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The purposes of the present study were to (1) investigate the effects of the arm movement and initial knee joint angle employed in standing long jump by the ground reaction force analysis and three-dimensional motion analysis; and (2) investigate how the jump performance of the female gender related to the body configuration. Thirty-four healthy adult females performed standing long jump on a force platform with full effort. Body segment and joint angles were analyzed by three-dimensional motion analysis system. Using kinetic and kinematic data, the trajectories on mass center of body, knee joint angle, magnitude of peak takeoff force, and impulse generation in preparing phase were calculated. Average standing long jump performances with free arm motion were +1.5 times above performance with restricted arm motion in both knee initial angles. The performances with knee 90° initial flexion were +1.2 times above performance with knee 45° initial flexion in free and restricted arm motions. Judging by trajectories of the center mass of body (COM), free arm motion improves jump distance by anterior displacement of the COM in starting position. The takeoff velocity with 90° knee initial angle was as much as 11% higher than in with 45° knee initial angle. However, the takeoff angles on the COM trajectory showed no significant differences between each other. It was found that starting jump from 90° bend knee relatively extended the time that the force is applied by the leg muscles. To compare the body configurations and the jumping scores, there were no significant correlations between jump scores and anthropometry data. The greater muscle mass or longer leg did not correlated well with the superior jumping performance.

Background: Anterior cruciate ligament (ACL) injury is a common sport injury and investigation of landing biomechanics is helpful in injury prevention and rehabilitation. Recent study found a lateral single-leg drop landing test resulted in the highest peak knee valgus angle (PKVA), but its reliability on patients who received ACL reconstruction (ACLR) is unknown.

Objective: This study aimed to investigate the reliability in both within and between days on the normalized vertical ground reaction force (NVGRF) and kinematics of lower limbs after receiving ACLR. The findings can form the cornerstone for further study related to lateral jumping-and-landing biomechanics in patients with ACLR.

Methods: This was a test-retest reliability study. Twelve patients (four females and eight males) who received ACLR with mean age of 29.4 (SD $\pm$ 1.66) were recruited. The subjects were instructed to jump laterally from 30cm height and landed with single-leg for five times. The procedure was conducted on both legs for comparison. The NVGRF and local maxima of the hip, knee and ankle angles during the first 100ms in all three planes were analyzed. The measurement was conducted by the same assessor to evaluate the within-session reliability, and the whole procedure was repeated one week later for the evaluation of the between-session reliability. Intra-class correlation coefficient (ICC) test was used to assess the within- and between-session reliability by ICC (3, 1) and ICC (3, K) respectively.

Results: The within-session reliability of NVGRF [ICC (3, 1)] was 0.899–0.936, and its between-session reliability [ICC (3, K)] was 0.947–0.923. Overall reliability for kinematics within-session [ICC (3, 1)] was 0.948–0.988, and the between-session reliability [ICC (3, K)] was 0.618–0.982, respectively. Good to excellent reliability for the lateral single-leg drop landing test was observed in most of the outcome measures for within- and between-session. The ICC value of NVGRF of ACLR leg was lower than that of the good leg in the within-session which may associate with lower neuromuscular control in ACLR leg than that of the good leg.

Conclusion: The results of this study support the use of a lateral single-leg drop landing test to evaluate lower limb biomechanics for ACLR.

Recently, there are more people jogging with a treadmill at the gym or the home setting. The main available selected modes for treadmill jogging are speed and slope of incline. Increased speeds and incline slopes will not only increase the cardiopulmonary loading but may also alter the lower extremity (LE) movement patterns. There are few systematic investigations of the effect of the speed and incline on LE kinematics. Most studies have used 2D methods which focused on movements in sagittal plane only and this has limitations in the acquired data since lower extremity movements also include frontal and transverse planes. The current study aimed to investigate LE movement during jogging at different speeds and incline slopes using a high speed three-dimensional (3D) motion analysis system.

