by the load cell were filtered and converted on-line to torques at the elbow and shoulder via methods, and shoulder adductors with elbow extensors. Whether abnormal muscle coactivation and associated joint torque that was designed to reduce abnormal elbow/shoulder joint ...

In cerebellar ataxia, kinematic aberrations of multijoint movements are thought to originate from deficiencies in generating muscular torques that are adequate to control the mechanical consequences of dynamic interaction forces. At this point the exact mechanisms that lead to an abnormal control of interaction torques are not known. ...

Drilling of extremely deep wells such as the Mohole can lead to abnormally high drill string tension and, as a consequence, a loss in tool joint shoulder compression. As in conventional drilling, inadequate shoulder compression leaves the joint in a state...

Previous studies have demonstrated abnormal joint torque coupling and associated muscle coactivations of the upper extremity in individuals with unilateral stroke. We investigated the effect of upper limb configuration on the expression of the well-documented patterns of shoulder abduction/elbow flexion and shoulder adduction/elbow ...

... Descriptors : *JOINTS(ANATOMY), *BIOMECHANICS, *TORQUE, MEASUREMENT, MOTION, EQUATIONS, SHOULDERS(ANATOMY), HIP, ...

BackgroundThe presence of abnormal muscle activation patterns is a well documented factor limiting the motor rehabilitation of patients following stroke. These abnormal muscle activation patterns, or synergies, have previously been quantified in the upper limbs. Presented here are the lower limb joint torque ...

The implementation of a robotic system (ACT^3D) that allowed for a quantitative measurement of abnormal joint torque coupling in chronic stroke survivors and, most importantly, a quantitative means of initiating and progressing an impairment-based intervention, is described. Individuals with chronic moderate to ...

BackgroundIt is well documented that individuals with chronic stroke often exhibit considerable gait impairments that significantly impact their quality of life. While stroke subjects often walk asymmetrically, we sought to investigate whether prescribing near normal physiological gait patterns with the use of the Lokomat robotic gait-orthosis could help ameliorate asymmetries in gait, ...

... ELASTOMERS, SURFACES, INTERNAL, BONDED JOINTS, SHEAR STRESSES, OVERLAP, HUBS, TORQUE, ADHESIVE BONDING, TEETH. ...

... Descriptors : *STIFFNESS, *JOINTS(ANATOMY), *REFLEXES, SYMPOSIA, CANADA, MUSCLES, TORQUE, LEGS, ELECTROMYOGRAPHY. ...

ObjectiveClaudication is the most common manifestation of peripheral arterial disease, producing significant ambulatory compromise. The purpose of our study was to evaluate patients with bilateral lower limb claudication and characterize their gait abnormality based on advanced biomechanical analysis using joint torques and ...

The purpose of this paper is to analytically show how to design a joint controller for a telerobotic system when joint torque sensors are available. Other sensors such as actuator position, actuator velocity, joint position, and joint velocity are assumed...

Methods for resolving kinematic redundancies of manipulators by the effect on joint torque are examined. When the generalized inverse is formulated in terms of accelerations and incorporated into the dynamics, the effect of redundancy resolution on joint ...

Apr 21, 2011 ... Using this device for bed rest studies poses unique design and ... knee and hip joint torques generated by human subjects during squat and ...

... 1. REPORT DATE 12 FEB 2004 2. REPORT TYPE 3. DATES COVERED - 4. TITLE AND SUBTITLE Bearing Friction Torque in Bolted Joints 5a. ...

conversion of the three wheel torque demands to spacecraft frame, showed that the problem was actually abnormal roll torque demands, while pitch and yaw ...

It is shown how the cross member of the Hooke's joint exerts a centrifugal torque on the gyro rotor. The Hooke's joint is one of several possible means of suspending a gyro free of torques. A mechanical way to compensate the centrifugal torque is the use ...

... WORDS (Continue on reverse side if necessary and identify by block number) Biomechanics Shoulder Joint Human Joints Knee Joint Resistive ...

... of the bending torques of joints in present space suit constructions, a discussion of total encapsulation and remote handling techniques and a ...

Many differences in postural responses have been associated with age and Parkinson's disease (PD), but until now there has been no quantitative model to explain these differences. We developed a feedback control model of body dynamics that could reproduce the postural responses of young subjects, elderly subjects, and subjects with PD, and we investigated whether the postural impairments of ...

