CARRT-Motion Capture Data for Robotic Human Upper Body Model.

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.

Biomimetic Approaches for Human Arm Motion Generation: Literature Review and Future Directions.

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.

A systematic literature review of ankle-foot orthosis and functional electrical stimulation foot-drop treatments for persons with multiple sclerosis.

Foot-drop is one of the most diagnosed and physically limiting symptoms persons with multiple sclerosis (pwMS) experience. Clinicians prescribe ankle-foot orthosis (AFO) and functional electrical stimulation (FES) devices to help alleviate the effects of foot drop, but it is unclear how their clinical and functional gait improvements compare given the user's level of disability, type of multiple sclerosis, walking environment, or desired physical activity. The research questions explored were what is the current state of AFO and FES research for pwMS? What are the prevailing research trends? What definitive clinical and functional device comparisons exist for pwMS? eight databases were systematically searched for relevant literature published between 2009 and 2021. The American Association of Orthotists and Prosthetists and Preferred Reporting Items for Systematic Reviews and Meta-Analysis guidelines for systematic literature reviews were followed. A team of 3 researchers critically evaluated 17 articles that passed eligibility criteria. This review discusses the current state and trends of research, provides evidence statements on device effects, and recommends improvements for future studies. A meta-analysis would be informative, but study variability across the literature makes directly comparing AFO and FES device effects unreliable. This review contributes new and useful information to multiple sclerosis literature that can be used by both clinicians and researchers. Clinicians can use the provided insights to prescribe more effective, customized treatments, and other researchers can use them to evaluate and design future studies.

Changes in lower limb alignment and their effect on the functional outcome after treatment of varus degenerative OA knee by hemicallotasis using modular dynamic HTO fixator.

OBJECTIVE: High tibial osteotomy (HTO) is an established procedure to treat medial compartmental osteoarthritis (OA) knee associated with varus deformity. It is well documented that precise correction of deformity and maintenance of correction achieved is important to ensure long term good results. This study was undertaken to record changes in radiological parameters and its effect on the functional outcomes in first two years following HTO done for varus degenerative OA kneeby hemicallotasis technique using HTO fixator. METHODS: 31 patients meeting our inclusion-exclusion criteria who underwent HTO by hemicallotasis method using self-adjusting unilateral HTO fixator were included in the study. Their femoro tibial angle (FTA), mechanical axis %, Insall- Salvati ratio, proximal tibial antero-posterior slope and knee injury and osteoarthritis outcome Score (KOOS) were recorded preoperatively, postoperatively at the time of removal of fixator, at 1 year and at 2 years. RESULTS: The FTA and mechanical axis significantly improved from a mean of 183.12° and -3.26% respectively preoperatively to 173.38° and 61.81% at the time of removal of fixator but subsequently showed significant deterioration to 176.06° and 57.96% at 1 year and further insignificant deterioration to 176.16° and 57.74 at 2 years. The KOOS improved from mean 56.61 preoperatively to 70.48 at the time of fixator removal and further improved significantly to 85.68 at 1 year but significantly deteriorated to 84.54 at 2 years. The Insall-Salvati ratio, tibial slope showed no significant change throughout the study. Conclusion: Though desired alignment can be achieved by using the fixator, we found a significant deterioration in achieved radiological parameters after removal of fixator adversely affecting the functional outcome which is a matter of concern.

Assessment of awareness and barriers to clubfoot treatment in the Indian scenario.

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.

Comparison of sensitivity to beam collimation of the holographic shearing interferometer with the wedge plate shearing interferometer and the Talbot shearing interferometer.

