A biomechanical investigation of wrist kinematics

Andrews, James G.; Youm, Youngil

doi:10.1016/0021-9290(79)90012-5

Cited by 101 publications

(30 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Its local position is defined by the position vector and the orientation of its sensitive axis by the unit vector . During a roto-translational movement, the AC would ideally measure the projection of the absolute acceleration of point onto its sensitive axis (1) where denotes the angular velocity of the local frame, the local frame origin acceleration, and the gravitational acceleration.…”

Section: A Mathematical Modelsmentioning

confidence: 99%

“…By subtracting the measurements taken by the ACs of each couple [see (1)] and performing simple calculations, the following scalar equations are obtained: (2) where is the acceleration component measured by the AC located in the th point and aligned with the th local axis, and are the angular velocity components in the local frame. The fact that this equation system exhibits a simple structure and is relatively easy to integrate is due to the specific AC's arrangement.…”

Section: A Mathematical Modelsmentioning

confidence: 99%

“…Similarly, ultrasound-emitting point-markers and microphonic sensors may be used [1]. Knowledge of the position of at least three noncollinear points allows for the reconstruction of the P&O of the rigid body segment [3].…”

mentioning

confidence: 99%

See 2 more Smart Citations

Is it feasible to reconstruct body segment 3-D position and orientation using accelerometric data?

Giansanti

Macellari

Maccioni

et al. 2003

IEEE Trans. Biomed. Eng.

100

View full text Add to dashboard Cite

Abstract-The analysis of the mechanics of the musculo-skeletal system during the execution of a motor task requires the determination of the instantaneous position and orientation of the body segments involved in relation to an inertial system of reference. By using adequately assembled uniaxial accelerometric sensors, an easy-to-manage measurement system can be obtained that estimates the three-dimensional position and orientation (P&O) of a body segment through an appropriate analytical model. However, the extent to which experimental errors, in particular accelerometers (ACs) assembly inaccuracies, affect such estimation has never been systematically investigated. This paper systematically analyzes the sensitivity of analytical models of body segment P&O reconstruction through a six-AC system and a nine-AC system to different sources of experimental error. We simulated and statistically assessed the performance of these models in the case of body segment motions typical of movements under muscular control.The results obtained indicated that the inaccuracy in the orientation of the individual AC's active axes and the offset error in the AC responses were the major sources of P&O estimation errors. In particular, no accurate estimation of position was possible with the analytical models analyzed. Under the motion conditions simulated in this study, no substantial advantages were found in using a nine-AC system rather than a six-AC system.Considering that the magnitudes of the simulated experimental errors were quite low ( 0.1 deg: AC's orientation; 10 4 m: uncertainty of the distance between two ACs; 10 2 ms 2 : random error; 0.5 10 2 ms 2 : offset error), the results indicate that none of the two ACs systems analyzed is suitable for body segment P&O estimation in routine biomechanical applications.Index Terms-accelerometer, accuracy, human movement analysis, simulation, 3-D rigid body position and orientation.

show abstract

Section: A Mathematical Modelsmentioning

confidence: 99%

Section: A Mathematical Modelsmentioning

confidence: 99%

See 1 more Smart Citation

Is it feasible to reconstruct body segment 3-D position and orientation using accelerometric data?

Giansanti

Macellari

Maccioni

et al. 2003

IEEE Trans. Biomed. Eng.

100

View full text Add to dashboard Cite

show abstract

“…On the contrary, the motion of the carpal bones of the proximal row is not proportional to the hand motions. Taken as an entity, the joints are considered one joint, called the wrist joint (15) .…”

Section: Wrist Anatomy -Toward the Exoskeletonmentioning

confidence: 99%

An Exoskeleton Robot for Human Forearm and Wrist Motion Assist -Hardware Design and EMG-Based Controller

Gopura

Kiguchi

2008

JAMDSM

View full text Add to dashboard Cite

The exoskeleton robot is worn by the human operator as an orthotic device. Its joints and links correspond to those of the human body. The same system operated in different modes can be used for different fundamental applications; a human-amplifier, haptic interface, rehabilitation device and assistive device sharing a portion of the external load with the operator. We have been developing exoskeleton robots for assisting the motion of physically weak individuals such as elderly or slightly disabled in daily life. In this paper, we propose a three degree of freedom (3DOF) exoskeleton robot (W-EXOS) for the forearm pronation/ supination motion, wrist flexion/extension motion and ulnar/radial deviation. The paper describes the wrist anatomy toward the development of the exoskeleton robot, the hardware design of the exoskeleton robot and EMG-based control method. The skin surface electromyographic (EMG) signals of muscles in forearm of the exoskeletons' user and the hand force/forearm torque are used as input information for the controller. By applying the skin surface EMG signals as main input signals to the controller, automatic control of the robot can be realized without manipulating any other equipment. Fuzzy control method has been applied to realize the natural and flexible motion assist. Experiments have been performed to evaluate the proposed exoskeleton robot and its control method.

show abstract

“…Similarly this result can be achieved by means of ultrasound technology based on ultrasound emitting point-markers and microphonic sensors [27]. The main limitations of these techniques are the encumbrance and costs of the equipment.…”

Section: Introductionmentioning

confidence: 95%

The Development and Test of a Device for the Reconstruction of 3-D Position and Orientation by Means of a Kinematic Sensor Assembly With Rate Gyroscopes and Accelerometers

Giansanti

Maccioni

Macellari

2005

IEEE Trans. Biomed. Eng.

127

View full text Add to dashboard Cite

Abstract-In this paper, we propose a device for the Position and Orientation (P&O) reconstruction of human segmental locomotion tasks. It is based on three mono-axial accelerometers and three angular velocity sensors, geometrically arranged to form two orthogonal terns. The device was bench tested using step-by-step motorbased equipment. The characteristics of the six channels under bench test conditions were: crosstalk absent, non linearity 0,

show abstract

A biomechanical investigation of wrist kinematics

Cited by 101 publications

References 3 publications

Is it feasible to reconstruct body segment 3-D position and orientation using accelerometric data?

Is it feasible to reconstruct body segment 3-D position and orientation using accelerometric data?

An Exoskeleton Robot for Human Forearm and Wrist Motion Assist -Hardware Design and EMG-Based Controller

The Development and Test of a Device for the Reconstruction of 3-D Position and Orientation by Means of a Kinematic Sensor Assembly With Rate Gyroscopes and Accelerometers

Contact Info

Product

Resources

About