Computer simulation of the dynamics of a human arm and orthosis linkage mechanism

Buckley, M.; Johnson, GR

doi:10.1243/0954411971534476

Cited by 15 publications

(8 citation statements)

References 3 publications

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“…The model is a kinematic approximation of the human upper limb which is used to define measurements of the upper limb joints. The compound shoulder joint is composed of the gleno-humeral and scapulathoracic joints, enabling complex rotational and translational movements that can be represented by a five DoF model (Buckley and Johnson, 1997). A spherical joint was used to model the glenohumeral joint whilst two translational DoFs represented scapular movement in relation to the thorax.…”

Section: Upper Limb Coordinate Systemmentioning

confidence: 99%

A novel robotic system for quantifying arm kinematics and kinetics: Description and evaluation in therapist-assisted passive arm movements post-stroke

Culmer

Jackson

Makower

et al. 2011

Journal of Neuroscience Methods

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Section: Upper Limb Coordinate Systemmentioning

confidence: 99%

A novel robotic system for quantifying arm kinematics and kinetics: Description and evaluation in therapist-assisted passive arm movements post-stroke

Culmer

Jackson

Makower

et al. 2011

Journal of Neuroscience Methods

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“…A 5-DOF model has been selected [22] that approximates the gross compound movements of the shoulder without requiring detailed modeling of the internal elements. A spherical joint models the glenohumeral joint.…”

Section: ) Model Considerationsmentioning

confidence: 99%

A Control Strategy for Upper Limb Robotic Rehabilitation With a Dual Robot System

Culmer

Jackson

Makower

et al. 2010

IEEE/ASME Trans. Mechatron.

125

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This paper describes the development and use of the cooperative control scheme used by the intelligent pneumatic arm movement (iPAM) system to deliver safe, therapeutic treatment of the upper limb during voluntary reaching exercises. A set of clinical and engineering requirements for the control scheme are identified and detailed, which entail controlled, coordinated movement of a dual robot system with respect to the human upper limb. This is achieved by using a 6-DOF model of the upper limb that forms the controller's coordinate system. An admittance control scheme is developed by using this coordinate system such that robotic assistance can be varied as appropriate. Key controller components are derived, including kinematic and force transformations between the upper limb model and the dual robot task space. The controller is tested using a computational simulation and with a stroke subject in the iPAM system. The results demonstrate that the control scheme can reliably coordinate the dual robots to assist upper limb movements. A discussion considers the ramifications of using the system in practice, including the effects of measurement errors and controller limitations. In conclusion, the iPAM system has been shown to be effective at delivering variable levels of assistance to the upper limb joints during therapeutic movements in a clinically appropriate manner.

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“…Computer modelling and simulations are important tools for the design and development of an upper-limb orthotic system (BUCKLEY and JOHNSON, 1997). Simulations of the dynamic behaviour of arms when performing various daily tasks would facilitate the making of many design decisions, such as the control mechanism, and the prediction of the performance of an orthotic system before its fabrication.…”

mentioning

confidence: 99%

Development of computer-based environment for simulating the voluntary upper-limb movements of persons with disability

Tong

Mak

2001

Med. Biol. Eng. Comput.

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Upper-limb orthotic systems have been designed for restoring the upper-limb functions of individuals with disabilities resulting from spinal cord injury (SCI), stroke and muscular dystrophy. These systems employ either functional electrical stimulation or external power. It is proposed that, instead of time-consuming and complicated monitoring using sensors and motion analysis, a software simulator with both angular displacement and acceleration parameters can facilitate the design of a control strategy for an orthosis. Reaching movements of three cervical SCI subjects are used to verify the simulator. A motion analysis system is used to measure the range of motion and joint angles during hand reaching. Results indicate that quaternion and spline curve techniques are suitable for interpolation of the hand reaching movements. The information needed for good simulation only compress the shoulder and elbow joint angles in a few key postures. Stimulated acceleration signals on the upper-arm segment have a high correlation coefficient (> 0.9) and a small root mean squared error (< 0.11 g) with a real bi-axial accelerometer.

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Computer simulation of the dynamics of a human arm and orthosis linkage mechanism

Cited by 15 publications

References 3 publications

A novel robotic system for quantifying arm kinematics and kinetics: Description and evaluation in therapist-assisted passive arm movements post-stroke

A novel robotic system for quantifying arm kinematics and kinetics: Description and evaluation in therapist-assisted passive arm movements post-stroke

A Control Strategy for Upper Limb Robotic Rehabilitation With a Dual Robot System

Development of computer-based environment for simulating the voluntary upper-limb movements of persons with disability

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