Kinematic abnormalities of fast multijoint movements in cerebellar ataxia include abnormally increased curvature of hand trajectories and an increased hand path and are thought to originate from an impairment in generating appropriate levels of muscle torques to support normal coordination between shoulder and elbow ...

diagram of torque estimation is shown in Fig. 2. sEMG from the FDI muscle is converted into joint torque perform are under isometric conditions, e.g., pinch motion, the study of joint torque prediction in hand is necessary. This study proposes a torque estimation method at ...

A relationship between a person's lean body mass and the amount of maximum torque that can be produced with each isolated joint of the upper extremity was investigated. The maximum dynamic isolated joint torque (upper extremity) on 14 subjects was collect...

... Department of Defense (DoD) Issuances (current and cancelled), Joint Staff and ... Title : A CAPSTAN-TYPE TORQUE REGULATOR FOR TIMING ...

with a load cell, and converted to shoulder and elbow torques. We found that the onset of reflex torque Torque Analysis. Forces and mo- ments measured at the wrist were converted off-line to torques. The normal reflex torque response consisted of elbow flexion, shoulder extension, and shoulder ...

Previous studies using robotic devices that focus on the wrist/fingers following stroke provide an incomplete picture of movement dysfunction because they do not consider the abnormal joint torque coupling that occurs during progressive shoulder abduction loading in the paretic upper limb. This letter introduces a device designed to ...

Previous studies using robotic devices that focus on the wrist/fingers following stroke provide an incomplete picture of movement dysfunction because they do not consider the abnormal joint torque coupling that occurs during progressive shoulder abduction loading in the paretic upper limb. This letter introduces a device designed to ...

The purpose of the present study was to investigate oarside and nonoarside lower extremity asymmetries in isokinetic strength and joint mobility of port and starboard oarsmen. Peak torques of right and left extensors and flexors were measured on isokinetic dynamometer at angular velocities of 60 and 180��s-1 in 12 starboard (n = 12; training age 5.55 ...

... is a series of tests performed on synovial (joint) fluid to help diagnose and treat joint-related abnormalities. To obtain a synovial fluid sample, ...

The authors propose a joint torque sensing technique making use of the existing structural elasticity of robots. The technique provides joint torque sensing without reducing the stiffness of the robot or changing the mechanical structure of the joints. The elasticity of the flexsplines of the ...

A series of torque tests were performed on four flight-type hex ball universal joints in order to characterize and determine the actual load-carrying capability of this device. The universal joint is a part of manual actuation rods for scientific instrume...

Many emerging high-performance robot control algorithms require the command of the joint torques, yet no known commercial robots provide such a capability. We describe the design, development, testing, and application of a VMEbus-based torque linearizing joint interface board (JIB). One JIB resides between the ...

... cycling, overlap area, bolting-torque, burrs, and interlayers of paint, anti-corrosive jointing compound, indium and electrical insulators were studied. ...

Joints (Anatomy); Models; Robotics; Robots; Space Suits; Torque. 20040096552 ..... Extravehicular Activity; Extravehicular Mobility Units; Joints (Anatomy); ...

b) Riveted joint and connection analysis c) Lug, pin, and bushing analysis d) Bolt pre-load and installation torque analysis e) Welded joint analysis ...

We have considered the problem of determining the time trajectories of the joint variables of a mobile manipulator with many redundant degrees of freedom that will minimize the maximum value of the torque during a large scale motion by the manipulator. Conventional search techniques slowly solve min-max problems. Based on well known results from the ...

Joint compliance was measured at both the wrist and ankle by applying various torque waveforms (step, sinusoidal, and random) about the joint while measuring the resulting joint angle. Stretch-evoked electromyographic activity (EMG) was recorded from agon...

-time Collision Avoidance in Teleoperated Whole-sensitive Robot Arm Manipulators", IEEE Trans. on Systems, ManDevelopment of a Whole-Sensitive Teleoperated Robot Arm using Torque Sensing Technique Dzmitry-sensitive robot arm enabling torque measurement in each joint by means of developed optical torque sensors. ...

BackgroundHow the central nervous system (CNS) organizes the joint dynamics for multi-joint movement is a complex problem, because of the passive interaction among segmental movements. Previous studies have demonstrated that the CNS predictively compensates for interaction torque (INT) which is arising from the movement of the adjacent ...