Eighteen young healthy males were recruited. The video-based motion capture system with six CCD cameras, HIRES Expert Vision System (Motion Analysis Corporation, CA, USA), was used to collect kinematic data at a sampling frequency of 120Hz. Nineteen passive reflective markers were attached to bilateral lower extremities of the subject. The joint angle is calculated by Euler angle using the rotation sequence: 2-1-3 (y-x′-z″). Four speeds were selected: 2 m/s, 2.5 m/s, 3 m/s, 3.5 m/s with the slope at 0, and four slopes were selected: 0%, 5%,10%,15% at a speed of 3 m/s. Repeated-measures ANOVA was used to test hypotheses regarding changes in jogging condition on LE kinematic variables. The significance level was set at 0.05.

As the jogging slope increased, the hip, knee and ankle demonstrated a significantly greater maximum flexion in swing phase (p<0.001), but the maximum extension angles in stance phase were relatively unchanged. Increased LE flexion during swing phase is important to ensure foot clearance with increased slope. For increased speed, the hip and ankle joints had significantly greater maximum joint extension angles during stance phase and the hip and knee joint had significantly larger maximum flexion angles in swing phase (p<0.001). Increased motion during swing phase account for a larger step length and increased motion during stance phase may facilitate the generation of power during forward propulsion as the jogging speed increased. As the slope and speed increased, LE movement patterns were changed in the transverse plane: the significantly increased (p<0.01) internal hip rotation at terminal stance, the increased toe-in of foot (p<0.001) during terminal stance phase and decreased (p<0.05) toe-out during swing phase. Increased hip motion in transverse plane could lengthen the stride distance and increase foot toe-in for providing a stable lever for push off to increase propulsion force as speed or slope is increased. By way of systematic 3D kinematic investigation of the LE in jogging, the results further elucidate the effect of changing speed and incline on LE joints movements. This information could provide guidelines for rehabilitation clinicians or coaches to select an appropriate training mode for jogging.

The objective was to investigate the effects of running shoes with midsole hollow structure span and height on the biomechanics of the lower limbs during running. We collected 21 adults with running habits who wore two pairs of running shoes with different midsole hollow structures and ran at a speed of 3.3m/s on a force-measuring treadmill. The lower limb kinematics, ground reaction force (GRF) and lower limb muscle activation characteristics were simultaneously captured by a motion capture system, a 3D force treadmill, and a surface electromyography (sEMG) system. Paired t-tests were performed on data for the two shoe conditions that fit the normal distribution assumptions; otherwise, Wilcoxon signed-rank tests were used. The statistical parameter mapping (SPM) technology was used for the analysis of 1D parameters of kinematic, dynamic, and sEMG activation characteristics. The result showed that the time to the peak impact force at touchdown of Hollow shoe2 was significantly increased ($P<0.01$), the maximum loading rate ($P<0.01$) and average loading rate ($P<0.05$) were significantly reduced, braking time ($P<0.05$), push time ($P<0.05$), contact time ($P<0.01$) of Hollow shoe2 were significantly increased compared with Hollow shoe1. Hollow shoe2 push phase of the tibialis anterior muscle activation characteristics was significantly lower (SPM, $P<0.05$) than Hollow shoe1. Our conclusion is that running shoes offer the solution as they have the advantage of the complex structure of the hollow midsole.

This research aimed to measure lower extremity kinematics for male and female youths during daily activities and to identify gender differences from kinematics of lower limbs. A total of 87 healthy participants, comprising 43 Chinese male youths and 44 female youths, were recruited from Anhui Polytechnic University to participate in this research. All participants were instructed to perform squatting activities on a soft mat starting from an upright position. Every participant completed six squatting exercises, and motion capture technology was used to gather 3D kinematic data. SPSS software was used for statistical analysis. The average 3D angles of the hip, knee, and ankle joints of male and female youths were calculated, and then the independent t-test was used for statistical significance. Data analysis showed no significant gender differences in the sagittal movements of the knee and ankle joints for Chinese male and female youths. The mean hip joint angle during squatting was $122.87^{\circ }\pm 2.29^{\circ }$ for male youths and $129.06^{\circ }\pm 2.63^{\circ }$ for female youths. The knee joint angle was $131.21^{\circ }\pm 2.00^{\circ }$ for male youths and $138.79^{\circ }\pm 1.94^{\circ }$ for female youths. With regard to ankle mobility, the hip and ankle ranges of motion were $26.73^{\circ }$ and $10.02^{\circ }$ for male youths and $21.28^{\circ }$ and $9.76^{\circ }$ for female youths. Both sexes showed significant gender differences in the nonsagittal plane. The range of motion (ROM) observed during deep squatting exceeds the ROM after arthroplasty for Chinese male and female youths. These findings contribute to a comprehensive understanding of deep squatting biomechanics for the Chinese population and provide a basis for mitigating hyperflexion exercises and fabricating appropriate joint injury prostheses. By understanding the specific movement patterns of Chinese male and female youths, healthcare professionals can develop individualized interventions and rehabilitation programs to improve functional outcomes, prevent joint injuries, and improve the overall quality of life. The research found significant gender differences for sagittal hip and anterior ankle movements of male youths during squatting. These findings shed light on the kinematics of lower limbs. They have the potential to influence future research and medical practice to improve joint health and functional mobility for Chinese male and female youths.

