Wide Range Of Motion Research Articles

A Control Strategy of Multiple Microrobots Using a Hybrid Electromagnetic System

AbstractMagnetic microrobots are controlled to exhibit a wide range of motions, allowing them to navigate complex environments and perform multifunctional tasks with high precision. This work presents a novel hybrid electromagnetic actuation system by integrating two distinct conventional configurations, such as a paired‐coils electromagnetic disc (EMD) system and a distributed electromagnetic array coil (EAC) system. In order to ensure the effective functioning of the microrobot, its motion dynamics are thoroughly analyzed to identify the critical kinetic parameters. For demonstration purposes, first, a mixing task is performed by employing a single microrobot actuated with simultaneous motions. The mixing efficiency is observed to reach 83% within 30 s, in contrast to the efficiency of control of 45%. Second, a structural reconfiguration function is demonstrated by employing an independent control of two U‐shaped microrobots to form a new I‐shaped microrobot. Last, differentiated motion control of multiple magnetic pads is demonstrated, resulting in various 2D static formations in the shapes of numbers and alphabets. The presented results hold great promise for advancing the field of microrobotics by offering a novel solution for versatile microrobot motion controls.

Development of a full ocean depth hydraulic manipulator with heavy-duty capacity

The underwater manipulator is a versatile tool commonly used for various underwater operations. In this study, we developed a heavy-duty hydraulic manipulator capable of operating at full ocean depth. The overall system design integrates both the mechanical structure and the electric control system. The master arm controls the slave arm by transmitting control signals to the controller and valve box. The structural design of the elbow and wrist joints has been optimized to enhance the manipulator's underwater performance and operational range. Laboratory tests demonstrated the manipulator’s excellent response consistency and tracking capability across a wide range of motion. During sea trials in the Mariana Trench, the manned submersible Fendouzhe successfully deployed the manipulator, showcasing its exceptional ability to complete complex tasks.

Radial Longitudinal Deficiency: Description of a Novel Surgical Technique and Clinical Cases

Radial longitudinal deficiency III and IV present as a short upper limb, functional elbow, and wrist with severe radial and palmar angulation, where the carpus articulates with the radial and palmar edge of the ulna, allowing limited mobility in a nonfunctional position. Surgical treatment aims to correct radial angulation and flexed carpal position, often altering carpal positioning over the distal ulna and impacting wrist mobility. In addition, fixation through distal ulnar epiphysis affects its growth. Although these procedures improve appearance, functionality remains suboptimal. This study describes a novel ulnar osteotomy and extensor carpi ulnaris transfer for the correction of wrist deformity in radial longitudinal deficiency with preservation of ulnocarpal motion and epiphyseal growth. The surgical technique, indications, contraindications, and potential complications are described. Three cases with postoperative follow-ups at 36, 12, and 6 months, evaluating deformity and pre/postsurgical wrist mobility ranges, are reported. A correction was achieved in the forearm-hand angle of 71 to 88 degrees of the initial. The total range of movement, between 50 degrees and 80 degrees, was almost the same before and after the operation in the most anatomic position. In one patient, there was a residual deformity at the dorsoradial border, which showed no progression during the last 6 months of follow-up. For patients with radial longitudinal deficiency, functional outcomes with preserved mobility appear to hold greater significance. The technique described in this study enabled deformity correction while maintaining a wide range of motion. The preservation of the physis in a different orientation is an aspect that will need evaluation in long-term follow-up but offers potential treatment options in the future; due to the unknown of the secondary deformity, it is recommended that the long-term results should be awaited before adoption of this technique.

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.

Pediatric Shoulder Girdle.

The pediatric shoulder girdle is a complex anatomical structure uniting the upper extremity and trunk. The osseous structures, their articulations, and the surrounding soft tissue support structures (muscles, tendons, and ligaments) allow for a wide range of motion at the shoulder. Growth and maturation of the components at the shoulder girdle vary, particularly the osseous structures. This characteristic renders interpretation of imaging of the pediatric shoulder girdle more challenging because normal or variant anatomy can be confused for pathology. We review the physiologic growth and maturation of the shoulder girdle with special emphasis on the development of the bones and their articulations. The role of various imaging modalities and the common osseous and soft tissue variants in the pediatric shoulder are also discussed.