Dextrous Arm, the +/- 10V torque sensor analogoutput is converted with a 12-bit A/D to give 0 to 4096 Abstract This paper presents an autonomous method to cal- ibrate joint torque sensors f o r advanced robots, the gravity torque exerted on the joint varies sinusoidally with rotation angle. By ...

We have considered the problem of determining the time trajectories of the joint variables of a mobile manipulator with many redundant degrees of freedom that will minimize the maximum value of the torque during a large scale motion by the manipulator. To...

The aim of the study was to investigate the influence of a preceding flexion or extension movement on the static interaction of human finger flexor tendons and pulleys concerning flexion torque being generated. Six human fresh frozen cadaver long fingers were mounted in an isokinetic movement device for the proximal interphalangeal (PIP) joint. During ...

Variations in total inertia and gravity loads at the joint outputs are treated along with the relative importance of gravity and acceleration-generated reaction torques or forces versus inertia torques or forces. The relation between the dynamical state e...

An attitude control strategy for maneuvers of an interconnection of planar bodies in space is developed. It is assumed that there are no exogeneous torques and that torques generated by joint motors are used as means of control so that the total angular m...

wrist force/torque sensor, joint torque sensors, link strain gauges, motor current ...... and force control, control of multi-agent robots, and robot design. Matthew ...

During the report period, there were three abnormal occurrences at the nuclear power plants licensed to operate. The events were (1) the loss of low pressure service water systems at Oconee, (2) degraded safety systems due to incorrect torque switch setti...

... Title : Experimental Data on Single-Bolt Joints in Quasi-Isotropic Graphite/ Polyimide ... Double-lap joint specimens with a single torqued bolt were ...

This study examined the effects of localized muscle fatigue, age, and gender on lower extremity joint torques used during quiet stance. Thirty-two participants performed exercises designed to fatigue the ankle plantarflexors, knee extensors, torso extensors, or shoulder flexors. Body kinematics and ground reaction forces were obtained both before and after ...

Two procedures, the torque stability test and the brine sensitivity test, are described for evaluating the stability of greases for use in automobile chassis ball joints. The lubricated joint stud and bearing, confined in a fixed housing, is rocked through an arc under prescribed conditions of rocking frequency, rocking amplitude, ...

Many robot control algorithms for high performance in-contact operations including hybrid force/position, stiffness control and impedance control approaches require the command the joint torques. However, most commercially available robots do not provide joint torque command capabilities. The ...

Data from a knee arthrograph, which imparts a passive sinusoidal motion to the joint and measures the resistive torque and displacement, have been shown to be reproducible. Tests carried out on joints (from 49 males, 21 females) showed that the energy loss per cycle of the joint increased with age for both sexes ...

The purpose of this study was to determine the effect of load on lower extremity biomechanics during the pull phase of the clean. Kinematic and kinetic data of the 3 joints of the lower extremity were collected while participants performed multiple sets of cleans at 3 percentages: 65, 75, and 85% of 1 repetition maximum (1RM). General linear models with repeated measures were ...

We have considered the problem of determining the time trajectories of the joint variables of a mobile manipulator with many redundant degrees of freedom that will minimize the maximum value of the torque during a large scale motion by the manipulator. To create a well defined problem, we will divide the problem into two components: path planner and ...

and others 2009). Musculo-skeletal anomalies such as limb anomalies, joint laxity and scoliosis have also-skeletal abnormalities no joint laxity no no joint laxity (4/8) scoliosis (2/7) Genital abnormalities micropenis

Two gas well collapses showed a peculiar failure mechanism. Excessive fluid levels and temperature variations during the ultimate drilling phase and later workovers induced microannuli and cementation damage. Abnormal fluid pressures from deeper gas- or water-bearing layers channeled through damaged cementation and increased the pore pressure in uphole faults or bedding ...

artificial skin and distributed torque sensors in each joint [5]). When contact with environment occurs

When stressed, the graphite/epoxy composite material emits acoustic emission from the various failure mechanisms occurring within the material. As noted by ...

... B.2.2 Wrist Assembly..... ... One area where robots can be of grea. ... The planning required to send a robot into space to repair a sate'. ...

A space suit's mobility is critical to an astronaut's ability to perform work efficiently. As .... Phase VI glove uses a gimbal system to provide stability during the ...

