In recent years, numerous studies have been conducted to analyze how humans subconsciously optimize various performance criteria while performing a particular task, which has led to the development ...of robots that are capable of performing tasks with a similar level of efficiency as humans. The complexity of the human body has led researchers to create a framework for robot motion planning to recreate those motions in robotic systems using various redundancy resolution methods. This study conducts a thorough analysis of the relevant literature to provide a detailed exploration of the different redundancy resolution methodologies used in motion generation for mimicking human motion. The studies are investigated and categorized according to the study methodology and various redundancy resolution methods. An examination of the literature revealed a strong trend toward formulating intrinsic strategies that govern human movement through machine learning and artificial intelligence. Subsequently, the paper critically evaluates the existing approaches and highlights their limitations. It also identifies the potential research areas that hold promise for future investigations.
In recent years, researchers have focused on analyzing humans’ daily living activities to study various performance metrics that humans subconsciously optimize while performing a particular task. In ...order to recreate these motions in robotic structures based on the human model, researchers developed a framework for robot motion planning which is able to use various optimization methods to replicate similar motions demonstrated by humans. As part of this process, it will be necessary to record the motions data of the human body and the objects involved in order to provide all the essential information for motion planning. This paper aims to provide a dataset of human motion performing activities of daily living that consists of detailed and accurate human whole-body motion data collected using a Vicon motion capture system. The data have been utilized to generate a subject-specific full-body model within OpenSim. Additionally, it facilitated the computation of joint angles within the OpenSim framework, which can subsequently be applied to the subject-specific robotic model developed MATLAB framework. The dataset comprises nine daily living activities and eight Range of Motion activities performed by ten healthy participants and with two repetitions of each variation of one action, resulting in 340 demonstrations of all the actions. A whole-body human motion database is made available to the public at the Center for Assistive, Rehabilitation, and Robotics Technologies (CARRT)-Motion Capture Data for Robotic Human Upper Body Model, which consists of raw motion data in .c3d format, motion data in .trc format for the OpenSim model, as well as post-processed motion data for the MATLAB-based model.
Osteoid osteomas are small, benign tumors typically less than 1 cm in size. Common locations of occurrence include the diaphysis and metaphysis of femur, tibia and humerus with a juxtacortical ...position. The involvement of metatarsals is very rare. The diagnosis of osteoid osteoma rests upon its typical radiological appearance of central sclerotic nidus with lysis around along with non-traumatic pain out of proportion to the size and signs. We present a rare case of osteoid osteoma in a 26-year-old male involving the head of 5th metatarsal head, which was managed operatively with curettage and thermoablation with uneventful recovery and complete resolution of symptoms.
Abstract Background Recent studies have documented motions of the upper limbs of healthy subjects during activities of daily living. The aim of this study was to investigate compensatory motions of ...the upper extremity and torso during tasks for transradial prosthesis users and to determine if bracing simulates prosthesis use. Methods Seven transradial myoelectric prosthesis users and 10 non-amputee volunteers performed four common tasks. Bracing was used to simulate the use of a transradial prosthesis by the non-amputee subjects. Range of motion of the glenohumeral (shoulder) joint, elbow joint and torso were calculated from optical motion analysis data. The motions between the non-braced, braced and transradial prosthesis user groups were statistically compared. Degree of asymmetry between the affected and unaffected arm was computed for the bilateral tasks. Findings Myoelectric transradial prosthesis users compensate for lack of wrist and forearm movement differently depending on the task. Compensatory motion in torso bending occurs while opening a door. For the box lift task, prosthesis users rely more on the sound arm and torso bending. While drinking from a cup, decreasing flexion of the glenohumeral joint and increasing elbow flexion was shown while using a prosthesis. While turning a steering wheel, prosthesis users are similar to non-amputee subjects. Interpretation By looking at the compensatory motions caused by limiting forearm and wrist movement, a greater understanding of the problems with transradial prosthetic design can be developed. Although bracing intact subjects showed similar mechanisms of compensation in most tasks, the magnitude of compensation was greater for prosthesis users.
Abstract Transitional movements are a determinant of functional independence and have limited study in amputees. Microprocessor prosthetic knees’ abilities to assist transfemoral amputees with ...sitting and standing have not been studied. Through cross-sectional study, 21 transfemoral amputees, divided into 3 groups of 7 by knee type (power knee, C-leg, Mauch SNS) and 7 non-amputee controls ( n = 28) performed sit to stand and stand to sit while kinematic and kinetic data were recorded. Transfemoral amputees can stand (1.6–2.0 s) and sit (2.1–2.8 s) at rates comparable to controls (1.6 s). Controls’ ground reaction force (GRF) and knee moment production was <7% asymmetric and superior to amputees’ during both movements. For sit to stand, amputees’ asymmetry for GRF ranged from 53 to 69% and 110 to 124% for knee moments. For stand to sit, amputees’ asymmetry for GRF ranged from 32 to 60% and 84 to 114% for knee moments. Hip moment asymmetry for sit to stand was less for control (21%) and power knee (34%) groups than that produced by the Mauch SNS (59%) group. For stand to sit, hip moment production for the Mauch SNS (47%) and C-leg groups (71%) were more asymmetric than controls (19%). In the majority of cases transfemoral amputees do not load their prosthesis extensively for standing up or sitting down. Therefore, this transitional movement is currently a one-legged task, which increases stress on the sound limb. Generally, the prosthetic knees studied did not produce a significant knee moment in either task. Although most differences between knee groups were not statistically significant, differences may be clinically meaningful on an individual basis.
