In this work, movement of the exoskeleton wearer and the metabolic energy changes with the assisted
devices using OpenSim platform has been attempted. Two musculoskeletal models, one with torsional ankle
spring and the other with bi-articular path spring are subjected to forward dynamic simulation.The
changes in the metabolic rate of the lower extremity muscles before and after the addition of the assistive
devices were tested. The results about the effect of these external devices on individual muscles of the lower
muscle group were analysed which provided effective results.
Lower Limb Musculoskeletal Modeling for Standing and Sitting Event by using M...ijsrd.com
This paper shows how the musculoskeletal modeling for standing and sitting event of lower limb of humans is possible using MSMS (Musculoskeletal Modeling Software). Concept, significance and factors of musculoskeletal modeling of lower limb have been detailed. It presents how the complexity of biomechanics related to lower limb can modeled with MSMS and also represents how such model can be useful in generating MATLAB/SIMULINK ® model that can be further used in the development of prototype neuroprosthesis model for paraplegic patients having lower extremity disorders. Proposed modeling includes 12 leg virtual muscles which shows its accuracy for event of standing to sitting event with due consideration of the coordinating position, Mass, Inertia used for rigid body segment, and Joint Type, Translational Axes, Rotational Axes used for lower limb joints. The result generated by MSMS for proposed modeling has been presented. Merits and demerits of proposed modeling have also been discussed.
Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Wa...Emisor Digital
A research original from Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Ayonga Hereid, Omar Harib, Matthieu Masselin, Jessy Grizzle and Aaron D. Ames
Crimson Publishers- The Effect of Medial Hamstring Weakness on Soft Tissue Lo...CrimsonPublishers-SBB
Anterior cruciate ligament (ACL) reconstructions are frequently performed in the United States of America. The medial hamstrings graft has been shown to produce lower rates of osteoarthritis (OA) than the patellar tendon graft. The goal of this study was to determine how altering medial hamstring strength during surgery affects soft tissue loading, and hence the joint’s proclivity towards OA. Muscle-actuated forward dynamic simulations of running were performed for normal muscle strength and decreased medial hamstring strength. The results show weakening the medial hamstrings caused an overall decrease in total hamstrings force by 7%, in total quadriceps force by 35%, and in cartilage contact force by 6%. This decreased force may be protective against long-term OA.
Lower Limb Musculoskeletal Modeling for Standing and Sitting Event by using M...ijsrd.com
This paper shows how the musculoskeletal modeling for standing and sitting event of lower limb of humans is possible using MSMS (Musculoskeletal Modeling Software). Concept, significance and factors of musculoskeletal modeling of lower limb have been detailed. It presents how the complexity of biomechanics related to lower limb can modeled with MSMS and also represents how such model can be useful in generating MATLAB/SIMULINK ® model that can be further used in the development of prototype neuroprosthesis model for paraplegic patients having lower extremity disorders. Proposed modeling includes 12 leg virtual muscles which shows its accuracy for event of standing to sitting event with due consideration of the coordinating position, Mass, Inertia used for rigid body segment, and Joint Type, Translational Axes, Rotational Axes used for lower limb joints. The result generated by MSMS for proposed modeling has been presented. Merits and demerits of proposed modeling have also been discussed.
Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Wa...Emisor Digital
A research original from Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Ayonga Hereid, Omar Harib, Matthieu Masselin, Jessy Grizzle and Aaron D. Ames
Crimson Publishers- The Effect of Medial Hamstring Weakness on Soft Tissue Lo...CrimsonPublishers-SBB
Anterior cruciate ligament (ACL) reconstructions are frequently performed in the United States of America. The medial hamstrings graft has been shown to produce lower rates of osteoarthritis (OA) than the patellar tendon graft. The goal of this study was to determine how altering medial hamstring strength during surgery affects soft tissue loading, and hence the joint’s proclivity towards OA. Muscle-actuated forward dynamic simulations of running were performed for normal muscle strength and decreased medial hamstring strength. The results show weakening the medial hamstrings caused an overall decrease in total hamstrings force by 7%, in total quadriceps force by 35%, and in cartilage contact force by 6%. This decreased force may be protective against long-term OA.
