using prosthetic fingers based on conventional technologies.

Exploration of the triceps surae muscle in ambulatory children with cerebral palsy using instrumented measurements of stiffness and diffusion tensor magnetic resonance imaging for muscle architecture

BackgroundMusculoskeletal alterations causing reduced range of motion of the ankle joint are common in children with cerebral palsy (CP). Objective measurements of passive joint resistance and three-dimensional skeletal muscle volume and muscle architecture can lead to a comprehensive understanding of which factors influence joint range of motion.Research questionTo investigate the relation between the passive dorsiflexion of the ankle joint, biomechanical contributing factors to the passive joint resistance, and muscular architectural properties of the triceps surae muscle in children with CP.MethodsIn this cross-sectional observational study, 14 children with spastic CP (bilateral: 5, unilateral: 9, Gross Motor Function Classification System (GMFCS) level I:11, II:3) naïve to intramuscular tone reducing treatment, and 14 TD children were included. The passive dorsiflexion of the ankle was measured with a goniometer. Passive joint resistance and related parameters were estimated based on a biomechanical model and measurements using a motorized device, the Neuroflexor. Three-dimensional muscle architecture was quantified with diffusion tensor magnetic resonance imaging (DT-MRI).ResultsIn the CP group, the median [min, max] passive dorsiflexion was decreased in the most affected leg (MAL) compared to the less affected leg (LAL) (2.5° [-25°, 20°] vs. 12.5° [5°, 30°], p = 0.001). The stiffness coefficient (Nm/rad) in the MAL was significantly higher in children with CP compared to TD children (7.10 [3.39, 62.00] vs. 2.82 [1.24, 10.46], p = 0.015). Muscle architecture properties did not differ between CP and TD, except for pennation angle in the medial gastrocnemius (MG) of the MAL (CP 17.64° (2.29) vs. TD 21.46° (3.20), p = 0.017). The stiffness coefficient, in the MAL, correlated negatively to passive dorsiflexion (rs=-0.638) and pennation angle in medial gastrocnemius (rs=-0.964), and the non-linear coefficient (Non-linear 1) correlated negatively to the fascicle length of the medial gastrocnemius (rs=-0.857).ConclusionThis study shows that stiffness of the plantarflexors is related to decreased passive dorsiflexion of the ankle and muscle structure of the MG in high-functioning children with spastic CP. Assessments of how dynamic components as well as microscopic muscle alterations contribute to joint stiffness in the plantarflexors in individuals with CP are warranted.Trial registrationRetrospectively registered in ClinicalTrials.gov, NCT05447299. Observational study. Study start: 2019-01-15, register date: 2022-07-01.

Combination of motor, sensory and affective tasks in an EEG paradigm for children with developmental disabilities

Individuals with neurodevelopmental disorders exhibit overlapping emotional, somatosensory and motor deficits. Although brain processes underlying these impairments have been extensively studied in a separate way, the brain interaction of these inputs is an innovative line of research. Here we present a new EEG methodology for exploring the interactive brain activity of sensorimotor and affective stimuli. The task consists in presenting affective stimuli of different modalities (e.g. affective pictures, affective touch) while simultaneously an arthromotor performs passive joint movements, unseen by the participant. Participants were then required to press one of two buttons to indicate if their joint position agreed with a picture shown in a screen. Pilot data of electroencephalography recordings revealed distinct somatosensory event-related potentials (SEP) when movement was subsequent to affective stimuli, compared to neutral stimuli, as well as a differentiation of SEPs for different neurodevelopmental conditions. Behavioral responses further showed that children with cerebral palsy had more errors to identify their hand position when they were exposed to affective stimuli. This paradigm is a valuable tool to explore the modulative influence of emotion in the sensorimotor brain processing of different populations with joint emotional and sensorimotor impairments, such as children with neurodevelopmental disorders or patients with stroke.•This method allows exploring the interaction between affective and sensoriomotor inputs in an EEG paradigm.