Background: We undertook this study to evaluate the awareness of the Primary Caregivers of children with clubfoot aka Congenital Talipes Equino Varus (CTEV) and their familiarity with the disease, ...their beliefs, knowledge and compliance to treatment, and barriers encountered during the treatment process. Settings and design: Cross-sectional, analytical study. Materials and methods: A standard questionnaire in the local vernacular language was prepared, on which 108 respondents were interviewed. Data were analyzed by using Statistical Package for the Social Sciences (SPSS) software program, version 21.0. Chi-square test was applied wherever suitable as a parametric test. Results: Approximately 57.40% of participants had no prior knowledge of clubfoot at all, till they had a child born of the deformity in the family. Superstitions like lunar eclipse (37.96%), punishment from God (37.03%), solar eclipse (34.26%) and black magic (26.85%) were widely prevalent as the perceived cause of the deformity. Only 25% of the participants believed that any kind of treatment should be started immediately after birth and 20.37% of the study population felt the first line of treatment should be a visit to a spiritual healer or to a shrine of a saint. Approximately 68.52% of the study participants were satisfied with the explanation of the disease process and treatment plan offered by the treating doctor. Approximately 52.77% perceived social stigma as an obstacle to treatment, whereas 58.33% had difficulties adjusting to change of home or workplace routines. Conclusion: The awareness level regarding clubfoot in the primary caregivers in the Indian scenario is low and has an implication on successful treatment and compliance.
A simulation algorithm to predict expected upper limb movements of prosthesis users performing activities of daily living (ADL) was developed. It is quite challenging to determine the right type and ...fit of a prosthesis and provide appropriate training to properly utilize it. The amputee care team typically uses prior experiences to provide prescription and training customized for each individual. It is also very difficult to anticipate expected and undesired compensatory motions due to reduced degrees of freedom of a prosthesis user. We have developed a tool to predict and visualize the expected upper limb movements resulting from using a prescribed prosthesis and its suitability to the needs of the amputee. It is expected to help clinicians make decisions such as the type of the prosthesis, and whether to include a wrist joint, based on the impact it will have on the rest of the joints. The main focus of this work is to use robotics-based methods to simulate human use of prostheses and identify the expected posture of the limited joints on the upper limbs. Unlike other works, this paper does not discuss the control of the prosthesis but the posture of the body. A weighted least-norm inverse kinematics algorithm was used to develop a robotics-based model of the upper limbs and torso. Motion capture data from the subjects were used to determine the weighting matrix the algorithm required. Results show that this approach provides human-like simulation of joint motions and matches the motion capture data. The algorithm uses the individual's anthropometrics and level of amputation to create a personalized kinematic model of the upper body and the joint motions during ADLs. A graphic user interface (GUI) was created to allow the clinician to input the relevant data resulting in arm movements of the prospective prosthesis user. A custom-made visualization software was developed to display an animation performing the simulated motion. It should be stressed that this work does not adjust and replay motion capture recordings, but solves the inverse kinematics of the human body.
Microprocessor prosthetic knees (MPKs) have advanced technologically, offering new features to decrease impairment and activity limitations for persons with transfemoral amputation (TFA). The Genium ...knee is functionally untested, and functional differences between it and intact knees are unknown. This study sought to determine whether Genium use improves functional performance compared with the C-Leg. A randomized experimental crossover design was used, with a cross-section of five nonamputee controls for comparison to normal. Twenty community-ambulating persons with TFA were trained and tested for accommodation with study components. All subjects (n = 25) were assessed using the Continuous-Scale Physical Functional Performance-10 (CS-PFP10) assessment. Subjects with TFA used both MPK systems. Genium use improved upper-body flexibility, balance, and endurance domain scores (7.0%-8.4%, p </= 0.05) compared with the C-Leg. Only in the endurance domain did Genium users score significantly lower than nonamputees (22.4%, p = 0.05). Comparing the C-Leg with nonamputees, CS-PFP10 total (2.0%-24.4%, p = 0.03) and all domains except upper-body strength were lower than nonamputees (-13.4% to -28.9%, p </= 0.05). Nonetheless, regardless of knee condition, subjects with TFAs did not equal or surpass nonamputees in any functional domain, suggesting room for improvements in TFA functional performance.
•Eight VR locomotion techniques were investigated in a room-scale tracked area.•A user study was performed with 15 participants.•Point & teleport, joystick and redirected walking resulted as suitable ...techniques.•Hand flapping and flying resulted as not suitable techniques.
Virtual reality (VR) is becoming a more popular and available technology, with the new generation systems and more content specifically developed for this medium. One of the crucial components of VR applications is locomotion, which is used for moving the viewpoint of user in virtual environments. Locomotion in VR is expected to have a direct effect on user experience in terms of effort, enjoyment, frustration, motion sickness and presence. To date, many locomotion techniques for VR have been studied. However, these techniques were primarily evaluated in large tracked areas (larger than 16 ft by 16 ft). On the contrary, emerging consumer VR systems typically track within smaller room scales. In this study, eight VR locomotion techniques were investigated in a room-scale tracked area (8 ft by 8 ft). These eight locomotion techniques are: redirected walking, walk-in-place, stepper machine, point & teleport, joystick, trackball, hand flapping and flying. A user study was performed with 15 participants. Results indicated that point & teleport, joystick and redirected walking were suitable VR locomotion techniques for room scale tracked areas whereas hand flapping and flying were not suitable.
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