Smooth Movements Research Articles

A Whole-Body Coordinated Motion Control Method for Highly Redundant Degrees of Freedom Mobile Humanoid Robots

Humanoid robots are becoming a global research focus. Due to the limitations of bipedal walking technology, mobile humanoid robots equipped with a wheeled chassis and dual arms have emerged as the most suitable configuration for performing complex tasks in factory or home environments. To address the high redundancy issue arising from the wheeled chassis and dual-arm design of mobile humanoid robots, this study proposes a whole-body coordinated motion control algorithm based on arm potential energy optimization. By constructing a gravity potential energy model for the arms and a virtual torsional spring elastic potential energy model with the shoulder-wrist line as the rotation axis, we establish an optimization index function for the arms. A neural network with variable stiffness is introduced to fit the virtual torsional spring, representing the stiffness variation trend of the human arm. Additionally, a posture mapping method is employed to map the human arm potential energy model to the robot, enabling realistic humanoid movements. Combining task-space and joint-space planning algorithms, we designed experiments for single-arm manipulation, independent object retrieval, and dual-arm carrying in a simulation of a 23-degree-of-freedom mobile humanoid robot. The results validate the effectiveness of this approach, demonstrating smooth motion, the ability to maintain a low potential energy state, and conformity to the operational characteristics of the human arm.

Temporal characteristics of foot rollover of amputee walking gait when using an Energy Storage and Return prosthesis.

Energy Storage and Return (ESAR) prosthetic feet provide improved walking when compared with previous designs. However, it may not mimic the unimpaired smooth and progressive movement of the foot on the floor (foot rollover). To characterize the temporal foot rollover of participants with unilateral transtibial amputation using an ESAR prosthetic foot. Cross-sectional. Plantar pressure data were collected from 11 participants with unilateral transtibial amputation using ESAR prostheses (2 females, mean age 37 ± 10 years, activity levels K2-K4) and 9 unimpaired participants (3 females, mean age 33 ± 10 years). The Initial Contact, Final Contact, and Total Contact times of 7 areas of the feet (unimpaired, intact, and prosthetic feet) were studied together with the duration of the Heel Rocker, Ankle Rocker, and Forefoot Rocker. Results were compared using a mixed analysis of the variance test. Statistical analysis revealed an interaction (P < 0.05) between foot and areas. The contact times were different (P < 0.05) between unimpaired and prosthetic feet for most foot areas. Furthermore, the prosthetic foot showed the longest duration of Heel Rocker (21.1 ± 8.5% of stance phase vs. 17.7 ± 10.2% for the intact foot and 15.7 ± 8.8% for the unimpaired feet, P < 0.05) and the shortest duration of Ankle Rocker (43.8 ± 18.1% vs. 47.2 ± 16.9% for the intact foot and 50.0 ± 13.4% for the unimpaired feet, P < 0.05). Results suggest that the ESAR foot does not mimic the unimpaired foot rollover, especially in the contact pattern and the heel and ankle rockers. This might have an impact on efficiency and stability of gait.

An effective path planning approach for robot welding considering redundant kinematics

Robot welding with redundant kinematics demands precise coordination of the welding path and redundant axis motion for stable operation. This paper introduces an effective G3 continuous path planning approach for a 6-DOF friction stir welding robot, integrating redundant axis motion to enhance welding stability and quality. The method encompasses a two-pronged strategy: a five-axis path corner smoothing technique and a motion synchronization strategy. Initially, a robust toolpath preprocessing algorithm is presented to mitigate curvature extremities of the inserted smoothing curves within predefined error limits. Subsequently, leveraging G3 continuity criteria, a B-spline-based smoothing method is advanced for refining tool position and orientation paths, with an analytical determination of spline control points facilitated by an explicit smoothing error expression. An effective motion synchronization technique is then proposed, which formulates the tool position, tool orientation, and redundant axis path as explicit functions of the position path arc length. The effectiveness of the proposed method is demonstrated through simulations and experiments on a robot welding platform, with the integration of a jerk-continuous feedrate profile for smooth motion execution. The findings indicate a significant improvement in robotic welding quality by integrating the proposed path planning method with existing workpiece posture optimization techniques.