Although ankle robotic control has emerged as a critical component of robot-interactive gait training (RIGT), no study has investigated the neurophysiological and biomechanical effects on ankle muscle activity and joint angle kinematics in healthy adults and participants with brain damage, including stroke and cerebral palsy (CP). This study compared the effects of RIGT, with and without ankle control actuator, on ankle muscle activity and joint angle kinematics in healthy adults and participants with brain damage. Ten patients ($\mathrm{\text{healthy}}=4$, left hemiparetic $\mathrm{\text{stroke}}=3$, $\mathrm{\text{CP}}=3$) underwent standardized surface electromyography (EMG) neurophysiological and kinematics biomechanical tests under the RIGT with and without ankle control actuator conditions. Outcome measures included the EMG amplitudes of the tibialis anterior and gastrocnemius muscle activity, and ankle movement angles recorded with a two-axis digital inclinometer. Descriptive statistical analysis demonstrated that RIGT with ankle control actuator showed superior effects on EMG (30%) and kinematics angles (25%) than RIGT without ankle control actuator. Our results provided novel, promising clinical evidence that RIGT with ankle control actuator can more effectively improve the neurophysiological EMG data and ankle dorsiflexion and plantarflexion movements than RIGT without ankle control actuator in participants with stroke and CP.

Patients with adhesive capsulitis (AC) demonstrate limited shoulder movement, often accompanied by pain. Common treatment methods include pain medication, and continuous passive movement (CPM). However, it is sometimes difficult to improve the reduction of pain and movement using a CPM intervention because the patient’s interest is diminished. In this study, we developed an innovative deep learning-based smartphone application (Funrehab exercise game (FEG)) to provide accurate kinematics movement and motivation as well as high-intensity and repetitive movements using deep learning. We compared the effects of CPM and FEG on brain activity and shoulder range of motion in patients with AC. Sixteen patients (males, $n=5$; females, $n=11$; mean age, $50.3\pm 3.3$ years) with acute AC were randomized into either CPM group or FEG group 4 days/week for 2 weeks. The outcome measures were shoulder abduction kinematics movement and electroencephalography (EEG) brain activity (bilateral prefrontal, bilateral sensorimotor cortex, and somatosensory association cortex) during the intervention. The analysis of variance (ANOVA) test was performed at $P<0.05$, and the analysis demonstrated that FEG showed superior effects on shoulder abduction kinematics and brain $\alpha$ and $\beta$-wave activations compared to CPM. Our results provide a novel and promising clinical evidence that FEG can more effectively improve neurophysiological EEG data and shoulder abduction movements than CPM in patients with AC.

Elbow joint loading was evaluated during a forward fall at various elbow initial flexion angles, in order to determine which is the best elbow initial flexion angles to prevent the elbow injury during a fall. Subjects were asked to perform a forward fall and followed by a push-up motion in different elbow initial flexion angles: 0°, 20°, 40° and unrestricted group. Fall on the outstretched hand is the leading cause of upper extremity injury. There are far more extension type of supra-condylar fracture of the elbow than flexion type. Flexion of the elbow may represent the effects of damper and spring. Using the motion analysis system, the kinematics and kinetics of the elbow joint were investigated under various elbow initial flexion angles. The loading biomechanics of the elbow joint differed with various elbow initial flexion angles. The ground reaction forces decrease with increase of elbow flexion upon impact. Different initial elbow flexion angles would affect the biomechanics of upper extremities during falls. Forward fall with elbow in extension is more dangerous. Knowledge of elbow kinematics and kinetics may be helpful in preventing injuries by reducing the ground reaction force with changes of the elbow initial flexion angles during a fall.

