Search results for "KINEMATICS"
showing 10 items of 481 documents
Adaptive neuro-fuzzy inference system for kinematics solutions of redundant robots
2016
This written paper presents aspects concerning the implementation of the Adaptive Neuro-Fuzzy Inference System (ANFIS) in the resolution of a redundant serial robot kinematics. The kinematics solutions are divided into two categories: direct kinematics solutions and inverse kinematics solutions. To be able to control a robot the most important solutions are the ones for the inverse kinematics since one knows the position and the final orientation of the end effector and needs to determine the relative displacement or movements into the robot couplings. To obtain the optimal solutions for the inverse kinematics of a redundant robot the mathematical equations were based onto the redundancy ci…
Optimization design process of a morphing winglet
2018
Aeronautic and aerospace engineering is recently moving in the direction of developing morphing wing devices, with the aim of making adaptable the aerodynamic shapes to different operational conditions. Those devices may be classified according to two different conceptual architectures: kinematic or compliant systems. Both of them embed within their body all the active components (actuators and sensors), necessary to their operations. In the first case, the geometry variation is achieved through an augmented classical mechanism, while in the second case the form modification is due to a special arrangement of the inner structure creating a distributed elastic hinges arrangement. Whatever is…
Similar planning strategies for whole-body and arm movements performed in the sagittal plane
2003
The present paper looks for kinematic similarities between whole-body and arm movements executed in the sagittal plane. Eight subjects performed sit-to-stand (STS) and back-to-sit (BTS) movements at their preferred speed in the sagittal plane. Kinematics analysis focused on shoulder motion revealed that STS was composed of a straight, forward displacement followed by a curved, upward displacement while BTS was characterized by a curved, downward and straight, backward displacement. Curvature of the upward displacement was significantly greater than the downward one. Analysis of shoulder-velocity profiles showed that movement duration was significantly longer for BTS compared with STS and th…
Role of the feedforward command and reafferent information in the coordination of a passing prehension task.
1999
The performances of a deafferented patient and five control subjects have been studied during a self-driven passing task in which one hand has to grasp an object transported by the other hand and in a unimanual reach-to-grasp task. The kinematics of the reach and grasp components and the scaling of the grip aperture recorded for the self-driven passing task were very similar in controls and the deafferented subject (GL). In contrast, for the unimanual task when vision was absent, GL's coordination between reaching and grasping was delayed in space and time compared with the control subjects. In addition, frequent reopening of the grip was observed in GL during the final closure phase of the…
Corrective loops involved in fast aiming movements: effect of task and environment
1998
In daily living, we continuously interact with our environment. This environment is rarely stable and living beings show remarkable adaptive capacities. When we reach for an object, it is necessary to localize the position of this object with respect to our own body before programming an adequate arm movement. If the target remains stable, the programmed movement brings the hand near the target. However, what happens when the target suddenly jumps to another position in space? The aim of this work was to investigate how rapid aiming movements are corrected when the target is displaced close to movement onset. Our results reveal that rapid movements can be modified and that the efficiency of…
Functional evaluation of patients with anterior cruciate ligament injury. A transversal analytical study.
2018
Abstract Objective To evaluate, by means of biomechanical analysis, functional alterations of gait and balance of patients with anterior cruciate ligament (ACL) injury. Material and methods Transversal analytical study on 64 people, 27 health subjects and 37 patients with ACL injury. Biomechanical analysis of gait in all individuals was performed by means of four tests: (1) kinematic test, to characterize gait pattern; (2) kinetic test, to characterize forces against the floor, duration of treads, symmetry of both legs, and the reproducibility of the gait; (3) pivot-shift test, to analyze the rotational stability of the knee on the sagittal axis; and (4) equilibrium test. Results Alteration…
Modeling of Human Posturokinetic Movements by a Linear Feedback System: Relations among Feedback Coefficients
2002
This study describes a method of modeling human trunk and whole body backward bending and suggests a possible neural control strategy. The hypothesis was that the control system can be modeled as a linear feedback system, in which the torque acting at a given joint is a function of the state variables (angular positions and angular velocities). The linear system enabled representation of the feedback system by a gain matrix. The matrix was computed from the kinematics recorded by a movement analysis system and from the joint torques calculated by inverse dynamics. To validate the control model, a comparison was made between the angular kinematics yielded by the model and the experimental d…
Influence of cognitive-motor expertise on brain dynamics of anticipatory-based outcome processing.
2019
Motor experience plays an important role in the ability to anticipate action outcomes, but little is known about the brain processes through which it modulates the preparation for unexpected events. To address this issue, EEG was employed while table tennis players and novices observed videos of serves in order to predict the expected ball direction based on the kinematics of a model's movement. Furthermore, we manipulated the congruency between the model's body kinematics and the subsequent ball trajectory while assessing the cerebral cortical activity of novices and experts to understand how experts respond to unexpected outcomes. Experts were more accurate in predicting the ball trajecto…
Does the coordination between posture and movement during human whole-body reaching ensure center of mass stabilization?
1999
The whole-body center of mass (CoM) has been classically regarded as the stabilized reference value for human voluntary movements executed upon a fixed base of support. Axial synergies (opposing displacements of head and trunk with hip segments) are believed to minimize antero-posterior (A/P) CoM displacements during forward trunk movements. It is also widely accepted that anticipatory postural adjustments (APAs) create forces of inertia that counteract disturbances arising from the moving segment(s). In the present study, we investigated CoM stabilization by axial synergies and APAs during a whole-body reaching task. Subjects reached towards an object placed on the ground in front of them …
The representation of gravitational force during drawing movements of the arm
1998
The purpose of the present experiment was to study the way in which the central nervous system (CNS) represents gravitational force (GF) during vertical drawing movements of the arm. Movements in four different directions: (a) upward vertical (0 degrees), (b) upward oblique (45 degrees), (c) downward vertical (180 degrees) and (d) downward oblique (135 degrees), and at two different speeds, normal and fast, were executed by nine subjects. Data analysis focused upon arm movement kinematics in the frontal plane and gravitational torques (GTs) exerted around the shoulder joint. Regardless of movement direction, subjects showed straight-line paths for both speed conditions. In addition, movemen…