Flexible pressure capacitor sensor based on polyurethane

Vehicles detection on the roads can aid in developing an intelligent transportations system that allows smooth movement while also reducing road accidents. There hasn't been a polymer flexible sensor with a low cost for vehicle detection till now. A polyurethane substance was sandwiched between aluminum top/bottom electrodes to create a vehicle sensor. The sensing mechanism relied on capacitance fluctuations caused by altering the electrode space when an external pressure was applied. The response was recorded at a pressure load of 0.60 MPa, equivalent to the pressure exerted by an automobile tire's contact area with the road. Due to its dimensions and mechanical adaptability, the sensor was exceptionally easy to install on the roadway. The sensor was embedded in the road and driven over to conduct a field test. Additionally, the signal from the tablet suggested that the sensing device could be used to wirelessly determine the axle, weight, and speed of an automobile while it is moving. The results show that, as a low-cost vehicle detector, the flexible pressure sensor might prove to be a helpful instrument for intelligent transportation management going forward.

A crawling robot with temperature-controlled variable stiffness feet: strong surface adaptability

Abstract Existing soft robots have not shown the same level of adaptability on diverse terrains when compared to natural animals that possess variable stiffness characteristics. In this paper, utilizing the mutual transformation between the glassy and molten states of rosin materials, temperature-controlled variable stiffness feet (TVSF) are achieved by filling the rosin into an array of soft cavity villi. A single motor is utilized as the vibration-driven actuator of the robot. It is found that the feet stiffness can be changed ranging from 0.6227 N/mm to 0.9611 N/mm, which has a significant impact on the robot’s velocity and follows a nonlinear relationship. A smooth motion surface requires a high-stiffness foot to provide support and stability for the robot, while a rough motion surface necessitates a low-stiffness foot to reduce friction and resistance allowing for quick movement for the driving voltage of 1.6 V. Furthermore, the TVSF enable stable operation on complex surfaces, including a 30°slope, pipes, and pothole surfaces. This research provides a new technological approach to designing and manufacturing variable stiffness robots with enhanced surface adaptability.

Laser powder bed fusion of porous 304SS samples for use in developing oil impregnated ball bearings

The ball bearing market is mature where there is a massive range of products available with new ones being developed all the time due to technological advancements. Additive Manufacturing (AM) provides a promising approach for developing oil-impregnated ball bearings. Oil impregnated bearings are critical for applications requiring smooth and low-friction motion. This study explores the feasibility of utilizing laser powder bed fusion (LPBF) technology to fabricate 304 stainless steel (304SS) samples with open pores, which can then be impregnated with a lubricant. To achieve this, 304SS powder was used, and optimum selective laser melting (SLM) printing parameters were altered to induce intentional pores. Initial screening of samples involved Archimedes density measurements and computed tomography (CT) scanning was conducted on a selected samples to assess their porosity levels. CT scan foam analysis results indicated a correlation between hatch spacing and porosity. Results revealed trends in cell volume and solidified scanning tracks thickness, indicating greater connectedness with larger pores. Synthesis of these findings could help in the development of efficient and reliable open pores that may find use in oil-impregnated self-lubricating ball bearings.

THE METHOD OF THE VEHICLE SUSPENSION SYSTEM DAMPING ELEMENT LOAD CHARACTERISTIC SYNTHESIZING

BACKGROUND. Nowadays the question of increasing the smoothness of running of vehicles is actual. The main way of solution is to carry out synthesis of design parameters of suspension systems. For carrying out such works and obtaining the most satisfactory characteristics new methods of synthesis of load characteristics of vehicle suspension devices are necessary. AIMS. The purpose of this work is to develop a new method of synthesizing the characteristic of the shock absorber of the vehicle suspension system. METHODS. The study solves the problem of controlling vibrations on their propagation paths by determining the required load characteristic of a vehicle suspension damping device. Analytical methods and simulation modeling methods are applied in the solution process. RESULTS. As a result of the work a new method based on the construction of the zone of permissible damping values and selection of the characteristic on its basis has been created. On the basis of the obtained method a number of nonlinear characteristics of the damping element of the primary system of vehicle suspension and selection of the most suitable one from the point of view of smoothness of motion were formed. CONCLUSIONS. As a result of the work a new method of synthesizing the damping characteristic of the shock absorber has been obtained. As a result of comparative evaluation the efficiency of the new method is confirmed. For the considered object of research the difference in smoothness of motion amounted to 25%.