An Aerial Robot Achieving Bimodal Flight and Independent Attitude Control through Passive Morphing

Enhancing the adaptability and versatility of unmanned micro aerial vehicles (MAVs) is crucial for expanding their application range. In this article, a bimodal reconfigurable robot capable of operating in both regular quadcopter flight mode and a unique revolving flight mode is presented, which allows independent control of the vehicle's position and roll‐pitch attitude. This design incorporates passive revolute joints that enable seamless mid‐air transitions between the two modes, facilitated by centrifugal forces, without the need for additional actuators. In the regular mode, the robot operates with four vertical propellers, similar to conventional designs. In the revolving mode, the configuration shifts to two horizontal and two vertical propellers, achieving five degrees of freedom control with four actuators. This underactuated flight capability is made possible by exploiting the robot's fast revolving motion and the resulting cycle‐averaged forces and torques. Experimental validations confirm the feasibility and enhance the maneuverability of this design. The revolving flight mode provides significant advantages in applications such as mapping and confined space navigation.

Identification of physically consistent dynamics parameter of the ABB IRB 360-6/1600 delta robot and its use for time-optimal motion planning under consideration of constraint forces

Model-based control schemes, forward dynamics simulations, constraint force computation and time-optimal motion planning have one major thing in common, they all depend on the dynamics parameters of the system. Physical consistency of the dynamics parameters ensures a positive definite mass matrix and correct constraint forces. The most common inverse dynamics identification method – the base-parameters – lack physical consistency. This paper proposes an identification method to identify physically consistent dynamics parameters for Delta-like robots while further showing the effects of friction in passive joints. A tailored model to compute the crucial constraint forces appearing in the mechanism based on the identified dynamics parameters is derived. This model is used to additionally consider constraint forces besides actuation torques for time-optimal motion planning of a typical pick and place task. This is done without any prior CAD data of the robot from the manufacturer.

The Design of the Dummy Arm: A Verification Tool for Arm Exoskeleton Development.

Motorised arm supports for individuals with severe arm muscle weakness require precise compensation for arm weight and elevated passive joint impedance (e.g., joint stiffness as a result of muscle atrophy and fibrosis). Estimating these parameters in vivo, along with the arm's centre of mass, is challenging, and human evaluations of assistance can be subjective. To address this, a dummy arm was designed to replicate the human arm's anthropometrics, degrees of freedom, adjustable segment masses, and passive elbow joint impedance (eJimp). This study presents the design, anthropometrics, and verification of the dummy arm. It successfully mimics the human arm's range of motion, mass, and centre of mass. The dummy arm also demonstrates the ability to replicate various eJimp torque-angle profiles. Additionally, it allows for the tuning of the segment masses, centres of mass, and eJimp to match a representative desired target population. This simple, cost-effective tool has proven valuable for the development and verification of the Duchenne ARm ORthosis (DAROR), a motorised arm support, or 'exoskeleton'. This study includes recommendations for practical applications and provides insights into optimising design specifications based on the final design. It supplements the CAD design, enhancing the dummy arm's application for future arm-assistive devices.

Assistive technologies, including orthotic devices, for the management of contractures in adults after a stroke.

Contractures (reduced range of motion and increased stiffness of a joint) are a frequent complication of stroke. Contractures can interfere with function and cause cosmetic and hygiene problems. Preventing and managing contractures might improve rehabilitation and recovery after stroke. To assess the effects of assistive technologies for the management of contractures in adults after a stroke. We searched CENTRAL, MEDLINE, Embase, five other databases, and three trials registers in May 2022. We also searched for reference lists of relevant studies, contacted experts in the field, and ran forward citation searches. Randomised controlled studies (RCTs) that used electrical, mechanical, or electromechanical devices to manage contractures in adults with stroke were eligible for inclusion in this review. We planned to include studies that compared assistive technologies against no treatment, routine therapy, or another assistive technology. Three review authors (working in pairs) selected all studies, extracted data, and assessed risk of bias. The primary outcomes were passive joint range of motion (PROM) with and without standardised force, and indirect measures of PROM. The secondary outcomes included hygiene. We also wanted to evaluate the adverse effects of assistive technology. Effects were expressed as mean differences (MDs) or standardised mean differences (SMDs) with 95% confidence intervals (CIs). Seven studies fulfilled the inclusion criteria. Five of these were meta-analysed; they included 252 adults treated in acute and subacute rehabilitation settings. All studies compared assistive technology with routine therapy; one study also compared assistive technology with no treatment, but we were unable to obtain separate data for stroke participants. The assistive technologies used in the studies were electrical stimulation, splinting, positioning using a hinged board, and active repetitive motor training using a non-robotic device with electrical stimulation. Only one study applied stretching to end range. Treatment duration ranged from four to 12 weeks. The overall risk of bias was high for all studies. We are uncertain whether: • electrical stimulation to wrist extensors improves passive range of wrist extension (MD -7.30°, 95% CI -18.26° to 3.66°; 1 study, 81 participants; very low-certainty evidence); • a non-robotic device with electrical stimulation to shoulder flexors improves passive range of shoulder flexion (MD -9.00°, 95% CI -25.71° to 7.71°; 1 study; 50 participants; very low-certainty evidence); • assistive technology improves passive range of wrist extension with standardised force (SMD -0.05, 95% CI -0.39 to 0.29; four studies, 145 participants; very low-certainty evidence): • a non-robotic device with electrical stimulation to elbow extensors improves passive range of elbow extension (MD 0.41°, 95% CI -0.15° to 0.97°; 1 study, 50 participants; very low-certainty evidence). One study reported the adverse outcome of pain when using a hinged board to apply stretch to wrist and finger flexors, and another study reported skin breakdown when using a thumb splint. No studies reported hygiene or indirect measures of PROM. Only seven small RCTs met the eligibility criteria of this review, and all provided very low-certainty evidence. Consequently, we cannot draw firm conclusions on the effects of assistive technology compared with routine therapy or no therapy. It was also difficult to confirm whether there is a risk of harm associated with treatment using assistive technology. Future studies should apply adequate treatment intensity (i.e. magnitude and the duration of stretch) and use valid and reliable outcome measures. Such studies might better identify the role of assistive technology in the management of contractures in adults after a stroke.

Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion

Abstract Ground reaction forces (GRFs) are a critical component of legged locomotion, and controlling their direction leads to more stable, efficient, and robust performance. The novelty of this work is to studying passive proximal joint (hips/shoulders) compliance for the purpose of redirecting the GRF passively. Previous works have redirected the GRF actively or studied passive proximal joint compliance for purposes such as swing phase efficiency, but passive methods of stance-phase GRF redirection are under-developed. This paper analyzes the relationship between hip compliance and the GRF direction analytically and with simulations of a trotting quadruped. The results show increased GRF redirection, on average, with increased joint stiffness, for a range of cases. An example method of utilizing this relationship to improve locomotion performance is presented by simulating online compliance adaptation. By adapting the compliance parameter during locomotion, the cost of locomotion was reduced toward the known minimum within the parameter space explored. These results support the conclusion that adjusting the hip compliance provides a passive way of redirecting the GRF, which leads to improved locomotion performance. Other systems can utilize this knowledge to passively improve their own performance.

Validation of proprioception measures of the lumbar spine

BackgroundTo better personalize treatment and monitor recovery of individuals with low back pain, objective tests of sensorimotor functions, such as lumbar proprioception, must be selected based on their reliability and validity. The primary objective of this study was to test the concurrent validity of three measures of lumbar proprioception. MethodsThirty-one participants performed three lumbar proprioception tests (motion perception threshold, active and passive joint positioning sense), a whole-body mobility and balance (time up-and-go) and two trunk-specific postural control (threshold of stability and sensor-based sway measures) tests. ResultsOnly the motion perception threshold proprioception test showed some validity, correlating with the trunk-specific postural control tests [r range (positive values): 0.37 to 0.60]. The three lumbar proprioception measures were not correlated to each other. The threshold of stability measure was correlated with the time up-and-go (r = 0.37) and trunk-specific (sensor-based sway measures) postural control [r range (positive values): 0.48 to 0.77] tests. ConclusionThe present study generated three original findings. Only the motion perception threshold proprioception test demonstrated its concurrent validity. In fact, the three lumbar proprioception tests performed in the present study were not correlated to each other, thus assessing different constructs. Finally, the threshold of stability protocol was validated against other tests. These findings will help in selecting the most appropriate lumbar proprioception measures to study the effects of exercise treatments in patients with back pain.