This patent describes an apparatus for breaking out a subsea threaded connection within a string of pipe a connector joint; a profile formed in the interior of the connector joint; a torque tool; at least one dog mounted to the body; means for urging the dog radially outward; the dog having an axially extending side; the dog having an ...

Measuring small loads in small cable/wires is needed to sense force or torque in robotic joints. Load monitoring is normally done using a load cell with ...

Mar 1, 2011... FATIGUE (BIOLOGY); HUMAN PERFORMANCE; INTERNATIONAL SPACE STATION; JOINTS ( ANATOMY); MISSION PLANNING; TORQUE ...

A modular manipulator system, based on Amtec Robotics joint modules, is used to quickly build manipulators of various configurations. Force-torque sensors ...

Dec 8, 1995 ... Currently, "critical" joints are tightened with sophisticated, accurate assembly tools. For torque control, a transducer is integrated into ...

... �Non-Reflex and Reflex Mediated Ankle Joint Stiffness in Multiple Sclerosis Patients with Spasticity�. Muscle & Nerve, Vol. 16, pp. ...

Existing tendon-driven fingers have applied force control through independent tension controllers on

Seated ergometer pedaling is a motor task ideal for studying basic mechanisms of human bipedal coordination because, in contrast to standing and walking, fewer degrees of freedom are being controlled and upright balance is not a factor. As a step toward understanding how individual muscles coordinate pedaling, we investigated how individual net muscle joint ...

Technetium pertechnetate joint scintigrams were abnormal in 24 of 25 patients with polymyalgia rheumatica, in all 16 with rheumatoid arthritis, in 4 of 13 with nonarticular rheumatism, but in none of 26 control patients. Abnormal uptake in polymyalgia patients was commonest in shoulders and was less likely to be symmetric than in ...

Although the kinematics and dynamics of overarm throws, such as baseball pitching, have been studied extensively, the relations between these measures remain largely unknown. This review uses a three-dimensional analysis to characterize the mechanical basis of skilled overarm throws by focusing on how each joint angular acceleration is produced by the muscle ...

Strength, or maximum joint torque, is a fundamental factor governing human movement, and is regularly assessed for clinical and rehabilitative purposes as well as for research into human performance. This study aimed to identify the most appropriate protocol for fitting a maximum voluntary torque function to experimental ...

pneumatic muscle provided plantar flexion torque and the second one provided dorsiflexion torque. Computer- ficial plantar flexor. We collected joint kinematic and artificial muscle force data as one healthy participant walked on a treadmill with the orthosis. Peak plantar flexor torque provided by the orthosis

We tested the hypothesis that in fast arm movements the CNS deliberately utilizes interaction torques to decelerate (brake) joint rotations. Twelve subjects performed fast 2-D overarm throws in which large elbow extension velocities occurred. Joint motions were computed from recordings made with search coils; joint ...

The force-length-relation (F-l-r) is an important property of skeletal muscle to characterise its function, whereas for in vivo human muscles, torque-angle relationships (T-a-r) represent the maximum muscular capacity as a function of joint angle. However, since in vivo force/torque-length data is only available for rotational ...

For use in forming a pipe joint, a threaded tubular member adapted for connecting to another threaded member to form a threaded connection between the two members is described comprising a tubular body, a projecting helical rib on the body forming screw threads having load flanks shaped to have clearance between the flanks of the thread and the load flanks of the threads of ...

A new robot that makes use of MR-fluid clutches for simulating torque is proposed to provide an appropriate device for training physical therapy students in knee-joint rehabilitation. The feeling of torque provided by the robot is expected to correspond to the torque performance obtained by physical therapy experts ...

With quantitative sacroiliac joint scintigraphy (QSS), sacroiliac joint-to-sacrum (SIS) ratios greater than or equal to 1.40 are abnormal for our method. High SIS ratios are associated with roentgenographically appreciated sacroiliitis and with early clinically evident sacroiliitis. Although highly sensitive, QSS ...

This study aimed to examine the bilateral differences in movement and joint torques during the squat exercise by using kinematic and kinetic analyses. Eighteen long jumpers participated in this study. They performed 3 repetitions of the squat exercise with loads of 50, 70, and 90% of their 3 repetition maximum (3RM). During the exercise, their movement was ...