ANKLE MUSCLE SYNERGIES FOR SMOOTH PEDAL OPERATION UNDER VARIOUS LOWER-LIMB PO...csandit
A study on muscle synergy of ankle joint motion is important since the acceleration operation
results in automobile acceleration. It is necessary to understanding the characteristics of ankle
muscle synergies to define the appropriate specification of pedals, especially for the accelerator
pedal. Although the biarticular muscle (i.e., gastrocnemius) plays an important role for the
ankle joint motion, it is not well understood yet. In this paper, the effect of knee joint angle and
the role of biarticular muscle for pedal operation are investigated. Experiments of the pedal
operation were performed to evaluate the muscle synergies for the ankle plantar flexion motion
(i.e., the pedal operation motion) in the driving position. The experimental results suggest that
the muscle activity level of gastrocnemius varies with respect the knee joint angle, and smooth
pedal operation is realized by the appropriate muscle synergies.
Austin Journal of Robotics & Automation is an international scholarly, peer review, Open Access journal, initiated with an aim to promote the research in Robotics & Automation, which deals with design, construction, operation, and application of robots.
Austin Journal of Robotics & Automation is a comprehensive Open Access peer reviewed scientific journal that covers multidisciplinary fields. We provide limitless access towards accessing our literature hub with colossal range of articles. The journal aims to publish high quality varied article types such as Research, Review, Short Communications, Case Reports, Perspectives (Editorials).
Austin Journal of Robotics & Automation supports the scientific modernization and enrichment in Robotics & Automation research community by magnifying access to peer reviewed scientific literary works. Austin Publishing Group also brings universally peer reviewed member journals under one roof thereby promoting knowledge sharing, collaborative and promotion of multidisciplinary technology.
Robotic Leg Design to Analysis the Human Leg Swing from Motion CapturejournalBEEI
In this paper presented the prototype of robotic leg has been designed, constructed and controlled. These prototype are designed from a geometric of human leg model with three joints moving in 2D plane. Robot has three degree of freedom using DC servo motor as a joint actuators: hip, knee and ankle. The mechanical leg constructed using aluminum alloy and acrylic material. The control movement of this system is based on motion capture data stored on a personal computer. The motions are recorded with a camera by use of a marker-based to track movement of human leg. Propose of this paper is design of robotic leg to present the analysis of motion of the human leg swing and to testing the system ability to create the movement from motion capture. The results of this study show that the design of robotic leg was capable for practical use of the human leg motion analysis. The accuracy of orientation angles of joints shows the average error on hip is 1.46º, knee is 1.66º, and ankle is 0.46º. In this research suggesting that the construction of mechanic is an important role in the stabilization of the movement sequence.
A STUDY ON THE MOTION CHANGE UNDER LOADED CONDITION INDUCED BY VIBRATION STIM...csandit
To assist not only motor function but also perception ability of elderly and/or handicapped
persons, the power-assist robots which have perception-assist function have been developed.
These robots can automatically modify the user’s motion when the robot detects inappropriate
user’s motion or a possibility of accident such as collision between the user and obstacles. For
this motion modification in perception-assist, some actuators of power-assist robot are used. On
the other hand, since some elderly persons, handicapped persons or some workers need not use
power-assist function but perception-assist function only, another new concept perception-assist
method was investigated in our previous study. In this perception-assist method, only vibrators
are used for generating motion change with kinesthetic illusion to assist perception-ability only.
In this study, since the perception-assist is often used during tasks under a loaded condition, the
features of motion change under the loaded condition are investigated.