High sensitivity of collimation testing equipment is desirable where collimated beams are used for precise and accurate measurements. Precision in the setting of collimation depends on the sensitivity of the testing equipment. In the present work, sensitivity to beam collimation of the recently reported holographic shearing interferometer (HSI) [J. Opt.20, 055603 (2018)JOOPDB0150-536X10.1088/2040-8986/aab6dc] is measured and compared with sensitivities of other collimation testing techniques based on the wedge plate shearing interferometer and the Talbot shearing interferometer. For a test beam of diameter 25 mm from an He-Ne laser and displacement of the collimating lens by 1 mm from the collimation position, the Talbot shearing interferometer shows a rotation of interference fringes from the horizontal direction by 2°, the wedge plate shearing interferometer shows 20°, and the HSI shows 25°. Sensitivity is also presented in terms of measured slopes of phase maps of the recorded interferograms for a 1 mm displacement of the collimating lens and is obtained as 0.98 mrad, 15 mrad, and 19 mrad corresponding to the Talbot shearing interferometer, the wedge plate shearing interferometer, and HSI, respectively. The effect of decollimation of the laser beam on the interference fringes of diffraction of the Lloyd mirror interferometer is also demonstrated. Theoretical concepts and experimental results are presented and discussed for the above-mentioned beam collimation testing techniques.

Enhanced Control to Improve Navigation and Manipulation of Power Wheelchairs.

Our team developed a mobile wheelchair control kit designed to allow power wheelchair users the ability to maneuver their wheelchair without the need to manipulate a joystick with their hands. A smartphone and its internal accelerometer sensor was used to detect the vector of gravity, and thus detecting the pitch and roll. The wheelchair control system was tested with the phone attached in three mounting positions: hand held, hat and arm band and compared to the manipulation using the wheelchair joystick. To determine the viability of the commercialization of this kit as well as which features to further develop, a customer discovery was completed. Over a hundred interviews of power wheelchairs users, therapists, care takers, manufacturers, dealers, and assistive technology professionals were conducted at clinics, tradeshows, disabilities support groups, and rehabilitation organizations. After discovering the needs of the customers, collision avoidance was implemented into the control kit and back up cameras were added into the smart phone app to allow for the camera view to be seen without additional screens attached to the wheelchair. Future work will test these new design features and will concentrate on removing excess weight from the control kit. Improving the ease of installation of the kit to any power wheelchair will also be a focus.

Robotic assistance for performing vocational rehabilitation activities using BaxBot.

Activities of Daily Living (ADL's) refer to tasks that people do on a daily basis, such as self-feeding, cleaning the house, or bathing. These activities often require a degree of functional mobility that may be outside the ability of a person suffering from cognitive or physical impairment. This work describes methods of performing ADL's with a mobile robotic system. We examined the needs of potential users and caregivers through surveys to determine the most needed applications for robotic assistance. Using this information, we extended the functionality of our BaxBot mobile robotic system to provide meaningful, autonomous assistance in performing three specific ADL's with minimal user interaction.

Semi-autonomous mobility assistance for power wheelchair users navigating crowded environments.

Power wheelchair users suffering from cognitive or physical impairment often face difficulties in maneuvering their wheelchairs through crowded environments. Currently, users need to be continuously aware of all traffic around them to actively avoid all collisions. This is an especially difficult task since many wheelchair users are unable to accurately view or perceive their surroundings. Additionally, imprecise joystick control, slowed reaction time, or imperfect interpretation of the environment can lead to unintended collisions with objects in the environment. This work looks to augment user's input with data gathered from an ultrasonic sensor ring to prevent accidental collisions. Using data gathered from the sensors, we detect objects within a certain radius of the chair. This sensor information is combined with the user input from a joystick to generate a potential field description for the intended motion of the wheelchair. An optimal motion vector is calculated which works to avoid collision with obstacles. Ultimately, this control method reduces the cognitive load on the user and enables them to navigate complex environments by providing simple and/or imprecise input to the system.

Functional performance differences between the Genium and C-Leg prosthetic knees and intact knees.

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

CONCURRENT VALIDITY OF THE CONTINUOUS SCALE-PHYSICAL FUNCTIONAL PEFORMANCE-10 (CS-PFP-10) TEST IN TRANSFEMORAL AMPUTEES.