Origami-inspired structures have found many innovative applications in engineering fields. The expressive volume changes intrinsically related to their geometry is very useful for different purposes. Nevertheless, the mathematical description of origami structures is complex, which makes the design a challenging topic. This work deals with the use of reduce-order models for the origami description. A cylindrical origami structure with waterbomb pattern, called origami stent, is of concern. A reduced-order model (ROM) is developed based on kinematics and symmetry hypotheses. Afterward, a finite element analysis (FEA) is developed based on a nonlinear bar-and-hinge model. Numerical simulations are carried out evaluating the ROM validity range. Rigid and non-rigid situations are investigated showing that ROM is able to be employed for origami description.

Squatting has received considerable attention in sports and is commonly utilized in daily activities. Knowledge of the squatting biomechanics in terms of its speed and depth may enhance exercise selection when targeting for sport-specific performance improvement and injury avoidance. Nonetheless, these perspectives have not been consistently reported. Hence, this preliminary study intends to quantify the kinematics, kinetics, and energetics in squat with different depths and speeds among healthy young adults with different physical activity levels; i.e., between active and sedentary groups. Twenty participants were administered to squat at varying depths (deep, normal, and half) and speeds (fast, normal, and slow). Motion-capture system and force plates were employed to acquire motion trajectories and ground reaction force. Joint moment was obtained via inverse dynamics, while power was derived as a product of moment and angular velocity. Higher speeds and deeper squats greatly influence higher joint moments and powers at the hip ($p<0.05$) and knee ($p<0.05$) than ankle, signifying these joints as the prime movers with knee as the predominant contributor. These preliminary findings show that the knee-strategy and hip-strategy were employed in compensating speed and depth manipulations during squatting. In certain contexts, appreciating these findings may provide clinically relevant implications, from the performance and injury avoidance viewpoint, which will ameliorate the physical activity level of practitioners.

Preface: Understanding knee kinematics is a fundamental prerequisite to address restoration in pathological joints; these performances represent the goal to achieve after the treatment. Experimental activities addressing knee kinematics often involve Motion Capture systems to acquire information, both for in vivo and ex vivo studies. This technique allows a complete analysis of the joint kinematics and is able to provide useful results for the comparison mentioned above. Objectives: The definition of a reproducible and straightforward protocol represents a beneficial factor to improve both reliability and the time required: in this study a new protocol for kinematics experimental activities on ex vivo knee specimens was developed, validated and tested. Methods: Synthetic bones were chosen for the analysis and different Total Knee Arthroplasties models were selected (a Cruciate Retaining, a Posterior Stabilized, a Constrained Condylar Knee and a Rotating Hinge). A dedicated frame was used to support and secure the knee specimens and pair the extensor mechanism to a motor. The Motion Capture System was assembled and paired with dedicated marker-sets to be fixed to the specimens. A post-processing tool was developed to analyze the outputs and was validated with a goniometer. A series of force-driven tasks were defined, implemented and run in the motor system for all the different prosthesis configurations and kinematics output were analyzed, comparing the outputs with the expected results. Results: The validation of the system returned satisfying results in terms of correspondence between the angles imposed and the ones measured, with an average error below $3^{\circ }$ and a standard deviation below $1^{\circ }$ for each kind of rotation. The results from the different testing were coherent with the type of specimens and prostheses tested. Conclusions: This study proved that the protocol and testing set-up developed for knee kinematics in vitro analysis are able to provide reliable and coherent data, as proven by the post-processing validation and by the testing campaign on synthetic specimens.