A new look at the ball disteli diagram and its relevance to knee proprioceptionWangdo Kim
Reconstruction of a torn anterior cruciate ligament (ACL) cannot be successful without a properly placed tibial tunnel. Graft impingement occurs when the graft becomes trapped in the notch between the rounded ends of the femur (intercondylar notch) with the knee in extension. A surgical technique for customizing the placement of the tibial tunnel, preventing roof impingement, is presented.
We consider the knee as a perceptual system, the units of anatomy in which are not the units of function. We are particularly interested in measuring of our knee proprioception, and of our ability to perceive change in our position through locating the instantaneous axes of the knee (IAK) during locomotion. This geometrical “patterns” of the IAK has been shown to be essential in the rehabilitation of both ACL reconstruction and the disorders in gait-related behaviors.
We present conditions of nonimpingement graft based on the principle that the tibial tunnel can be reproducibly placed in a manner that the force on each ACL graft is therefore in involution with original system.
Discus throwing performances and medical classification of wheelchair athlete...Ciro Winckler
CHOW, J. W.; MINDOCK, L. A. Discus throwing performances and medical classification of wheelchair athletes. Medicine and Science in Sports and Exercise, v. 31, n. 9, p. 1272-1279, 1999.
Are you wondering what is down the pike for GASB implementation? In this session we will cover the new GASB pronouncements for the upcoming years, including those addressing tax abatement disclosures and retiree healthcare benefits. Presenter David Alvey, CPA Audit Partner
ANKLE MUSCLE SYNERGIES FOR SMOOTH PEDAL OPERATION UNDER VARIOUS LOWER-LIMB PO...csandit
A study on muscle synergy of ankle joint motion is important since the acceleration operation
results in automobile acceleration. It is necessary to understanding the characteristics of ankle
muscle synergies to define the appropriate specification of pedals, especially for the accelerator
pedal. Although the biarticular muscle (i.e., gastrocnemius) plays an important role for the
ankle joint motion, it is not well understood yet. In this paper, the effect of knee joint angle and
the role of biarticular muscle for pedal operation are investigated. Experiments of the pedal
operation were performed to evaluate the muscle synergies for the ankle plantar flexion motion
(i.e., the pedal operation motion) in the driving position. The experimental results suggest that
the muscle activity level of gastrocnemius varies with respect the knee joint angle, and smooth
pedal operation is realized by the appropriate muscle synergies.
Austin Journal of Robotics & Automation is an international scholarly, peer review, Open Access journal, initiated with an aim to promote the research in Robotics & Automation, which deals with design, construction, operation, and application of robots.
Austin Journal of Robotics & Automation is a comprehensive Open Access peer reviewed scientific journal that covers multidisciplinary fields. We provide limitless access towards accessing our literature hub with colossal range of articles. The journal aims to publish high quality varied article types such as Research, Review, Short Communications, Case Reports, Perspectives (Editorials).
Austin Journal of Robotics & Automation supports the scientific modernization and enrichment in Robotics & Automation research community by magnifying access to peer reviewed scientific literary works. Austin Publishing Group also brings universally peer reviewed member journals under one roof thereby promoting knowledge sharing, collaborative and promotion of multidisciplinary technology.
Robotic Leg Design to Analysis the Human Leg Swing from Motion CapturejournalBEEI
In this paper presented the prototype of robotic leg has been designed, constructed and controlled. These prototype are designed from a geometric of human leg model with three joints moving in 2D plane. Robot has three degree of freedom using DC servo motor as a joint actuators: hip, knee and ankle. The mechanical leg constructed using aluminum alloy and acrylic material. The control movement of this system is based on motion capture data stored on a personal computer. The motions are recorded with a camera by use of a marker-based to track movement of human leg. Propose of this paper is design of robotic leg to present the analysis of motion of the human leg swing and to testing the system ability to create the movement from motion capture. The results of this study show that the design of robotic leg was capable for practical use of the human leg motion analysis. The accuracy of orientation angles of joints shows the average error on hip is 1.46º, knee is 1.66º, and ankle is 0.46º. In this research suggesting that the construction of mechanic is an important role in the stabilization of the movement sequence.