In dystonia, both sensory malfunctioning and an abnormal intermuscular low-frequency drive of 3�7�Hz have been found, although cause and effect are unknown. It is hypothesized that sensory processing is primarily disturbed and induces this drive. Accordingly, experimenter-controlled sensory input should be able to influence the frequency of the drive. In six genetically ...

An optimization-based formulation and solution method are presented to predict asymmetric human gait for a large-scale skeletal model. Predictive dynamics approach is used in which both the joint angles and joint torques are treated as unknowns in the equations of motion. For the optimization formulation, the joint ...

The major articulating joints which are considered are the shoulder, knee, hip, elbow and ankle. Due to drastic postmortem changes of the biomechanical response of the body tissues, the research is conducted with some obvious limitations on live human sub...

-made body brace which locks the knee and hip joints. The stabilising ankle moment which is required in standing. While the subject stands in a special apparatus, stabilising torque at the ankle joint this \\unsupported standing". Sensors in the apparatus allow independent measurement of left and right ankle moments

Numerous studies have investigated the relationship between surface EMG and torque exerted about a joint. Most studies have used conventional EMG amplitude (EMGamp) processing, such as rectification followed by low pass filtering, to pre-process the EMG before relating it to ...

If a rotating, massless, elastic shaft carrying a disk is supported at the ends by Cardan links, the motion of the disk depends on the angles at the joints and the torques transmitted by the joints. The system is considered for constant angular velocity and constant torques of the driving shafts. The investigation ...

A common problem in the analyses of upper limb unfettered reaching movements is the estimation of joint torques using inverse dynamics. The inaccuracy in the estimation of joint torques can be caused by the inaccuracy in the acquisition of kinematic variables, body segment parameters (BSPs), and approximation in ...

The aim of this study was to explore the electromyographic, kinetic and kinematic patterns during a partially restricted sit-to-stand task in subjects with and without Parkinson's disease (PD). If the trunk is partially restricted, different behavior of torques and muscle activities could be found and it can serve as a reference of the deterioration in the motor performance of ...

This invention comprises a torque drive mechanism utilizing axially translatable, mutually engageable transmission members having mating crown gears, driven and driving members with a three-element drive train being biased together by resilient means or by a fluid actuator system, the apparatus being operable to transmit a precisely controlled degree of ...

We previously showed that inactivating the anterior interpositus nucleus in cats disrupts prehension; paw paths, normally straight and accurate, become curved, hypometric, and more variable. In the present study, we determined the joint kinematic and dynamic origins of this impairment. Animals were restrained in a hammock and trained to reach and grasp a cube of meat from a ...

Given a set of desired joint torques in an n-DOF tendon-driven manipulator with n + 1 control tendons, the determination of tendon forces is an indeterminate problem. Usually, the pseudo-inverse technique is used to solve for such a problem. In this paper, rather than using the pseudo-inverse technique is used to solve for such a problem. In this paper, ...

Given a set of desired joint torques in an n-DOF tendon-driven manipulator with n + 1 control tendons, the determination of tendon forces is an indeterminate problem. Usually, the pseudo-inverse technique is used to solve for such a problem. In this paper, rather than using the pseudo-inverse technique is used to solve for such a problem. In this paper, ...

This book explains the diagnostic criteria and radiologic appearance of joint disease - principally arthritis. It covers the soft tissues, alignment abnormalities, bony mineralization, and abnormalities of the cartilage space of the hand; arthritis from head to foot; and the differential diagnosis of arthritis.

ABSTRACT: INTRODUCTION: A consequence of knee joint osteoarthritis (OA) is an inability to fully activate the quadriceps muscles, a problem termed arthrogenic muscle inhibition (AMI). AMI leads to marked quadriceps weakness that impairs physical function and may hasten disease progression. The purpose of this study was to determine whether gamma-loop (gamma-loop) dysfunction ...

BackgroundA greater percent loss of concentric versus eccentric muscle torque (i.e., relative eccentric muscle torque preservation) has been reported in the paretic limb of individuals with stroke and has been attributed to hypertonia and/or co-contractions. Stroke provides a unique condition for examining mechanisms underlying eccentric muscle ...

Our knowledge of the role of muscle activation on proprioception is incomplete. Previous work has either focused on comparing active and passive motions or manipulated both muscle activation and joint angles simultaneously. We conducted an experiment at the shoulder in which subjects' trunks were tilted backwards to decouple joint angle from ...