The Continuous Scale-Physical Functional Performance-10 (CS-PFP-10) test consists of 10 standardized daily living tasks that evaluate overall physical functional performance and performance in five individual functional domains: upper body strength (UBS), upper body flexibility (UBF), lower body strength (LBS), balance and coordination (BAL), and endurance (END). This study sought to determine the concurrent validity of the CS-PFP-10 test and its functional domains that involve the lower extremities (LBS, BAL, or END) in comparison to measures that have established validity for use in persons with transfemoral amputation (TFA). Ten TFA patients functioning at K3 or higher (Medicare Functional Classification Level) completed the study. Participants were assessed performing the CS-PFP-10, Amputee Mobility Predictor (AMP), 75 m self-selected walking speed (75 m SSWS) test, timed down stair walking (DN stair time), and the limits of stability (LOS) balance test. Concurrent validity was assessed using correlation analysis. The AMP, 75 m SSWS, LOS, and the DN stair time tests were strongly correlated (r = ± 0.76 to 0.86) with their paired CS-PFP-10 domain score (LBS, BAL, or END) and CS-PFP-10 total score. These findings indicate that the lower limb and balance domains of the CS-PFP-10 are valid measures to assess the physical functional performance of TFA patients.

Golf hand prosthesis performance of transradial amputees.

BACKGROUND: Typical upper limb prostheses may limit sports participation; therefore, specialized terminal devices are often needed. The purpose of this study was to evaluate the ability of transradial amputees to play golf using a specialized terminal device. CASE DESCRIPTION AND METHODS: Club head speed, X-factor, and elbow motion of two individuals with transradial amputations using an Eagle Golf terminal device were compared to a non-amputee during a golf swing. Measurements were collected pre/post training with various stances and grips. FINDINGS AND OUTCOMES: Both prosthesis users preferred a right-handed stance initially; however, after training, one preferred a left-handed stance. The amputees had slower club head speeds and a lower X-factor compared to the non-amputee golfer, but increased their individual elbow motion on the prosthetic side after training. CONCLUSION: Amputees enjoyed using the device, and it may provide kinematic benefits indicated by the increase in elbow flexion on the prosthetic side. CLINICAL RELEVANCE: The transradial amputees were able to swing a golf club with sufficient repetition, form, and velocity to play golf recreationally. Increased elbow flexion on the prosthetic side suggests a potential benefit from using the Eagle Golf terminal device. Participating in recreational sports can increase amputees' health and quality of life.

Human motion intention based scaled teleoperation for orientation assistance in preshaping for grasping.

In this paper, we present an algorithm that provides human motion intention based assistance to users teleoperating a remote gripper for preshaping over an object in order to grasp it. Human motion data from the remote arm is used to train a Hidden Markov Model (HMM) offline. During the execution of a grasping task, the motion data is processed in real time through the HMM to determine the intended preshape configuration of the user. Based on the intention, the motion of the remote arm is scaled up in those orientation directions that lead to the desired configuration, thus providing the necessary assistance to the user to preshape for grasping. Tests on healthy human subjects validated the hypothesis that the users are able to preshape quicker and with much ease. Average time savings of 36% were obtained.

Study of variation in human upper body parameters and motion for use in robotics based simulation.

This paper reviews the variations in human upper body motion of subjects completing activities of daily living. This study was completed to serve as a reference to evaluate the quality of simulated of human motion. In this paper we define the variation in motion as the variation in subjects' parameters (link lengths), joint angles, and hand positions, for a given task. All of these variations are related by forward kinematic equations. Motion data from eight healthy right hand dominant adults performing three activities of daily living (brushing hair, drinking from a cup, and opening a door) were collected using an eight camera Vicon motion analysis system. Subject parameters were calculated using relative positions of functional joint center locations between segments. Joint angles were calculated by Euler angle rotations between body segments. Hand position was defined as the origin of the hand frame relative to the pelvis frame. The variance of recorded human motion was analyzed based on the standard deviations of subject parameters, joint angles, and hand positions. Variances in joint angles were found to be similar in magnitude to root mean squared error of kinematics based motion simulation. To evaluate the relative variance, the forward kinematic solutions of the trials were found after removing subject parameter variance and reducing joint angle variance. The variance in the forward kinematic solution was then compared to the recorded hand position variance. Reductions in subject parameter and joint angle variance produced a proportionally much smaller reduction in the calculated hand position variance. Using the average instead of individual subject parameters had only a small impact on hand position variance. Modifying joint angles to reduce variance had a greater impact on the calculated hand position variance than using average subject parameters, but was still a relatively small change. Future work will focus on using these results to create formalized procedures for quantifying the human likeness of artificial human motions, to serve as a basis for performance comparison between different methods.