A STUDY ON THE MOTION CHANGE UNDER LOADED CONDITION INDUCED BY VIBRATION STIM...csandit
To assist not only motor function but also perception ability of elderly and/or handicapped
persons, the power-assist robots which have perception-assist function have been developed.
These robots can automatically modify the user’s motion when the robot detects inappropriate
user’s motion or a possibility of accident such as collision between the user and obstacles. For
this motion modification in perception-assist, some actuators of power-assist robot are used. On
the other hand, since some elderly persons, handicapped persons or some workers need not use
power-assist function but perception-assist function only, another new concept perception-assist
method was investigated in our previous study. In this perception-assist method, only vibrators
are used for generating motion change with kinesthetic illusion to assist perception-ability only.
In this study, since the perception-assist is often used during tasks under a loaded condition, the
features of motion change under the loaded condition are investigated.
A new look at the ball disteli diagram and its relevance to knee proprioceptionWangdo Kim
Reconstruction of a torn anterior cruciate ligament (ACL) cannot be successful without a properly placed tibial tunnel. Graft impingement occurs when the graft becomes trapped in the notch between the rounded ends of the femur (intercondylar notch) with the knee in extension. A surgical technique for customizing the placement of the tibial tunnel, preventing roof impingement, is presented.
We consider the knee as a perceptual system, the units of anatomy in which are not the units of function. We are particularly interested in measuring of our knee proprioception, and of our ability to perceive change in our position through locating the instantaneous axes of the knee (IAK) during locomotion. This geometrical “patterns” of the IAK has been shown to be essential in the rehabilitation of both ACL reconstruction and the disorders in gait-related behaviors.
We present conditions of nonimpingement graft based on the principle that the tibial tunnel can be reproducibly placed in a manner that the force on each ACL graft is therefore in involution with original system.
Discus throwing performances and medical classification of wheelchair athlete...Ciro Winckler
CHOW, J. W.; MINDOCK, L. A. Discus throwing performances and medical classification of wheelchair athletes. Medicine and Science in Sports and Exercise, v. 31, n. 9, p. 1272-1279, 1999.
Are you wondering what is down the pike for GASB implementation? In this session we will cover the new GASB pronouncements for the upcoming years, including those addressing tax abatement disclosures and retiree healthcare benefits. Presenter David Alvey, CPA Audit Partner
Meet Blue and Ice, 3-4 year old Husky mixes. Ice was rescued in October, 2014 with three other dogs that had just been spayed or neutered. Ice was found after being thrown into the Rakitnica Canyon River. Luckily, there was a woman passing by and heard the dogs barking. She immediately called animal rescue, but since they were thrown into a canyon, they could not be easily rescued, so a mountain rescue service was needed. Blue was living on the street in Ilidza, Bosnia, and was being fed by a local rescue. When the local rescue started catching stray dogs, they had to move Blue into a different shelter leaving him in bad living conditions. This is their story of traveling from Bosnia to the United States to find their forever family.
http://www.doobert.com/
Introduction: the Consensus Conference of the American College of ChestSurgeons and the American Society of Critical Care Medicine in 1992, defines the systemic inflammatory response syndrome (SIRS). In pregnantwomen, a series of physiological and anatomical changes. These changes SIRS denote by definition, being only physiological parameters in a pregnant woman with variation according to gestational age. The aim of this study is to perform a diagnostic evaluation of the definition of SIRS in critically ill obstetric patient, taking into account the parameters found in two cohorts of patients.
Methodology: we performed a multicenter comparative diagnostic study of two cohorts: a retrospective cohort of patients admitted to two intensive care units in the city of Cartagena, Colombia, with a diagnosis ofsepsis of any origin, which were compared with healthy pregnantpatients without septic focus in prenatal care in order to estimateappropriate cutoff for the definition of SIRS in pregnant women.