The purpose of this study was to create a kinematic model of the knee joint with six degrees of freedom (DOF) and evaluate the effect of medial collateral ligament (MCL) and lateral collateral ligament (LCL) rupture on cartilage contact point distribution on the tibia during flexion. We hypothesized that collateral ligament contributions vary over six DOF of knee joint articulation and affect the cartilage contact point distribution during joint articulation. The ligament contributions and distribution of joint cartilage contact points cannot be fully assessed with simplified joint models or invasive experiments. Therefore, we developed a new model in which the tibia and femur centers of mass were determined from their surface geometry, and the displacement of the moving tibia was determined from the displacements of the attached ligaments. Compared to the intact knee, the tibia with the LCL removed had higher medial translation and lower valgus rotation. The tibia with the MCL removed had higher lateral translation and higher valgus rotation than the intact knee. At 0${}^{\circ }$, 30${}^{\circ }$, and 60${}^{\circ }$, the tibia with the LCL removed had more internal rotation than the intact knee. Understanding six DOF knee joint kinematics with integration of ligament contributions and cartilage contact positions is useful for the diagnosis of ligament injuries and the design of articulating surfaces for total arthroplasty.

This study scientifically measures the dynamic gait characteristics and energy cost of six male below-knee amputees, three vascular and three traumatic, while wearing SACH, single axis and multiple axis prosthetic feet via six-camera motion analysis, metabolic measurement cart and heavy-duty treadmill. Subjective results are additionally determined via questionnaire after testing. Motion analysis showed statistically significant differences at p < 0.05 between the solid ankle cushion heel (SACH), single axis and multiple axis foot in the velocity, cadence, stride length end gait cycle. Significant differences were found in energy cost among the prosthetic feet tested, and significant changes in walking under different speeds and different inclines. Results provide quantitative and qualitative information about the dynamic performance of the various feet which can be helpful in prescribing the optimal prosthetic foot for individual amputees.

A well-known combinatorial algorithm can decide generic rigidity in the plane by determining if the graph is of Pollaczek–Geiringer–Laman type. Methods from matroid theory have been used to prove other interesting results, again under the assumption of generic configurations. However, configurations arising in applications may not be generic. We present Theorem 4.2 and its corresponding Algorithm 1 which decide if a configuration is $𝜀$-locally rigid, a notion we define. A configuration which is $𝜀$-locally rigid may be locally rigid or flexible, but any continuous deformations remain within a sphere of radius $𝜀$ in configuration space. Deciding $𝜀$-local rigidity is possible for configurations which are smooth or singular, generic or non-generic. We also present Algorithms 2 and 3 which use numerical algebraic geometry to compute a discrete-time sample of a continuous flex, providing useful visual information for the scientist.

A novel metamorphic anthropomorphic hand is for the first time introduced in this paper. This robotic hand has a reconfigurable palm that generates changeable topology and augments dexterity and versatility of the hand. Structure design of the robotic hand is presented and based on mechanism decomposition kinematics of the metamorphic anthropomorphic hand is characterized with closed-form solutions leading to the workspace investigation of the robotic hand. With characteristic matrix equation, twisting motion of the metamorphic robotic hand is investigated to reveal both dexterity and manipulability of the metamorphic hand. Through a prototype, grasping and prehension of the robotic hand are tested to illustrate characteristics of the new metamorphic anthropomorphic hand.

An exoskeleton is a wearable robot with joints and links corresponding to those of the human body. With applications in rehabilitation medicine, virtual reality simulation, and teleoperation, exoskeletons offer benefits for both disabled and healthy populations. Analytical and experimental approaches were used to develop, integrate, and study a powered exoskeleton for the upper limb and its application as an assistive device. The kinematic and dynamic dataset of the upper limb during daily living activities was one among several factors guiding the development of an anthropomorphic, seven degree-of-freedom, powered arm exoskeleton. Additional design inputs include anatomical and physiological considerations, workspace analyses, and upper limb joint ranges of motion. Proximal placement of motors and distal placement of cable-pulley reductions were incorporated into the design, leading to low inertia, high-stiffness links, and back-drivable transmissions with zero backlash. The design enables full glenohumeral, elbow, and wrist joint functionality. Establishing the human-machine interface at the neural level was facilitated by the development of a Hill-based muscle model (myoprocessor) that enables intuitive interaction between the operator and the wearable robot. Potential applications of the exoskeleton as a wearable robot include (i) an assistive (orthotic) device for human power amplifications, (ii) a therapeutic and diagnostics device for physiotherapy, (iii) a haptic device in virtual reality simulation, and (iv) a master device for teleoperation.