Adaptive EMG decomposition in dynamic conditions based on online learning metrics with tunable hyperparameters

Objective. Developing neural decoders robust to non-stationary conditions is essential to ensure their long-term accuracy and stability. This is particularly important when decoding the neural drive to muscles during dynamic contractions, which pose significant challenges for stationary decoders. Approach. We propose a novel adaptive electromyography (EMG) decomposition algorithm that builds on blind source separation methods by leveraging the Kullback–Leibler divergence and kurtosis of the signals as metrics for online learning. The proposed approach provides a theoretical framework to tune the adaptation hyperparameters and compensate for non-stationarities in the mixing matrix, such as due to dynamic contractions, and to identify the underlying motor neuron (MN) discharges. The adaptation is performed in real-time (∼22 ms of computational time per 100 ms batches). Main results. The hyperparameters of the proposed adaptation captured anatomical differences between recording locations (forearm vs wrist) and generalised across subjects. Once optimised, the proposed adaptation algorithm significantly improved all decomposition performance metrics with respect to the absence of adaptation in a wide range of motion of the wrist (80∘). The rate of agreement, sensitivity, and precision were ⩾90% in ⩾80% of the cases in both simulated and experimentally recorded data, according to a two-source validation approach. Significance. The findings demonstrate the suitability of the proposed online learning metrics and hyperparameter optimisation to compensate the induced modulation and accurately decode MN discharges in dynamic conditions. Moreover, the study proposes an experimental validation method for EMG decomposition in dynamic tasks.

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.

Design of High-Performance Triple-axis Cross Pivots

Abstract Cross-axis flexural pivots are increasingly implemented in mechanical systems due to their high precision and wide range of motion. However, designing high-performance pivots in terms of low axis drift, low rotational stiffness, and low values of maximum stress remains a challenging task. In fact, these features often behave antagonistically to each other. In this paper, the design of a novel family of high-performance cross-axis pivots is presented. The compliant joints are obtained by the composition of two crossing flexible elements with initially curved axis, and of one auxiliary flexure with straight axis. Two different arrangements, that depend on the constraints layout, are proposed. Chained beam constraint model and non-linear finite element analysis are implemented for the analysis of the kinetostatic response of the pivots. The effects of initial curvature and orientation of the flexures on axis drift, stiffness, and maximum stress, are investigated and reported in the form of design maps. A global performance index, that embodies the above-mentioned features and captures the overall kinetostatic behavior of the pivot is introduced. The design maps and the global index serve as key tools for the design procedure, giving insight into the antagonistic issue and leading to the determination of the best trade-off solutions that meet the application requirements. An experimental campaign is conducted to compare the performance improvement of triple-axis pivots with respect to a benchmark double-axis joint, and to validate the design method.

Eficacia de la técnica autoasistida de Boss-Holzach- Matter para la reducción de luxaciones glenohumerales anteriores: revisión sistemática

Background: Anterior shoulder dislocation represents a common reason for emergency room visits. Despite the wide range of motion provided by this joint in three-dimensional space, it is prone to dislocation, with a significant incidence rate. The choice of reduction technique lacks consensus, with over 25 possible maneuvers, largely dependent on the physician's preference and experience. Additionally, potential neurovascular injuries resulting from the maneuver or its poor execution add complexity to this issue, challenging emergency physicians and orthopedic surgeons. The self-assisted technique Boss-Holzach-Matter (BHM) shows promising benefits in reducing patient anxiety and medical costs. Materials and Methods: A manual bibliographic search was conducted in PubMed, Scielo, and Central databases for studies from the last 10 years analyzing reduction techniques using the keywords "techniques for shoulder dislocation". Titles, abstracts, and full articles were reviewed, extracting pertinent data. Out of the 17 articles found, including systematic reviews, clinical trials, and other publications, 10 were selected without language restrictions. Results: Reduction methods varied significantly among studies. Comparison between self-assisted techniques like BHM and Spaso revealed differences in success rate and pain tolerance. The Davos technique demonstrated high effectiveness, although it was associated with potential complications. Comparative studies supported the efficacy of BHM and Milch in unassisted reduction. Conclusions: The need for further research to validate these findings, identify limitations, and evaluate clinical applicability is acknowledged. Additional studies are required to confirm the effectiveness of self-assisted techniques such as BHM, Milch, and Davos, as well as to address the potential limitations and considerations associated with each technique

New Technique of Glenohumeral Joint Dissection

Objectives: Glenohumeral is a ball and socket type of synovial joint which permits a wide range of movement. During the typical shoulder joint dissection, we are unable to see the intracapsular view of shoulder joint. Methods: A dissection technique that was performed in Sharir Rachana Dept. of NIA, Jaipur, which exposes the glenohumeral joint's internal capsule, the glenoid labrum, the proximal insertion of the long head of the biceps tendon, and the surfaces of the joint while protecting the posterior aspect of the capsule and the surrounding muscles and tendons that support the joint. Results: This new dissection method allowed the preservation of glenohumeral joint structures and provides a better understanding of its intracapsular view and related structures. Conclusion: The glenohumeral joint can be dissected using this new technique, by which we can prevent the damage to the structures that surround it and enabling visualization of its intracapsular view.