Different investigators have proposed that multi-joint arm movements are planned with respect to either the path of the hand or the forces and torques acting about the moving joints. In this experiment, we examined the kinematic and kinetic response of the motor system when a load was applied to the forearm, which reduced the natural ...

Individuals with anterior cruciate ligament (ACL) injury use greater extensor torques at the hip and ankle and lower extensor torques and joint power at the knee during gait compared to healthy subjects. These adaptations may be mediated by (1) altered neuromuscular strategies due to the injury, (2) training effects produced by ...

... THESIS DESIGNING A SENSORLESS TORQUE ESTIMATOR FOR DIRECT TORQUE CONTROL OF AN INDUCTION MOTOR by ...

Active joint torques are the primary source of power and control in dynamic walking motion. However the amplitude, rate, timing and phasic behavior of the joint torques necessary to achieve a natural and stable performance are difficult to establish. The goal of this study was to demonstrate the feasibility and ...

The purpose of this study was to investigate the effects of series elasticity on the torque-angle relationship of the knee extensors in vivo. Forty-two men volunteered to take part in the present study. The participants performed maximal voluntary isometric contractions at eight knee-joint angles (40, 50, 60, 70, 80, 90, 100, 110[degree]). The elongation ...

This patent describes an automatic loading roller for transmitting torque in traction drive devices in manipulator arm joints includes a two-part camming device having a first cam portion rotatable in place on a shaft by an input torque and a second cam portion coaxially rotatable and translatable having a rotating drive surface ...

An automatic loading roller for transmitting torque in traction drive devices in manipulator arm joints includes a two-part camming device having a first cam portion rotatable in place on a shaft by an input torque and a second cam portion coaxially rotatable and translatable having a rotating drive surface thereon for engaging the ...

An automatic loading roller for transmitting torque in traction drive devices in manipulator arm joints includes a two-part camming device having a first cam portion rotatable in place on a shaft by an input torque and a second cam portion coaxially rotatable and translatable having a rotating drive surface thereon for engaging the ...

We propose a model to characterize internal forces and moments during multi-grasp manipulation. The proposed approach is based on construction of a physical model, called the virtual linkage, which is a closed chain mechanism that represents the object being manipulated. Forces and moments applied at the grasp points of this linkage cause joint forces and ...

Isokinetic dynamometers may provide a useful means of measuring muscle stiffness resulting from eccentric exercise because they can measure torque from computer-controlled passive movements of joints (passive resistive torque; PRT). In this study, a Biodex measured increased ankle PRT (52%; p <.001) following heel drop exercise in ...

Many remotely operated robotic manipulator systems are operated in rate control mode to achieve a commanded position and orientation of the end-effector. Performance of certain tasks, such as applying a torque to a screw, would be more efficient if performed in unilateral force control mode. A six axis force-torque model was developed to determine the ...

A least-squares approach to computing inverse dynamics is proposed. The method utilizes equations of motion for a multi-segment body, incorporating terms for ground reaction forces and torques. The resulting system is overdetermined at each point in time, because kinematic and force measurements outnumber unknown torques, and may be solved using weighted ...

Three-dimensional reaching by non-human primates is an important behavioral paradigm for investigating representations existing in motor control areas of the brain. Most studies to date have correlated neural activity to a few of the many arm motion parameters including: global hand position or velocity, joint angles, joint angular velocities, ...

The aims of this study were to examine the acute effects of static stretching on peak torque, work, the joint angle at peak torque, acceleration time, isokinetic range of motion, mechanomyographic amplitude, and electromyographic amplitude of the rectus femoris during maximal concentric isokinetic leg extensions at 1.04 and 5.23 rad x ...

To make an accurate movement, the CNS has to overcome the inherent complexities of the multijoint limb. For example, interaction torques arise when motion of individual arm segments propagates to adjacent segments causing their movement without any muscle contractions. Since these passive joint torques significantly add to the overall ...

A prospective study of bone scanning for detection of ischemic necrosis of bone (INB) was performed in 36 patients (97% female, age range 16-36 yrs.) with systemic lupus erythematosis (SLE). Since the hips, knees, and shoulders are usually affected by INB in patients with SLE, 300 K converging collimator images of these joints were obtained on film and in digital format 2 to 3 ...

