No description available.

Multiple robot manipulators cooperating in a common manipulation task can accomplish complex tasks that a single manipulator would be unable to complete. To achieve physical cooperation with multiple manipulators working on a common object, interaction forces need to be controlled throughout the motion. The aim of this research is to develop an inverse dynamics model-based cooperative force and position control scheme for multiple robot manipulators. An extended definition of motion is proposed to include force demands based on a constrained Lagrangian dynamics and Lagrangian multipliers formulation. This allows the direct calculation of the inverse dynamics with both motion and force demands. A feedforward controller based on the proposed method is built to realise the cooperative control of two robots sharing a common load, with both motion and force demands. Furthermore, this thesis develops a method to design an optimal excitation trajectory for robot dynamic parameter estimation utilising the Schroeder Phased Harmonic Sequence. This method yields more precise and accurate inverse dynamics models, which result in better control. The proposed controller is then tested in an experimental set-up consisting of two robot manipulators and a common load. Results show that in general the proposed controller performs noticeably better position and force tracking, especially for higher speed motions, when compared to traditional hybrid position/force controllers.

Moment arms are important in many contexts. Various methods have been used to estimate moment arms. It has been shown that a moment arm changes as a function of joint angle and contraction state. However, besides the influence of these anatomical factors, results from recent studies suggest that the estimation of moment arm is also dependent on the methods employed. The overall goal of this thesis was to explore the interaction between the methodological and anatomical influences on moment arm and their effect on estimates of muscle-tendon forces during biomechanical modelling. The first experiment was a direct comparison between two different moment arm methods that have been previously used for the estimation of Achilles tendon moment arm. The results of this experiment revealed a significant difference in Achilles tendon moment arm length dependent on the moment arm method employed. However, besides the differences found, results from both methods were well correlated. Based on these results, methodological differences between these two methods were compared across different joint angles and contraction states in study two. Results of experiment two revealed that Achilles tendon moment arms obtained using both methods change in a similar way as a function of joint angle and contraction state. In the third experiment, results from the first two experiments were used to determine how methodological and anatomical influences on Achilles tendon moment arm would change muscle-tendon forces during the task of submaximal cycling. Results of the third experiment showed the importance of taking the method, ankle angle and contraction state dependence of Achilles tendon moment arm into account when using biomechanical modelling techniques. Together, these findings emphasis the importance of carefully considering methodological and anatomical modifiers when estimating Achilles tendon moment arm.

Partial foot amputation is becoming a more viable and common surgical intervention for the treatment of advanced diabetes, vascular insufficiency and trauma. Statistics describing the incidence of partial foot amputation are scarce. In Australia, it is not known how many people undergo partial foot amputation annually however in the United States upwards of 10,000 partial foot amputations are performed each year. Many of these procedures are likely to be in preference to below-knee amputation under the pretext of improved function associated with preserving the ankle joint and foot length despite common failings including ulceration and equinus contracture which can lead to more proximal amputation. There is a substantial body of literature, which lends support to the contention that much of clinical practice has not been based on experimental evidence describing the gait of partial foot amputees or the influence of prosthetic and orthotic intervention. This limited scientific underpinning of practice may contribute to the common failures and allow misconceptions, such that preserving foot length and the ankle joint improves function, to perpetuate. The aim of this investigation was to develop accurate mechanical models to analyse the effects of amputation and prosthetic/orthotic intervention on the gait of partial foot amputees. Anthropometric and linked-segment inverse dynamic models were developed to accurately depict the affected lower limb and account for prosthetic/orthotic intervention and footwear. These novel techniques enhance the accuracy of kinetic descriptions, affecting the results obtained for terminal swing phase. These models more accurately portray the requirements of the hamstring and gluteus maximus muscles to decelerate the swinging limb in response to the net increase in mass and inertia of the limb segments due to prosthetic fitting. With an appreciation of the influence these models have on the estimation of kinetic parameters, the gait of partial foot amputees was investigated. Kinematic abnormalities were primarily limited to the ankle and were characterised by poor control of tibial rotation during the mid-stance phase consistent with reduced eccentric work by the triceps surae muscles. The centre of pressure excursion and anterior progression of the trunk outside the reduced base of support was limited until contralateral initial contact; which could reflect triceps surae weakness and an inability to substantially load the prosthetic forefoot. Reductions in power generation across the affected ankle were the result of reductions in the angular excursion of the ankle and reductions in the ankle moment. Reductions in the ankle moment were consistent with the limited excursion of the centre of pressure commensurate with peak ground reaction forces. During early stance, concentric activity of the hip extensor musculature was observed, bilaterally, to advance the body forward. Results from these investigations focus on restoring power generation across the ankle given that the primary reason for preserving the ankle joint and calf musculature would seem to be the ability to use it functionally. Improvements in triceps surae strength may allow individuals to capitalise on improvements in below ankle prosthetic design and affect significant improvements in ankle power generation. In conjunction with improvements in muscle strength, below ankle prosthetic design needs to incorporate a socket and toe lever capable of comfortably distributing forces caused by loading the prosthetic forefoot. In conjunction with improvements in muscle strength, above ankle prosthetic design needs to incorporate an ankle joint. The development of a suitable joint poses significant design challenges for the engineer and prosthetist. This thesis provides new insights into the gait of partial foot amputees and the influence of prosthetic/orthotic design, which challenge common misconceptions underpinning clinical practice, prosthetic prescription and surgery. Aside from advancing the understanding of partial foot amputee gait and the influence of prosthetic/orthotic fitting, these investigations challenge and aim to improve current prosthetic and rehabilitation practice. Thus reducing the incidence of complications, such as ulceration which have been associated with the need for more proximal below knee amputation and allow partial foot amputees to utilise the intact ankle joint complex.