Results: in developing this study we found that the cut-off points at 12400 cell/ mm3 for leukocyte count, heart rate greater than 105 per minute and respiratory rate of 20 per minute showed the best statistical behavior. With regard to the definition of SIRS ConsensusConference of the American College of Chest Surgeons and the American Society of Critical Care Medicine in 1992, the only variation was found within the cutoff for heart rate, where 105 beats per minute, was show the best sensitivity and specificity.
Conclusión: the current criteria to define SIRS in pregnant women do not seem to be adequate according to the results of this study.
L’assenza di una normativa specifica del trust all’interno dell’ordinamento giuridico italiano, è supplita dalla ratifica della Convenzione dell’Aja che tuttavia rinvia alla regolamentazione straniera.
Come affrontare il labirinto normativo
Simulation of Elbow Movement with MSMS and MATLABijsrd.com
This paper describes Biomechanical model of arm which is totally computational approach for modeling the complex mechanical properties of muscles of Hand. This can be embodied as a simulation model for use with Matlab and Simulink. The model allows the creation of realistic Muscle structure and movement of arm. Here we have considered elbow movement and the muscle which are activated during the elbow movement. Flexion and extension of elbow and associated muscles are studied. This paper also gives relation between force and given stimulation to particular muscle. The model presented here can be employed to design FES controller for subject who suffered from quadriplegia due to spinal cord injury (SCI) or multiple sclerosis (MS)
UPPER EXTREMITY ROBOTICS EXOSKELETON: APPLICATION, STRUCTURE AND ACTUATIONijbesjournal
Robotic exoskeleton is getting important to human in many aspects such as power assist, muscle training, regain motor function and rehabilitation. The research and development towards these functions are expected to be combined and integrated with the human intelligent and machine power, eventually becoming another generation of robot which will enhance the machine intelligent and human power. This paper reviews the upper extremity exoskeleton with different functions, actuators and degree of freedom (DOF). Among the functions, rehabilitation and power assist have been highlighted while pneumatic actuator, pneumatic muscle, motor and hydraulic actuator are presented under the categories of actuator. In addition, the structure of exoskeleton is separated by its DOF in terms of shoulder, elbow, wrist and hand
UPPER EXTREMITY ROBOTICS EXOSKELETON: APPLICATION, STRUCTURE AND ACTUATIONijbesjournal
Robotic exoskeleton is getting important to human in many aspects such as power assist, muscle training, regain motor function and rehabilitation. The research and development towards these functions are expected to be combined and integrated with the human intelligent and machine power, eventually becoming another generation of robot which will enhance the machine intelligent and human power. This paper reviews the upper extremity exoskeleton with different functions, actuators and degree of freedom (DOF). Among the functions, rehabilitation and power assist have been highlighted while pneumatic actuator, pneumatic muscle, motor and hydraulic actuator are presented under the categories of actuator. In addition, the structure of exoskeleton is separated by its DOF in terms of shoulder, elbow, wrist and hand.
This paper proposes a shoulder inverse kinematics (IK) technique. Shoulder complex is comprised of the
sternum, clavicle, ribs, scapula, humerus, and four joints. The shoulder complex shows specific motion
pattern, such as Scapulo humeral rhythm. As a result, if a motion of the shoulder isgenerated without the
knowledge of kinesiology, it will be seen as un-natural. The proposed technique generates motion of the
shoulder complex about the orientation of the upper arm by interpolating the measurement data. The
shoulder IK method allows novice animators to generate natural shoulder motions easily. As a result, this
technique improves the quality of character animation.
This paper proposes a shoulder inverse kinematics (IK) technique. Shoulder complex is comprised of the sternum, clavicle, ribs, scapula, humerus, and four joints. The shoulder complex shows specific motion pattern, such as Scapulo humeral rhythm. As a result, if a motion of the shoulder isgenerated without the knowledge of kinesiology, it will be seen as un-natural. The proposed technique generates motion of the shoulder complex about the orientation of the upper arm by interpolating the measurement data. The shoulder IK method allows novice animators to generate natural shoulder motions easily. As a result, this technique improves the quality of character animation.