A gelatin-based ionic conductor with a dense/loose alternating network enabled by surface active cellulose

Although conductive and stretchable ionic conductors are increasingly prepared for flexible sensing applications, such as health monitoring, tissue engineering, and electronic skin, achieving a balance between remarkable mechanical properties and high sensing sensitivity remains a significant challenge. In this work, a dense/loose alternating network was meticulously constructed through a pre-assembly process in sodium citrate solution and a subsequent re-assembly in FeCl3 solution. This approach ensured the robustness of the network structure and facilitated ion migration. Within the network, a gelatin network cross-linked via covalently and hydrogen bonds was significantly enhanced by a synergy of micro-enhancement and dynamic bidirectional crosslinking containing hydrogen bonds, imine bonds, and Fe coordinate bonds enabled by surface active cellulose. Benefiting from the dense network, the obtained composite hydrogels delivered a strong tensile strength (496.3 kPa), outstanding elastic modulus (917.6 kPa), and an excellent energy dissipation rate (55.6 %) at 80 % of strain. The loose polymer network can also endow Fe3+/Cl− ions with sensitive mobility, leading to an ultra-high sensing sensitivity (maximum GF: 20.06). These exceptional properties enable the ionic conductor to accurately detect a wide range of motions and pressures without being affected by environmental noise. With attributes such as reusability, biodegradability, strength, and sensitivity, this ionic conductor emerges as a reliable soft material with promising applications in the field of healthcare monitoring, wearable strain sensor sensors, and writing anti-counterfeiting materials.

Imaging Assessment of Nontraumatic Pathologic Conditions at the Craniovertebral Junction: A Comprehensive Review.

Nontraumatic pathologic conditions of the craniovertebral junction encompass a range of conditions affecting the complex anatomy of this region without direct physical injury. These conditions include congenital syndromes that predispose individuals to ligamentous laxity, potentially leading to instability. Additionally, rare but noteworthy cases such as Grisel syndrome, a cause of pediatric torticollis, may arise without a traumatic trigger. Inflammatory diseases, including rheumatoid arthritis, ankylosing spondylitis, and crystal deposition, can lead to cervical instability and spinal cord compression. Infections at the upper cervical spine are dominated by tuberculosis, typically transmitted through hematologic or lymphatic routes with characteristic imaging findings. On the other hand, purulent bacterial infections in this area are rare. Furthermore, although tumors involving the structures of the craniovertebral junction are infrequent, they can lead to significant complications, albeit less frequently through cord compression and more commonly via pathologic fractures or subluxation. The craniocervical junction is a complex anatomic region comprising ligaments, bones, joints, and muscles that support the head's weight and enable its wide range of motion. Accurate recognition and understanding of the complex anatomy and the various nontraumatic pathologic conditions at the craniovertebral junction are pivotal for initiating timely and appropriate treatment strategies. ©RSNA, 2024 Test Your Knowledge questions for this article are available in the supplemental material.

Endoscopic Evacuation of Putaminal Hemorrhage Using the Trans-Middle Temporal Gyrus Approach: Technical Notes and Case Presentations.

The development of minimally invasive endoscopic neurosurgery has enabled widespread application of endoscopic surgery via the ipsilateral transfrontal approach for putaminal hematoma evacuation. However, this approach is unsuitable for putaminal hematomas that extend into the temporal lobe. We adopted the endoscopic trans-middle temporal gyrus approach, instead of the conventional surgical approach, for the management of these complicated cases and determined its safety and feasibility. Twenty patients with putaminal hemorrhage underwent surgical treatment at the Shinshu University Hospital between January 2016 and May 2021. Of these, two patients with left putaminal hemorrhage that extended into the temporal lobe underwent surgical treatment using the endoscopic trans-middle temporal gyrus approach. The procedure entailed the use of a thinner transparent sheath to reduce the technique's invasiveness, a navigation system to determine the location of the middle temporal gyrus and the sheath's trajectory, and an endoscope with a 4K camera for higher image quality and utility. The sylvian fissure was compressed superiorly using our novel "port retraction technique" (i.e., by tilting the transparent sheath superiorly) to avoid damage to the middle cerebral artery and Wernicke's area. The endoscopic trans-middle temporal gyrus approach allowed sufficient hematoma evacuation and hemostasis under endoscopic observation without any surgical complexities or complications. The postoperative course was uneventful in both patients. The endoscopic trans-middle temporal gyrus approach for putaminal hematoma evacuation helps avoid damage to normal brain tissue, which could result from the wide range of motion of the conventional technique, particularly when the hemorrhage extends to the temporal lobe.