Analysis and Experimentation on the Motion Characteristics of a Dragon Fruit Picking Robot Manipulator

Due to the complex growth positions of dragon fruit and the difficulty in robotic picking, this paper proposes a six degrees of freedom dragon fruit picking robot and investigates the manipulator’s motion characteristics to address the adaptive motion issues of the picking manipulator. Based on the agronomic characteristics of dragon fruit cultivation, the structural design of the robot and the dimensions of its manipulator were determined. A kinematic model of the dragon fruit picking robot based on screw theory was established, and the workspace of the manipulator was analyzed using the Monte Carlo method. Furthermore, a dynamic model of the manipulator based on the Kane equation was constructed. Performance experiments under trajectory and non-trajectory planning showed that trajectory planning significantly reduced power consumption and peak torque. Specifically, Joint 3’s power consumption decreased by 62.28%, and during the picking, placing, and resetting stages, the peak torque of Joint 4 under trajectory planning was 10.14 N·m, 12.57 N·m, and 16.85 N·m, respectively, compared to 12.31 N·m, 15.69 N·m, and 22.13 N·m under non-trajectory planning. This indicated that the manipulator operates with less impact and smoother motion under trajectory planning. Comparing the dynamic model simulation and actual testing, the maximum absolute error in the joint torques was −2.76 N·m, verifying the correctness of the dynamic equations. Through field picking experiments, it was verified that the machine’s picking success rate was 66.25%, with an average picking time of 42.4 s per dragon fruit. The manipulator operated smoothly during each picking process. In the study, the dragon fruit picking manipulator exhibited good stability, providing the theoretical foundation and technical support for intelligent dragon fruit picking.

Localization of Turn Points in the Rhythmic Movement of Sound Image

The localization of start and turn points in rhythmic sound movement created through the modeling of binaural beats (BB) was investigated. The BB-modeled broadband stimuli consisted of stationary initial and final segments with a section of cyclic motion between them. Spatial effects were induced by changes in the interaural time difference (ITD). During the experiment, subjects assessed the position of the movement trajectory ends or the position of reference points using a graphic tablet. It was discovered that the perception of rhythmic movement of the sound image was significantly influenced by the integrative ability of the binaural auditory system. The results indicated that with instantaneous switching between stationary segments, the perceived positions of the trajectory ends (start point and turn point) matched the positions of the reference points. Conversely, the smooth movement between the same extreme values showed a displacement of the trajectory ends: the turn points were localized further from the reference points compared to the start points, at all trajectory positions in space. Localization of the trajectory end crucially depended on the time that the sound had stayed near the turning point. These patterns were expressed stronger in the central area of the acoustic space compared to the periphery.

Skeleton-Driven Inbetweening of Bitmap Character Drawings

One of the primary reasons for the high cost of traditional animation is the inbetweening process, where artists manually draw each intermediate frame necessary for smooth motion. Making this process more efficient has been at the core of computer graphics research for years, yet the industry has adopted very few solutions. Most existing solutions either require vector input or resort to tight inbetweening; often, they attempt to fully automate the process. In industry, however, keyframes are often spaced far apart, drawn in raster format, and contain occlusions. Moreover, inbetweening is fundamentally an artistic process, so the artist should maintain high-level control over it. We address these issues by proposing a novel inbetweening system for bitmap character drawings, supporting both tight and far inbetweening. In our setup, the artist can control motion by animating a skeleton between the keyframe poses. Our system then performs skeleton-based deformation of the bitmap drawings into the same pose and employs discrete optimization and deep learning to blend the deformed images. Besides the skeleton and the two drawn bitmap keyframes, we require very little annotation. However, deforming drawings with occlusions is complex, as it requires a piecewise smooth deformation field. To address this, we observe that this deformation field is smooth when the drawing is lifted into 3D. Our system therefore optimizes topology of a 2.5D partially layered template that we use to lift the drawing into 3D and get the final piecewise-smooth deformaton, effectively resolving occlusions. We validate our system through a series of animations, qualitative and quantitative comparisons, and user studies, demonstrating that our approach consistently outperforms the state of the art and our results are consistent with the viewers' perception. Code and data for our paper are available at http://www-labs.iro.umontreal.ca/~bmpix/inbetweening/.

Postnatal maturation of serotonergic modulation of spinal RORβ interneurons in the medial deep dorsal horn.