Upper limb power-assist wearable robot for handling repetitive medium- to low-weight loads in daily logistics tasks

In this study, we developed an upper-limb power-assisted wearable robot designed to reduce the burden of handling repetitive medium- to low-weight loads for daily logistics workers, thereby enhancing their work efficiency and overall safety. This study proposes a practical wearable robot with a well-designed structure for effectively supporting pick-and-place tasks at waist-to-shoulder height by applying a vertical force directly to the wearer’s wrist. The proposed robot features two active joints that are minimal for vertical assistance, resulting in a lightweight and compact structure. It offers six degrees of freedom per arm, including four passive joints, allowing free end-effector movement. Designed to connect only to the wearer’s wrist, the robot’s linkage is positioned along the wearer’s arm, not requiring alignment with the human–robot joint center, making it easy to wear and having a simple structure. This paper presents a method for calculating the joint torque that accounts for the deformation of the robot’s lightweight and slim links. This approach enhances the gravity compensation accuracy, and the proposed method demonstrates a lower RMS error compared to calculations based on the statics of the rigid link model. Experimental results demonstrated that the robot allowed for a wide range of motion and consistently applied an assistive force of 2 kgf per arm, facilitating the handling of objects weighing several kilograms.

Dynamics, stability and bifurcations of a planar three-link swimmer with passive visco-elastic joint using “ideal fluid” model

Articulated swimming robots have a promising potential for various marine applications. A common theoretical model assumes ideal fluid, where the viscosity is negligible and the swimmer–fluid interaction is induced by reactive forces originating from added mass effect. Some previous works used this model to study planar multi-link swimmers under kinematic input prescribing all joint angles. Inspired by biological swimmers in nature that utilize body flexibility, in this work we consider an underactuated three-link swimmer where one joint is periodically actuated while the other joint is passive and viscoelastic. Analysis of the swimmer’s nonlinear dynamics reveals that its motion depends significantly on the amplitude and frequency of the actuated joint angle. Optimal frequency is found where the swimmer’s net displacement per cycle is maximized, under symmetric periodic oscillations of the passive joint. In addition, upon crossing critical values of amplitude or frequency, the system undergoes a bifurcation where the symmetric periodic solution loses stability and asymmetric solutions evolve, for which the swimmer moves along an arc. We analyze these phenomena using numerical simulations and analytical methods of perturbation expansion, harmonic balance, Floquet theory, and Hill’s determinant. The results demonstrate the important role of parametric excitation in stability and bifurcations of motion for flexible underactuated locomotion.

Path-following Control of a Snake Robot With Multiple Passive Joints

Path-following Control of a Snake Robot With Multiple Passive Joints

Mechanical design and kinematic performance of an anthropomorphic shoulder rehabilitation exoskeleton

Shoulder rehabilitation exoskeleton is a mechanical device to assist stroke patients in rehabilitation training, remodeling patients' neurological function by strengthening the muscles and promoting the recovery of shoulder function. At present, there are problems such as insufficient degree of freedom (DOF), insufficient overall range of motion (ROM), presence of passive joints, lack of the support of scapulohumeral rhythm (SHR), and poor kinematic synergy with the shoulder. This paper designs a 5-DOF shoulder rehabilitation exoskeleton based on the anatomical structure of the human shoulder and its motion characteristics, takes the 2-DOF shoulder girdle mechanism and the 3-DOF ball and socket mechanism as the main body taking into account the ergonomic factors in design, which ensures the synergistic motion with the patient's shoulder and provides the patient with a wide ROM. After setting up the drive and control system, this paper completes the prototype of the exoskeleton, furthermore, this paper describes the range of motion and kinematic synergy test. ROM tests and kinematic synergy experiments are conducted to evaluate the kinematic performance of this shoulder exoskeleton. The experimental results indicate that the shoulder exoskeleton prototype offers a high level of kinematic synergy with the wearer throughout a broad ROM.

An overactuated aerial robot based on cooperative quadrotors attached through passive universal joints: Modeling, control and 6-DoF trajectory tracking

This article discusses a novel aerial robot architecture that overcomes the underactuation of conventional multirotor systems without adding dedicated rotor tilting actuators. The proposed system is based on four quadrotors cooperatively carrying a central body to which they are attached through passive universal joints. While conventional parallel axis multirotors are underactuated, the proposed mechanism makes the system overactuated, enabling independent position and orientation control of the main body. This implies that the payload can be carried in the minimum drag orientation, it enables take-off and landing on inclined surfaces and it provides thrust-vectoring capabilities to the system, leading to high control authority. A detailed dynamic model is derived making use of Lagrangian formalism and a hierarchical control law based on such model is proposed to stabilize the system. This control law is designed to ensure good tracking while minimizing power consumption. The proposed control law and the capabilities of the architecture are evaluated in simulation and in outdoor experimental flights, where the aerial robot shows autonomous tracking of the six degrees of freedom (DoF) of the main body, an inherently unfeasible maneuver for conventional underactuated multirotors.