Analytical models of avian flight have previously been used to predict mechanical and metabolic power consumption during cruise. These models are limited, in that they neglect details of wing kinematics, and model power by assuming a fixed or rotary wing (actuator disk) weight support mechanism. Theoretical methods that incorporate wing kinematics potentially offer more accurate predictions of power consumption by calculating instantaneous aerodynamic loads on the wing. However, the success of these models inherently depends on the availability and accuracy of experimental kinematic data. The predictive simulation approach offers an alternative strategy, whereby kinematics are neither neglected nor measured experimentally, but calculated as part of the solution procedure. This thesis describes the development of a predictive tool for simulating avian wingbeat kinematics and wakes. The tool is designed in a modular format, in order to be extensible for future research in the biomechanics community. The primary simulation module is an inverse dynamic avian wing model that predicts aerodynamic forces and mechanical power consumption for given wing kinematics. The model is constructed from previous experimental studies of avian wing biomechanics. Wing motion is defined through joint kinematic time histories, and aerodynamic forces are predicted using blade element momentum theory. Mechanical power consumption at the shoulder joint is derived from both aerodynamic and inertial torque components associated with the shoulder joint rotation rate. An optimisation module is developed to determine wing kinematics that generate aerodynamic loads for propulsion and weight support in given flight conditions, while minimising mechanical power consumption. For minimum power cruise, optimisation reveals numerous local minima solutions that exhibit large variations in wing kinematics. Validation of the model against wind tunnel data shows that optimised solutions capture qualitative trends in wing kinematics with varying cruise speed. Sensitivity analyses show that the model outputs are most affected by the defined maximum lift coefficient and wing length, whereby perturbations in these parameters lead to significant changes in the predicted amount of upstroke wing retraction. Optimised solutions for allometrically scaled bird models show only small differences in predicted advance ratio, which is consistent with field study observations. Accelerating and climbing flight solutions also show similar qualitative trends in wing kinematics to experimental measurements, including a reduction in stroke plane inclination for increasing acceleration or climb angle. The model predicts that both climb angle and climb speed should be greater for birds with more available instantaneous mechanical power. Simulations of the wake using a discrete vortex model capture fundamental features of the wake geometry that have been observed experimentally. Reconstruction of the velocity field shows that this method overpredicts induced velocity in retracting-wing wakes, and should therefore only be applied to extended-wing phases of an avian wingbeat.

The objective of the proposed study was to perform three-dimensional (3D) inverse dynamics analysis to determine lower extremity (ankle, knee and hip) joint moments on previously collected slip perturbation experimental data. In addition, the aging effect on the joint moment generation in both normal walking and reactive-recovery conditions was examined. Dataset collected during previous slip and fall experiments, which were conducted in a typical gait analysis setting, were analyzed in current study. All the participants were subjected to the screening criteria, which defined the successful reactive-recovery (i.e. non-fall trials) based on slip distance, sliding heel velocity, whole body COM velocity, and motion pictures. Nine young and nine old healthy participants, who were identified possessing representative trials, were involved as participants in current study. A local coordinate system was constructed on each joint and each segment of the lower extremity based on available landmarks using the Gram-Schmidt orthogonalization algorithm. 3D inverse dynamics was implemented to obtained lower extremity joint moments. Magnitude and timing of obtained joint moment patterns during stance phase were subjected to one and two-way analysis of covariance (ANCOVA) with walking velocity as covariate. The aging effect and gait condition effect were evaluated. Increases in peak joint moment, peak joint power, and joint moment generation ratio were detected in successful reactive-recovery. Distinct age-related joint moment generation strategy was observed through findings of peak joint moment ratio and joint moment generation rate. The elderly, who were able to reactive recover, were found to be as rapid as their younger counterparts in terms of initiating and developing reactive joint moment. It was concluded that ankle joint was critical in balance recovery while hip joint assumed the major responsibility of balance maintenance of upper body during successful reactive-recovery. Increased demand on muscle strength during balance recovery lead to the distinct joint moment generation strategy adopted by the elderly, and confirmed the necessity of lower extremity strength training. In addition, implementation of 3D joint moment analysis was justified in current study and was suggested in future slip and fall researches. / Master of Science

