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Passive knee laxity is an important clinical measure to assess function after joint replacement. Clinical observations suggest that the use of minimally invasive surgical techniques in knee arthroplasty may affect the surgeon's ability to orient and position the prosthetic components accurately. Further, recent studies suggest that malplaced prosthetic components in unicompartmental knee replacement...
Classical models to estimate the head and trunk (HT) moments of inertia (I) are limited to populations from which the anthropometric measures were obtained. The purposes of this study were to determine if the angular momentum technique can be used to estimate subject-specific HT's I values and test its validity and sensitivity. Twenty-three adults who participated in this study were divided into three...
When dealing with the design of robotic fingers driven by tendons, one can be inspired by the human index finger tendon distribution. The structure of the designed robot finger has to minimize the number of tendons required without sacrificing either the actuated degree of freedom or the maximal output force produced at the fingertip. In this paper, a biomechanical study of the index finger under...
This paper focuses on the modeling of the human bicep brachii muscle and introduces an iterative identification method for nonlinear parameters in a virtual muscle model. This model displays characteristics that are highly nonlinear and dynamical in nature. However, the precision of the virtual muscle model depends on a set of model parameters which cannot be acquired easily using non-invasive measurement...
The nematode Caenorhabditis Elegans has become an important model organism for many areas of biological research including genetics, development, and neurobiology. It is the first organism to have its genome sequenced, complete cell ontogeny determined, and nervous system mapped. With all of the information that is available on this simple organism, \emph{C. elegans} may also become the first organism...
In this paper, for improving the efficacy of rehabilitation robotics, a dynamic model of human elbow joints is developed, in which the effects of correlative muscles are considered, using Alembert's principle based on the biomechanics and athletic physiology. Then the proposed model is optimized by using Lagrange's Multipliers method. Simulation results show that the proposed model is effective and...
A new dynamical model of the shoulder has been developed. It consisted of eleven muscles. The glenohumeral joint is modeled as a spherical joint, allowing for three rotations. Muscle wrapping around a spherical humeral head is calculated analytically. The problem of indeterminated muscle forces is solved in two steps. First, an intermediate solution is calculated using the pseudo-inverse of the moment...
Robots have entered human life, and closer relationships are being formed between humans and robots. It is desirable that these robots be flexible and lightweight. For this reason, we studied and developed an artificial muscle actuator using straight-fiber-type artificial muscles derived from the McKibben-type muscles, which have excellent contraction rate and force characteristics. However, these...
The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the internal module (i.e. robot joint) stiffness is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the...
In this work, a biomechanical model of the index finger is used to get an insight into the mechanism that controls the index musculoskeletal system. Our simulation is intended to determine how different muscles groups are acting on different joints in producing adequate static maximal fingertip forces and moments. The model is then modified to simulate injured fingers with extensor mechanism loss...
A simple model representing the quasistatic behavior of skeletal muscle is presented in which the force produced by the muscle is a bilinear function of the muscle length and the neural activation of the muscle. Using two such muscles to represent the biceps and triceps, a biomechanical model of the elbow and forearm is developed. For maintenance of static posture of the elbow and forearm, this model...
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