Intervention program in college instrumental musicians, with kinematics analysis of cello and flute playing: a combined program of yogic breathing and muscle strengthening-flexibility exercises.

College musicians encounter health risks not dissimilar to those of professional musicians. Fifteen collegiate instrumental musicians participated in the intervention program of yogic-breathing and muscle-strengthening and flexibility exercises for 8 weeks. Pre- and post-intervention data from the Health-Pain-Injury Inventory (HPI) and the Physical & Musical-Performance Efficacy Assessment Survey (PME) were analyzed for the effects of the program on the musicians' physical and musical-performance efficacy. HPI results showed that the majority of our sample had healthy lifestyles and minimal pain and injuries but irregular eating and exercise habits. The pre-intervention PME data showed a high level of musical efficacy (i.e., awareness of music technique, tone, and flow) but a low-level of physical efficacy (i.e., awareness of posture, tension, and movement flexibility). Post-intervention data showed that the program improved physical efficacy by increased awareness of posture and tension. In 2 volunteer musicians, kinematics motion analysis was conducted for exploratory purposes. Our cellist played the scale using a larger range of motion (ROM) in right shoulder flexion and abduction and slightly increased rotation while keeping decreased right elbow ROM after the intervention program. The flutist shifted the body weight from one foot to the other more in the second playing post-intervention. These changes can be attributed to the increased physical efficacy that allowed freedom to express musicality. Findings from these case scenarios provide empirically based hypotheses for further study. We share our experience so that others may use our model and instruments to develop studies with larger samples.

Probability density based gradient projection method for inverse kinematics of a robotic human body model.

This paper presents the probability density based gradient projection (GP) of the null space of the Jacobian for a 25 degree of freedom bilateral robotic human body model (RHBM). This method was used to predict the inverse kinematics of the RHBM and maximize the similarity between predicted inverse kinematic poses and recorded data of 10 subjects performing activities of daily living. The density function was created for discrete increments of the workspace. The number of increments in each direction (x, y, and z) was varied from 1 to 20. Performance of the method was evaluated by finding the root mean squared (RMS) of the difference between the predicted joint angles relative to the joint angles recorded from motion capture. The amount of data included in the creation of the probability density function was varied from 1 to 10 subjects, creating sets of for subjects included and excluded from the density function. The performance of the GP method for subjects included and excluded from the density function was evaluated to test the robustness of the method. Accuracy of the GP method varied with amount of incremental division of the workspace, increasing the number of increments decreased the RMS error of the method, with the error of average RMS error of included subjects ranging from 7.7° to 3.7°. However increasing the number of increments also decreased the robustness of the method.

Kinetic asymmetry in transfemoral amputees while performing sit to stand and stand to sit movements.

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 (1.6-2.0s) and sit (2.1-2.8s) at rates comparable to controls (1.6s). 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.

Kinematic comparison of myoelectric and body powered prostheses while performing common activities.

This study examined the kinematic differences of a bilateral transradial amputee using myoelectric and body-powered prostheses during select activities of daily living. First in harness suspended, body powered then self-suspended externally powered prostheses, the subject's shoulder and elbow joint movements were calculated and compared while completing an elbow range of motion test, simulated drinking from an empty cup, and opening a door. In this case, body-powered prostheses allowed for greater range of elbow flexion but required more shoulder flexion to complete the tasks that required continuous grasp. While using myoelectric prostheses, the user was able to compensate for limited elbow flexion by flexing the shoulder.

Crossed four-bar mechanism for improved prosthetic grasp.

Passive linkages were developed to improve grasp functionality and minimize a prosthetic terminal device's number of user-controlled inputs. The linkages act to stabilize grasped objects and substitute for the palp of normal anatomical fingers. The Southampton Hand Assessment Procedure was used to compare the normal anatomical hand, this prototype, and a commercially available (Hosmer) hook. In testing, prosthetic terminal devices took three times as long as the normal anatomical hand to perform tasks. Nevertheless, heavyweight power and spherical grasps were improved with the use of the new mechanism compared with the commercial hook. Conversely, precision grasps were worsened because of the lack of a high-friction surface on the distal end of the prototype.

Compensatory movements of transradial prosthesis users during common tasks.

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.