Proprioceptive input is essential for coordinated locomotion and this input must be properly gated to ensure smooth and effective movement. Presynaptic inhibition mediated by GABAergic interneurons provides regulation of sensory afferent feedback. Serotonin not only promotes locomotion, but also modulates feedback from sensory afferents, both directly and indirectly, potentially by acting on the GABAergic interneurons that mediate presynaptic inhibition. Developmental disruptions in presynaptic inhibition can produce deficits in sensorimotor processing. Importantly, both presynaptic inhibition of proprioceptive afferents and serotonergic innervation of the spinal cord become mature and functional after the first postnatal week. However, little is known about the serotonergic receptors involved in the modulation of interneurons mediating presynaptic inhibition and when developmentally their actions mature. Here, we used whole-cell patch clamp recordings in lumbar spinal slices from neonatal and juvenile mice to assess the intrinsic properties and serotonergic modulation of deep dorsal horn GABAergic RORβ interneurons previously shown to mediate presynaptic inhibition of proprioceptive afferents. RORβ interneurons from juvenile cords displayed more mature membrane properties. Further, serotonin increased the excitability of RORβ interneurons via actions at 5-HT 2A , 5-HT 2B/2C , and 5-HT 7 receptors in juvenile but not early neonatal spinal cords. Our findings indicate that deep dorsal horn RORβ interneurons undergo postnatal maturation in both their intrinsic excitability and ability to respond to serotonin, concurrent with the maturation of serotonergic innervation of the dorsal horn. This information can prompt future targeted studies testing relationships between impairments of serotonergic development, proprioceptive processing disorders, and presynaptic inhibition mediated by RORβ interneurons.

Deep supercooling solidification towards tuned amorphous/nanocrystalline dual phases for superior magnetic nanocrystalline alloys

Nanocrystalline soft magnetic alloys featuring with amorphous-nanocrystalline dual-phase structure are critical for energy conversion and transportation at elevated frequencies. Their applications however, are refrained by limited saturation magnetic flux density (Bs) due to unavoidable addition of a considerable quantity of non-magnetic elements for glass forming ability (GFA). Furthermore, engineering of the amorphous-nanocrystalline microstructure is critical for the coercivity (Hc), which urges development of advanced approach. In this study, a deep supercooling solidification has been proposed, which not only promotes the formation of short-range packing and icosahedron/icosahedron-like structures for enhanced GFA, but also induces an optimized microstructure consisting of highly disordered amorphous matrix to facilitate nanograin refinement. Based on such strategy, Finemet-based nanocrystalline alloy with superior magnetic properties (Bs = 1.71 T, Hc = 5.0 A/m) has been achieved without additional glass forming element. Such superior performance is correlated to the unique magnetic domain structure involving straight domain walls and smooth movement. The deep supercooling strategy not only breaks the trade-off between the Bs and GFA to allow the design of nanocrystalline alloys with large ferromagnetic content, but also serves as an effective method for microstructure optimization for nanocrystalline alloys.

Different effects of smooth pursuit eye movements on motion-based stimulus response congruency.

In the motion-based stimulus-response compatibility (SRC) effect, responses are faster when the task-irrelevant stimulus motion is congruent with the response movement performance. In the present study, we tested whether smooth pursuit eye movements, related to tracking a moving object, influence motion-based SRC when present on their own or when combined with position-based SRC. We examined the motion-based SRC effect during both the response selection and response execution stages. When investigating motion-based SRC alone, participants responded with left or right movements of the single hand to the left or right movements of a centrally presented stimulus, either with their eyes fixated at the center or tracking the moving object. In the case of combined motion-based and position-based SRC, participants responded with left or right movements of the left or right hand to stimulus motion presented on the left or right side of the screen, again with eyes either fixated at the center or following the moving target. Results showed that during the response selection stage, smooth pursuit type eye movements had no effect on the motion-based SRC when the stimulus moved in the center, whereas the effect was enhanced when the stimulus presentation was lateralized. This aligns with the idea that attentional shifts differ between central and peripheral vision and that cognitive system computes various spatial maps for stimulus and response. In the case of response execution, smooth pursuit type eye movements had no effect on the motion-based SRC effect, regardless of stimulus location.

Sensing equivalent kinematics enables robot-assisted mirror rehabilitation training via a broaden learning system.