The equilibrium of globular and galaxy clusters is analyzed using a gravitomagnetic (GM) model for a fluid in stationary, axially-symmetric motion. An oblique change of coordinates leads to a free-fall nonlinear force balance equation relating the GM flux function and the gravitational potential. An approximate internal solution of the force balance is obtained introducing trial functions in the form of a sedimentation equilibrium. The internal solution defines the tangential component of the GM field acting on the surface of the cluster. This GM component constitutes the boundary condition that must be used to obtain a self-consistent solution together with Gauss’ and Ampère’s laws. The complete solution is postponed for future work, but a simple application to the classic Coma Cluster problem indicates that the rotating velocity on the surface of the cluster is within the range of observed values, without introducing dark matter.

Studies have shown that rehabilitation training with the unaffected side guiding affected side is more consistent with the natural movement pattern of human upper limb compared with unilateral rehabilitation training, which is conducive to improve rehabilitation effect of the affected limb motor function. In this paper, a bilateral end-effector upper limb rehabilitation robot (BEULRR) based on two modern commercial manipulators is developed first, then the kinematics, reachability, and dexterity analysis of BEULRR are performed, respectively. Finally, a bilateral symmetric training protocol with the unaffected side guiding the affected side is proposed and evaluated through healthy human subject experiment testing based on BEULRR. The simulation results show that the developed BEULRR could perform spatial rehabilitation training and its rehabilitation training workspace can fully cover the physiological workspace of human upper limb. The preliminary experiment results from the healthy human subject show that the BEULRR system could provide reliable bilateral symmetric training protocol. These simulation and experiment results demonstrated that the developed BEULRR system could be used in bilateral rehabilitation training application, and also show that the BEULRR system has the potential to be applied to clinical rehabilitation training in the further step. In the close future, the proposed BEULRR and bilateral symmetric training protocol are planned to be applied in elderly volunteers and patients with upper limb motor dysfunction for further evaluating.

Slips and falls often occur in the industrial environments. They are not only caused by environmental hazards but also by some biomechanical factors related to deficient ability of postural control to arrest impending falls. The purpose of this study is to simulate the slip condition in human walking and to find out the possible related factors of biomechanics.

Eleven male and 9 female recruited were healthful without any musculoskeletal and neurological impairments. In order to provide different disturbance level, three lean angles of tilting boards were designed as 10, 20, 30 degrees with respect to horizontal plane. Subjects wore a safety harness, stood on the tilting board and were released without awareness. A forceplate applied a soap patch was in front of the tilting board to serve the slippery perturbation and to measure the fool/floor reactions. Movements of body segments were measured using the motion analysis system.

The results were shown that lean angle had a significant effect to all parameters except step length, response time, maximum ankle forward velocity, hip forward velocity, and ankle flex angle. The gender significantly affected on the step length, response time, maximum ankle forward velocity, and knee forward velocity. Larger lean angle made subjects to take a more rapid step. In order to absorb the shock in foot strike, subjects flexed more their knee and increased the foot landing angle in larger lean angle. Male tended to adopt the long step-length strategy to respond to the slippery perturbation and female tended to use the short step-length strategy instead. The results of maximum ankle forward velocity suggested that short step-length strategy could be belter to reduce the foot slip than long step-length strategy.

Tendon-driven continuum robot kinematic models are frequently computationally expensive, inaccurate due to unmodeled effects, or both. In particular, unmodeled effects produce uncertainties that arise during the robot’s operation that lead to variability in the resulting geometry. We propose a novel solution to these issues through the development of a Gaussian mixture kinematic model. We train a mixture density network to output a Gaussian mixture model representation of the robot geometry given the current tendon displacements. This model computes a probability distribution that is more representative of the true distribution of geometries at a given configuration than a model that outputs a single geometry, while also reducing the computation time. We demonstrate uses of this model through both a trajectory optimization method that explicitly reasons about the workspace uncertainty to minimize the probability of collision and an inverse kinematics method that maximizes the likelihood of occupying a desired geometry.