A prospective study of bone scanning for detection of ischemic necrosis of bone (INB) was performed in 36 patients (97% female, age range 16-36 yrs.) with systemic lupus erythematosis (SLE). Since the hips, knees, and shoulders are usually affected by INB in patients with SLE, 300 K converging collimator images of these joints were obtained on film and in digital format 2 to 3 ...

The purpose of this paper is to analytically show how to design a joint controller for a telerobotic system when joint torque sensors are available. Other sensors such as actuator position, actuator velocity, joint position, and joint velocity are assumed to be accessible; however, the results ...

-direct some of the torque available from the actuator to lift a leg into pushing the leg down to hold the body that provides a spring mounting point C. A tension spring stretches between points C and I, and provides conducted to determine the available lifting and downward torque of an unaltered Hip joint. Figure 2 shows

) The integration of human and robot into a single system offers remarkable opportunities for a new generation torque at the wrist. These results suggest that the majority of human arm joint torques are devoted during robotic-assistive rehabilitation treatment. Moreover, results of a manipulability analysis

Two cases of unilateral abnormal ultrasonographic findings in the hip joints are introduced. The correct diagnoses were detected by radiography after the failure of intra-articular glucocorticoid injections given as first aid. Ultrasonography (US) has poor specificity, since all phenomena causing effusion into the joint cavity may be ...

Effects of keyswitch design and finger posture on finger joint kinematics and dynamics during September 2003; accepted 3 March 2004 Abstract Objective. To examine the effects of postural and keyswitch that joint torques, stiffness and work parameters differ across keyswitch designs and finger postures typical

This review article describes the anatomy of the thumb trapeziometacarpal joint. In the final phase of opposition screw home torque rotation of the volar beak of the thumb metacarpal in the pivot area of the trapezium recess and tension on the dorsal ligament complex create stability for power pinch and power grip. The resulting compressive shear forces ...

In this paper a model is proposed to evaluate individually the normalized fatigue at the joint level. More specifically our model distinguishes the two antagonist muscle groups acting for each degree of freedom (in short dof). The fatigue model parameters are normalized torques, joint strength and the maximum holding time that a ...

The fatigue-related reduction in joint range of motion (ROM) during dynamic contraction tasks may be related to muscle length-dependent alterations in torque and contractile kinetics, but this has not been systematically explored previously. Twelve young men performed a repetitive voluntary muscle shortening contraction task of the dorsiflexors at a ...

Nine young infants were followed longitudinally from 4 to 15 months of age. We recorded early spontaneous movements and reaching movements to a stationary target. Time-position data of the hand (endpoint), shoulder, and elbow were collected using an optoelectronic measurement system (ELITE). We analyzed the endpoint kinematics and the intersegmental dynamics of the shoulder and elbow ...

The purpose of this study was to evaluate whether and how isometric multijoint leg extension strength can be used to assess athletes' muscular capability within the scope of strength diagnosis. External reaction forces (Fext) and kinematics were measured (n = 18) during maximal isometric contractions in a seated leg press at 8 distinct joint angle configurations ranging from ...

A hybrid position/force controller is presented for a 6 DOF hydraulic manipulator. The controller has been implemented on a Kraft telerobotic slave which has been modified to accommodate a 6 DOF force/torque sensor at the wrist. The controller is implemented within the task frame, and both the position and force are controlled with a non-conventional hybrid control method. ...

The document describes an implementation of a Cartesian servo algorithm on a seven degree-of-freedom manipulator. In the basic algorithm the servo error is computed in Cartesian coordinates and transformed to joint-space torque commands by use of the tran...

A direct-drive arm is a new mechanical arm in which the shafts of articulated joints are directly coupled to the rotors of high performance torque motors. Since the arm does not contain any gears or transmission mechanisms between the motors and their loa...

of using flaps on a vertical fin for rudder steering, the conventional tail was fixed to the end torques. These insects used lateral abdominal deflections aerodynamically for rudder steering7II,11 Micro Bat12 ) utilize rigid body joints such as rudder and elevator control flaps for torsional

The reigning paradigm of musculoskeletal modeling is to construct deterministic models from parameters of an �average� subject and make predictions for muscle forces and joint torques with this model. This approach is limited because it does not perform well for outliers, and it does not model the effects of population parameter variability. The ...