How precision, strength and flexibility affect badminton skills

The importance of the research lies in developing flexibility exercises (positive and negative) that help improve the level of physical and skill performance, address some weak points, and develop factors that work to implement skills with a wider range of motion, accuracy, and high strength. This is what makes the game of badminton more developed and successful. Performing (dimensions) strokes And the forward projection) by not using the wrist and the correct movement of the striking arm. This makes the player’s performance ineffective, which requires her to practice flexibility and movement flow to address this weakness. The study aims to prepare exercises using flexibility (positive and negative) and to know the effect of flexibility exercises on some physical characteristics, accuracy and power of strikes (dimensions and forward projection،The researchers experimental method by designing two equal groups and on a sample of (10) female players. As for the field study procedures, flexibility exercises (positive and negative) were carried out over a period of (10) weeks and two units per week. The researchers concluded that Flexibility exercises (positive and negative) developed some physical characteristics and the accuracy and power of strokes, the data was analyzed using the spss version 26 application ., The results showed that (2) concentration has a significant impact on badminton skills ,with asignification mark of Push up test in 15 sec 2,01

Cervical anatomy and its relation to foraging habits in aquatic birds (Aves: Neornithes: Neoaves).

Birds have extremely flexible necks, which help in their search for food. However, studies on the variation in bird cervical anatomy and its relationship with foraging are rare, despite the different habits presented between species. Here, we analyze the anatomy of the neck of aquatic birds and relate it to their foraging strategies. We dissected specimens representing four species of Charadriiformes, 11 species of Phaethoquornithes, and two specimens belonging to the outgroup Telluraves. We chose to emphasize Charadriiformes and Phaethoquornithes because they present several strategies that require cervical mobility and stability. We note that vertebral anatomy and dimensions vary, which affects the shape and size of the soft tissues attached throughout the neck. The synovial cartilage present in the articulatio intercorporalis represents an additional length in the neck, however, this is not longer than that observed in animals with intervertebral discs. Our analysis indicates that birds have a prevalence of dorsoventral movements in the middle of the neck and lateral and rotational movements near the base of the neck, while the region near the head presents a wide range of movement in all directions. Cervical ligaments and muscles throughout the neck provide stability in all segments, although the robustness of the soft tissues indicates that the most caudal portion of the neck is the most stable. The vertebral and soft tissue anatomy is consistent with the extensive mobility in pitching, yaw, and roll movements performed mainly by the head and first segment of the neck during the different foraging of the analyzed birds. Furthermore, the muscles closer to the skull are robust and allow the execution of a variety of habits to capture food in different species. The subsequent cervical segments present differences that explain their reduction in mobility, but they are equally stable.

PANORAMIC REVIEW OF MANAGEMENT, CONSERVATIVE TREATMENT AND SHOULDER REDUCTION TECHNIQUES

Introduction: The glenohumeral joint combines a wide range of motion and insufficient bony stabilization, making it susceptible to instability and dislocations. Glenohumeral dislocations are commonly attributed to contact sports, as well as bicycle accidents, falls and high impact trauma. Objective: to detail current information related to the incidence, clinical evaluation, imaging assessment, management, conservative treatment and shoulder reduction techniques of shoulder dislocations. Methodology: a total of 30 articles were analyzed in this review, including review and original articles, as well as clinical cases, of which 16 bibliographies were used because the other articles were not relevant for this study. The sources of information were PubMed, Google Scholar and Cochrane; the terms used to search for information in Spanish, Portuguese and English were: shoulder dislocation, glenohumeral dislocation, shoulder reduction maneuvers, shoulder reduction techniques. Results: The shoulder joint is frequently correlated to dislocations, showing up to 45% of all dislocations. Inferior as well as superior dislocations are rare. Chronic glenohumeral dislocations are infrequent injuries accounting for less than 2%. Anterior glenohumeral dislocations account for about 90% of shoulder dislocations. Approximately 50% to 79% of posterior glenohumeral dislocations are overlooked. Conclusions: As the epidemiology indicates, there is a high incidence of shoulder dislocations, so it is important to recognize the importance of adequate clinical assessment, diagnosis and knowledge of reduction maneuvers for the management of glenohumeral dislocations. There are several types of maneuvers that can be used for reduction of a dislocated shoulder, these maneuvers can be chosen according to the case of the affected individual, in addition to the preference and experience of the person who is going to perform the reduction maneuver. Imaging tests play an important role both at diagnosis and post-reduction to confirm reduction. KEY WORDS: shoulder, dislocation, techniques, reduction, conservative.