A análise da cinemática articular do joelho apresenta-se como fator fundamental na compreensão da função musculoesquelética e mecânica articular. No âmbito clínico, a avaliação do padrão normal de parâmetros biomecânicos, permite a obtenção de valores de referência para comparações com diferentes grupos de indivíduos lesados ou submetidos à cirurgia. Dessa forma, o presente estudo tem como objetivo mapear a normalidade de parâmetros biomecânicos da articulação do joelho, obtidos no plano sagital, durante a extensão do joelho em cadeia cinética aberta, sem carga, utilizando videofluoroscopia. Especificamente, pretende estimar o comportamento do centro de rotação tibiofemoral e patelofemoral, distância perpendicular do ligamento patelar e efetiva dos extensores de joelho, torque de resistência do segmento perna-pé, força do ligamento patelar, força do músculo quadríceps e força de contato patelofemoral, razão entre a força do ligamento patelar e a força do músculo quadríceps, razão entre a força de contato patelofemoral e a força do músculo quadríceps, pressão patelofemoral e tilt patelar ântero-posterior. Para a determinação dos parâmetros biomecânicos foram obtidas imagens radiográficas dinâmicas, por meio de videofluoroscopia, a partir da análise da articulação do joelho no plano sagital, de vinte e cinco indivíduos, executando três repetições do exercício de extensão de joelho em cadeia cinética aberta, sem carga externa aplicada à tíbia. As imagens obtidas foram reproduzidas e digitalizadas utilizando uma placa de captura da marca Silicon Graphics 320. Foram desenvolvidas rotinas computacionais utilizando o software Matlab para processamento e análise dos dados. Os dados obtidos foram analisados estatisticamente utilizando-se o pacote estatístico SPSS, versão 13.0. Foram plotados os valores obtidos para cada parâmetro em função do ângulo de flexão do joelho, para todos os indivíduos da amostra, e realizada uma análise de regressão entre as variáveis interpoladas, obtendo-se respectivo intervalo de confiança e coeficiente de determinação (r2). A partir dos resultados obtidos, foram verificadas correlações muito forte, forte e regular entre os parâmetros do estudo e o ângulo de flexão do joelho, indicando a possibilidade de mapear a normalidade dos parâmetros cinemáticos e cinéticos da articulação do joelho. / The kinetic and kinematics analysis of the knee joint is considered to be of prime importance in the understanding of the musculoskeletal function and joint mechanics. In the clinical scope, the biomechanics evaluation of the normal standard of biomechanics parameters, allow the attainment of indexes of reference for compare different groups of injured individuals or submitted to surgery. On this way, the present study has as the main goal estimate the normality of biomechanics parameters of the knee joint, gotten in the sagittal plane, during the knee extension in open kinetic chain, without load, by means of videofluoroscopy. Specifically, it intends to estimate how the tibiofemoral and patellofemoral rotation center behave, the patellar ligament moment arm and the effective moment arm of the knee extensors muscle group, the resistance torque of the segment leg-foot, patellar ligament force, quadriceps muscle force and patellofemoral joint contact force, the ratio between the patellar ligament force and quadriceps muscle force, the ratio between patellofemoral joint contact force and quadriceps muscle force, patellofemoral pressure and the anteroposterior patellar tilt. For the determination of these biomechanics parameters, dynamic radiographic images had been gotten, by means of videofluoroscopy. From the analysis of the knee joint in the sagittal plane, from twenty-five individuals, performing three repetitions of the knee extension exercise in open kinetic chain, without applied external load to the tibia. The gotten images had been reproduced and digitalized using a capture plate - Silicon Graphics 320. There been developed specific computational routines using Matlab software for processing and analysis of the data. The gotten data had been analyzed statistically using the statistical package SPSS, version 13.0. The gotten values for each parameter related to the knee angle of flexion had been plotted, for all the individuals of the sample, and carried through an regression analysis between the interpolated variables, getting respective reliable interval and coefficient of determination (r2). In the light of these findings, correlations had been verified to be strong, very strong and also very regular among the parameters of the present study and the angle of knee flexion, indicating the possibility of estimate the normality of the kinematic and kinetic parameters of the knee joint.

Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and product quality. Other reasons for using industrial robots are cost saving, and elimination of hazardous and unpleasant work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot performance, reducing the robot cost, improving safety, and introducing new functionalities.  Therefore, there is a need to continuously improve the mathematical models and control methods in order to fulfil conflicting requirements, such as increased performance of a weight-reduced robot, with lower mechanical stiffness and more complicated vibration modes. One reason for this development of the robot mechanical structure is of course cost-reduction, but other benefits are also obtained, such as lower environmental impact, lower power consumption, improved dexterity, and higher safety. This thesis deals with different aspects of modeling and control of flexible, i.e., elastic, manipulators. For an accurate description of a modern industrial manipulator, this thesis shows that the traditional flexible joint model, described in literature, is not sufficient. An improved model where the elasticity is described by a number of localized multidimensional spring-damper pairs is therefore proposed. This model is called the extended flexible joint model. The main contributions of this work are the design and analysis of identification methods, and of inverse dynamics control methods, for the extended flexible joint model. The proposed identification method is a frequency-domain non-linear gray-box method, which is evaluated by the identification of a modern six-axes robot manipulator. The identified model gives a good description of the global behavior of this robot. The inverse dynamics problem is discussed, and a solution methodology is proposed. This methodology is based on the solution of a differential algebraic equation (DAE). The inverse dynamics solution is then used for feedforward control of both a simulated manipulator and of a real robot manipulator. The last part of this work concerns feedback control. First, a model-based nonlinear feedback control (feedback linearization) is evaluated and compared to a model-based feedforward control algorithm. Finally, two benchmark problems for robust feedback control of a flexible manipulator are presented and some proposed solutions are analyzed.

New surgical approaches for total hip arthroplasty (THA) are being developed to reduce muscle damage sustained during surgery, in the hope to allow better muscle functioning afterwards. The goal of this study was to compare the muscle sparing anterior (ANT) approach to a traditional lateral (LAT) approach with three-dimensional motion analysis. Kinematics and kinetics were obtained with an infrared camera system and force plates. It was hypothesized that (1) the ANT group would have closer to normal range of motion, moments and powers, compared to the LAT group, and that (2) the ANT group would have higher peak hip abduction moment than the LAT group. Forty patients undergoing unilateral THA for osteoarthritis between the ages of 50 and 75 (20 ANT, 20 LAT) were asked to perform three trials of walking, stair ascent and stair descent. Patients were assessed between six to twelve months postoperatively. Twenty age- and weight-matched control participants (CON) provided normative data. Results indicated that both THA groups had gait anomalies compared to the CON group. Both THA groups had reduced hip abduction moment during walking (CON vs. ANT: p<0.001; CON vs. LAT: p=0.011), and the ANT group had a significantly lower hip abduction moment compared to the LAT group (p=0.008). Similar results were observed during stair descent, where the ANT group had reduced peak hip abduction moment compared to the CON group (p<0.001) and the LAT group (p=0.014). This indicates that the anterior approach did not allow better gait and stair climbing ability after THA. It is therefore thought that other variables, such as preoperative gait adaptations, trauma from the surgery, or postoperative protection mechanisms to avoid loading the prosthetic hip, are factors that might be more important than surgical approach in determining the mechanics of THA patients after surgery.

The Niagara Foot (NF) is a relatively new prosthetic design, primarily intended for use in developing countries. It combines low cost and durability with high performance energy return features. The design has been successfully tested mechanically and in field trials, but to date there has been little quantitative gait data describing the performance of the foot. Biomechanical gait analysis techniques will be used to extract quantitative gait measures. The current study is designed to characterize the effect of heel section stiffness parameter differences between a NF normal heel and a NF with a reduced material heel section., on gait characteristics in persons with unilateral trans-tibial amputations (TTA). Standardized biomechanical gait analysis techniques, adapted for this population, were used to extract quantitative gait measures. Five persons with TTA performed walking tasks while 3D ground reaction forces were recorded via an embedded force platform. A motion capture system also recorded the 3D segmental motion of the lower limbs and torso of each subject. These were combined to calculate net joint moments and mechanical power at the hip and knee of both limbs. These data were compared between a normal NF and a NF with a modified heel. Each participant had a period of two-week adaptation prior to any testing. An EMG system and a prosthesis evaluation questionnaire were used to help analyze the condition. The overall hypothesis of this study was that modification of the heel section stiffness would change several aspects of gait. Although the gait pattern differences between participants and the low participant number produced no significant differences between the conditions for all variables, trends were observed in multiple outcomes. These results report preliminary evidence that for some participants the heel material reduction does impact their gait by showing a different loading phase during the transition between the heel strike and the full contact with the ground. The NF2 may move the gait toward a more flexed knee position. Furthermore, despite a reduction in the material of the heel section results showed that the overall foot stiffness increased. This may be the result of the one-piece design and mechanics of the NF. Further investigations with a bigger cohort of people with TTA are required to look at the importance of the impact of the prosthetic foot heel stiffness.