Motion design of a pipe cleaning snake robot with a long brush

ABSTRACT We present a snake robot that has a long brush and a movement of the robot to clean the entire inner pipe walls. The snake robot is composed of two parts; the cleaning part which touches the long brush to the pipe wall and the pulling part which pulls the brush while generating slips. The two parts are connected by a passive roll joint and the two parts are twisted at different velocities respectively. In order to clean the entire pipe wall, we estimate a condition in which uncleaned areas are most likely to occur through preliminary experiments and adjust the rolling velocities of the cleaning part and the pulling part so that the brush cleans the entire pipe wall. The effectiveness of the proposed method was verified by simulations and experiments using the robot. We confirmed that the robot moved while slipping in the pipe axis direction and the robot cleaned the pipe wall at a high cleaning rate.

Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator

Abstract In this paper, a spherical parallel continuum manipulator (SPCM) which is the flexible version of the 3-RRR“Agile Eye” mechanism is proposed and analyzed. The SPCM consists of three parallel flexible limbs, each limb is formed by compliant truncated cone elements, and the moving platform connects each limb with a passive revolute joint. Three servo motors are used to control the manipulator actively, and the spherical motion is realized by the coupled large deflections of the flexible links. An equivalent compliance analysis method of the element is developed based on finite element analysis and principal axis decomposition. By combining all three limbs, the kinetostatics model of the whole manipulator is derived, and a gradient iteration algorithm is developed to solve the forward and inverse kinetostatics. Finally, a prototype of the manipulator is constructed using 3D-printing technology, and the accuracy for element equivalence and end-effector characteristics is validated by experiments. The results show that the derived kinetostatics model can accurately describe the force–deflection behavior of the SPCM.

Design and analysis of a mobile robot with novel caster mechanism for high step-overcoming capability

The mobile robot market is experiencing rapid growth, playing a pivotal role in various human-centric environments like restaurants, offices, hotels, hospitals, apartments, and factories. However, current differential-driven mobile robots, employing conventional casters and wheel motors, encounter limitations in surmounting uneven surfaces and high steps due to constraints caused by wheel and caster dimensions. While some robots address these challenges by incorporating optimized wheel shapes and additional motors, this invariably leads to an increase in both size and cost. This research introduces an innovative solution; a novel caster-wheel mechanism designed to enhance the high-step overcoming capability of mobile robots without necessitating alterations to their overall size and structure. By incorporating a sub-wheel linked to a passive joint, the driving force is effeciently converted into a vertical force, thereby empowering the mobile robot to navigate obstacles 85% larger than its caster-wheel radius. Crucially, this innovative caster can be seamlessly manufactured and integrated, offering the potential for widespread adoption as a replacement for conventional casters. Validation through comprehensive simulations and experiments conducted on a prototype robot has been presented in this article, demonstrating its effectiveness even at a robot velocity of 0.1 m/s. This pioneering solution holds significant promise for diverse applications across various mobile robot configurations, presenting a compelling avenue for further exploration and implementation in the field.

Design and Development of Automated Lower Limb Continuous Passive Motion (CPM) Machine

Abstract: Post-operative rehabilitation is critical in orthopedic surgery, especially for hip joint surgeries. Traditional therapies like manual exercises and resource limits in rehabilitation centers might be tough, but early mobilization and rehabilitation are critical for regaining joint function and allowing patient return to normal activities. Continuously Passive Motion (CPM) devices, primarily developed for knee joint rehabilitation, offer a non-invasive method for passive joint mobility, restoring joint range of motion and lowering post-operative stiffness risk. Their application in hip joint healing is gaining pace, offering better results and increased patient satisfaction. The research also investigates abduction mobility in the hip joint, which is necessary for daily actions like stepping to the side, getting out of bed, or exiting a car. Understanding hip joint biomechanics and range of motion parameters is vital for establishing efficient rehabilitation approaches. By merging clinical insights with technology innovations, this research intends to optimize post-surgery rehabilitation regimens, enhancing patient outcomes and quality of life. The subject of orthopedic rehabilitation continues to expand through interdisciplinary collaboration and innovation, bringing new choices for enhancing patient care and recovery trajectories.