Kinematic Analysis for the Spatial Interlocking 3-UU Mechanism With the Wide Range of Motion

Kinematic Analysis for the Spatial Interlocking 3-UU Mechanism With the Wide Range of Motion

Kinematics Mathematical Modelling of Lower Limb Exoskeleton for Paralyzed Stroke Patients

This paper presents the development of a lower limb rehabilitation robot to be used with bedridden patients. Strokes are one of the significant causes of death in 17% of the 109,155 medically certified death in 2020 in Malaysia. In most cases, stroke paralysis affects the opposite side of the damaged brain, and any part of the body can be affected. 90% of stroke patients get paralysis to some degree. Patients can recover from the disease and restore body motions by undergoing paralysis stroke physiotherapy, which involves numerous sessions with patients. There were several successful robotic rehabilitations in recent years; however, their design is inflexible and large, requiring the patient to sit or stand in a static position. This project will be built on a motor-driven parallel architecture that will offer motion assistance throughout the human’s wide range of motion (ROM). This project development is divided into two parts: structure design and simulation. The design process for the lower limb devices used syncretization and mathematical analysis. The structure design is from the kinematic analysis. The mathematical models are then used to design in MATLAB simulation which is trajectory simulation. The outcome shows that the simulations that have been developed is compatible with the motion of human lower limb. This robot develops for bedridden use of lower limb rehabilitation exercises.

Novel coarse and fine stage parallel vibration isolation pointing platform for space optics payload

A coarse and fine parallel vibration isolation pointing platform (CFPP) is proposed, which can realize a wide range of motion and active vibration isolation for space optical payload. First the coarse and fine parallel connection scheme is designed based on the Stewart generalized configuration. Kinematic and constraint analyses are performed to determine the two operation modes of the platform. The platform is then structurally designed. System dynamics model is established based on the Lagrange method, and the dynamic disturbance characteristics are analyzed. Next, the active vibration isolation control algorithm based on H∞ loop shaping is designed. The stability of the control system is analyzed. Finally, the prototype is constructed, and the three-axis pointing range test and active vibration isolation experiments in four attitudes are carried out, and the experimental results show that the designed pointing vibration isolation system with coarse and fine stages in parallel can achieve a 7° movement range of the three axes, and it has a maximum vibration isolation capacity of 20 dB for the disturbance in the frequency band of 2–20 Hz. It has great application prospects in the direction of miniaturization and integration of space optical payload in the future.

In Vivo Total Ankle Arthroplasty Kinematic Evaluation: A Prospective Radiostereometric Analysis.

Ankle osteoarthritis (OA) represents a significant social burden and is one of the main causes of chronic disability in a rapidly growing part of the world's population. Total ankle arthroplasty (TAA) has become increasingly popular despite the poor results obtained with the first dedicated designs. The purpose of this paper was to evaluate the ankle kinematics, in vivo and under weight-bearing conditions, of a TAA through a dynamic model-based radiostereometric analysis (MB-RSA). The clinical evaluation was performed by administering the American Orthopaedic Foot and Ankle Society ankle-hindfoot score and Short Form-36 questionnaires. The kinematic evaluation was conducted through MB-RSA during the execution of an open kinetic chain and a closed kinetic chain motor task. Double radiographic images of the ankle joint were processed using dedicated software to obtain a 3D reconstruction of the ankle prosthetic components' motion. Eighteen patients (five females) completed the clinical and instrumental preoperative and postoperative evaluations (age 59.1 ± 10.3). All clinical scores showed a marked improvement (p < 0.005). During the closed kinetic chain motor tasks, the ankle showed a total range of motion (ROM) in dorsi-plantarflexion of 19.84°. The parameters in varus-valgus were recorded. Physiological motion can be achieved in TAA, characterized by a wide range of motion and coupling of movements on the three planes. The results of the present work may help to understand the real movement of a widespread TAA model and possibly to improve future designs and instrumentation.