Robot-assisted mirror therapy has been widely developed to help remodeling of premotor cortex for patients suffering from motor disability of limbs. Nevertheless, it is difficult to achieve real-time adaptive control in robot-assisted mirror rehabilitation training, particularly for patients with varying levels of limb impairment. This paper proposes an equivalent kinematics control framework based on the Broaden Learning System model for active robotic mirror rehabilitation, where people's bilateral upper limbs actively perform mirror movements to enhance the impaired limb's participation. The framework accommodates a broaden learning model from sensing multi-kinematic features to adjust the robotic damping coefficient in assisting human participants to complete mirror-symmetry training. Besides, in order to adapt to inter-patients' variability with different disability levels, a challenge-level modification interface is also fused for safer training. This model is verified by additional symmetry indicator such as position trajectory error and force. Experimental results show that the weaker subjects can also maintain mirror movement with the stronger subjects under the help of this model and verify the performance of framework in mirror-symmetry effects and movement smoothness. This leads us to believe that the framework can safely and efficiently assist human participants in completing mirror-symmetry movement. The framework has the potential to improve outcomes in smoother and safer mirror-symmetry training by sensing multi-kinematic features. Future studies are necessary to involve clinical trials with actual patients.

A clinical case of treatment of temporomandibular joints disease caused by occlusive disorders

A method of treatment,described in this clinicalcase, isaimedateliminatingdisorders of occlusalrelationships of the dentition, (PatentNo.2797641dated06/07/2023) contributing to the normalization of TMJ functioning. At the first stage of treatment, a repositioning occlusal splint was used, applied to all teeth of the lower jaw, which was being corrected for six months. This stage was considered completed on the basis of the following criteria: absence of the patient`s complaints and smooth movements of the mandible without deviations and clicks on objective examination, as well as formation of symmetrical graphs of the TMJ condyles movement on axiographic examination, an optimal location of the TMJ condyles on sagittal projections of MSCT and positive changes in the bioelectric activity of the masticatory muscles, towards higher and more symmetrical values on both sides. Further treatment was carried out by an orthodontist with a non-removable technique,using a brace system. Wearing of the occlusal splint continued until the braces system was put on the teeth of the lowerjaw. It was then replaced by composite liningsin the projection of the firstmolars of the upperjaw. Dynamicmonitoring of thepatientforhalf ayearafter the end of the treatment indicated remission of TMJ disease. Normalization of occlusal relationships of dentitions in intact dentitions and small defects through splint therapy followed by the use of a brace systemis a minimally invasive andeffectivemethod of treatment TMJ diseases.

Optimal Feature Selection and Classification for Parkinson’s Disease Using Deep Learning and Dynamic Bag of Features Optimization

Parkinson’s Disease (PD) is a neurological condition that worsens with time and is characterized bysymptoms such as cognitive impairment andbradykinesia, stiffness, and tremors. Parkinson’s is attributed to the interference of brain cells responsible for dopamine production, a substance regulating communication between brain cells. The brain cells involved in dopamine generation handle adaptation and control, and smooth movement. Convolutional Neural Networks are used to extract distinctive visual characteristics from numerous graphomotor sample representations generated by both PD and control participants. The proposed method presents an optimal feature selection technique based on Deep Learning (DL) and the Dynamic Bag of Features Optimization Technique (DBOFOT). Our method combines neural network-based feature extraction with a strong optimization technique to dynamically choose the most relevant characteristics from biological data. Advanced DL architectures are then used to classify the chosen features, guaranteeing excellent computational efficiency and accuracy. The framework’s adaptability to different datasets further highlights its versatility and potential for further medical applications. With a high accuracy of 0.93, the model accurately identifies 93% of the cases that are categorized as Parkinson’s. Additionally, it has a recall of 0.89, which means that 89% of real Parkinson’s patients are accurately identified. While the recall for Class 0 (Healthy) is 0.75, meaning that 75% of the real healthy cases are properly categorized, the precision decreases to 0.64 for this class, indicating a larger false positive rate.

Stereoscopic objects affect reaching performance in virtual reality environments: influence of age on motor control

Although the stereoscopic effect in 3D virtual reality (VR) space has been studied, its influence on motor performance, specifically how stereoscopic objects affect behavioral outcomes like reaching, remains unclear. Previous research has primarily focused on perceptual aspects rather than on how stereoscopic visual input impacts motor control at the behavioral level. Thus, we investigated the effects of stereoscopic objects in a VR environment on reaching performance, examining whether the stereoscopic effect of objects is a significant aspect enough to affect performance at the behavioral level. While doing so, we investigated young and older adults separately, as age is a critical factor influencing motor performance. Fourteen young and 23 older participants performed a reaching task in the VR space. The target objects were 2D and 3D, deviating from the initial position by 10 and 20 cm. The movement attributed to feedforward control was analyzed using end-point error and smoothness of movement. Our results revealed that older participants had significantly worse predictive control than young participants in the 3D long task, suggesting that the positions of 3D objects were more difficult to predict than those of 2D objects. Young participants showed a significant difference in smoothness between 2D and 3D objects, which was not observed in older participants. This may reflect the floor effect in older participants. Under the short-distance condition, neither group showed a significant difference, suggesting the ceiling effect by distance. We confirmed that the effect of stereoscopic objects was not drastic but it did hamper the reaching performance.

Lane-free signal-free intersection crossing via model predictive control

The operation of signal-free intersections, where Connected Automated Vehicles (CAVs) cross simultaneously for all Origin-Destination (OD) movements, has the potential to greatly increase throughput and reduce fuel consumption. Since the intersection crossing areas naturally include no lanes, an extended crossing area, appropriately delineated, can be considered as a lane-free infrastructure so as to enable further efficiency benefits. This paper presents two Model Predictive Control (MPC) schemes to manage CAVs in signal-free and lane-free intersections. In fact, the control inputs of all vehicles are optimized over a time-horizon by online solving of a joint Optimal Control Problem (OCP) that minimizes a cost function including proper terms to ensure smooth and collision-free vehicle motion, while also considering fuel consumption and desired-speed tracking, when possible. Additionally, appropriate constraints are designed to respect the intersection boundaries and ensure smooth vehicle movements towards their respective destinations. A fast Feasible Direction Algorithm (FDA) is employed for the numerical solution of the introduced OCP. Multiple simulations are carried out to assess the efficiency and practicality of the proposed methods. A comparison with signalized intersection operation is provided.

Robust Driving Control Design for Precise Positional Motions of Permanent Magnet Synchronous Motor Driven Rotary Machines with Position-Dependent Periodic Disturbances

Position-dependent periodic disturbances often limit the accuracy and smoothness of the positional motion of permanent magnet synchronous motor (PMSM)-driven rotary machines. Because the period of these disturbances varies with the motion velocity of the rotary machine, spatial domain control methods such as spatial iterative learning control (SILC) and spatial repetitive control (SRC) have been proposed and applied to improve rotary machine motion control designs. However, problems with learning period convergence and rotary machine dynamics significantly affect transient motion, further constraining the overall motion performance. To address these challenges, this study developed a robust driving control (RDC) that integrates a robust control design with position-dependent periodic disturbance feedforward compensation, rotary machine dynamics compensation, and proportional–proportional integral feedback control. A position-dependent periodic disturbance model was developed using multiple position–sinusoidal signals and identified using a spatial fast Fourier transform. RDC compensates for disturbances and dynamics and considers the effects of model parameter uncertainty and modeling error on the stability of the control system. Several motion control experiments were conducted on a PMSM test bench to compare the RDC, SILC, and SRC. The experimental results demonstrated that although both SILC and SRC can effectively suppress position-dependent periodic disturbances, SILC provides slower position error convergence owing to the learning process, and SILC and SRC result in significant position errors because of the influence of the PMSM-driven rotary machine dynamics. RDC not only suppresses position-dependent periodic disturbances, but also significantly reduces position errors with a reduction rate of 90%. Therefore, the RDC developed in this study effectively suppressed position-dependent periodic disturbances and significantly improved both the transient-state and steady-state position-tracking performances of the PMSM-driven rotary machine.

A COMPREHENSIVE STUDY ON OSTEOARTHRITIS: RISK FACTORS, HISTOPHYSIOLOGIES, AND MANAGEMENT

Joints comprise cartilage (articular cartilage), ligaments, capsules, and synovial fluid. The articular cartilage prevents friction and enables smooth movement of bones in a joint. Osteoarthritis is a common clinical condition that is represented as a increasing disease of joint. It affects not only the inner surface of the joint but also other connective tissues in the joint such as cartilage, ligaments, and bone. Thus, this disease affects the entire joint.Osteoarthritis is commonly represented by joint pain, joint stiffness, and inflammation,etc. There are many risks associated with osteoarthritis: ageing, overweight, diabetes, injury, genetic factors, etc.The superiority of osteoarthritis increases with age.It is not an inevitable consequence of ageing .According to WHO data about 528 million people globally were affected with arthritis in 2019 and about 73% of cases were more than 55 years old. Osteoarthritis can affect any joint but the most affected joint is the knee , followed by the hip joint, and hand joint. In this report, we examined many aspects of OA such asepidemiology, symptoms, risk factors, types of osteoarthritis, and treatment options. This article aims to improve the understanding of this musculoskeletal disorder and also recommends the effective management of the condition.