This paper proposes a shoulder inverse kinematics (IK) technique. Shoulder complex is comprised of the sternum, clavicle, ribs, scapula, humerus, and four joints. The shoulder complex shows specific motion pattern, such as Scapulo humeral rhythm. As a result, if a motion of the shoulder is generated without the knowledge of kinesiology, it will be seen as un-natural. The proposed technique generates motion of the shoulder complex about the orientation of the upper arm by interpolating the measurement data. The shoulder IK method allows novice animators to generate natural shoulder motions easily. As a result, this technique improves the quality of character animation.
Ik analysis for the hip simulator using the open sim simulatorEditorIJAERD
The model of the project to create a detailed assembly of muscles spotting the hip joint. Additional muscles
and combinations were added to the baseline lower extremity assemblies currently available in OpenSim. The geometry
of the muscles was adjusted to pair moment arms reported here. The slack moment and the isometric were added to the
arithmetic value of the tanquntial assembly of joints
Dynamic Model of Hip and Ankle Joints Loading during Working with a Motorized...J. Agricultural Machinery
The main objective of this paper is to develop a seven-link dynamic model of the operator’s body while working with a motorized backpack sprayer. This model includes the coordinates of the sprayer relative to the body, the rotational inertia of the sprayer, the muscle moments acting on the joints, and a kinematic coupling that keeps the body balanced between the two legs. The constraint functions were determined and the non-linear differential equations of motion were derived using Lagrangian equations. The results show that undesirable fluctuations in the ankle force are noticeable at the beginning and end of a swing phase. Therefore, injuries to the ankle joint are more likely due to vibrations. The effects of engine speed and sprayer mass on the hip and ankle joint forces were then investigated. It is found that the engine speed and sprayer mass have significant effects on the hip and ankle forces and can be used as effective control parameters. The results of the analysis also show that increasing the engine speed increases the frequency of the hip joint force. However, no significant effects on the frequency of the ankle joint force are observed. The results of this study may provide researchers with insight into estimating the allowable working hours with the motorized backpack sprayers, prosthesis design, and load calculations of hip implants in the future.
Mechanics of the human hamstring muscles during sprintingFernando Farias
As peak musculotendon
force and strain for BF
LH
, ST, and SM occurred around the same time during terminal swing, it is suggested that this period in the
stride cycle may be when the biarticular hamstrings are at greatest injury risk. On this basis, hamstring injury prevention or rehabilitation
programs should preferentially target strengthening exercises that involve eccentric contractions performed with high loads at longer
musculotendon lengths.
Knee anatomy and clinical tests 2024.pdfvimalpl1234
This includes all relevant anatomy and clinical tests compiled from standard textbooks, Campbell,netter etc..It is comprehensive and best suited for orthopaedicians and orthopaedic residents.
Ozempic: Preoperative Management of Patients on GLP-1 Receptor Agonists Saeid Safari
Preoperative Management of Patients on GLP-1 Receptor Agonists like Ozempic and Semiglutide
ASA GUIDELINE
NYSORA Guideline
2 Case Reports of Gastric Ultrasound
Integrating Ayurveda into Parkinson’s Management: A Holistic ApproachAyurveda ForAll
Explore the benefits of combining Ayurveda with conventional Parkinson's treatments. Learn how a holistic approach can manage symptoms, enhance well-being, and balance body energies. Discover the steps to safely integrate Ayurvedic practices into your Parkinson’s care plan, including expert guidance on diet, herbal remedies, and lifestyle modifications.
Rasamanikya is a excellent preparation in the field of Rasashastra, it is used in various Kushtha Roga, Shwasa, Vicharchika, Bhagandara, Vatarakta, and Phiranga Roga. In this article Preparation& Comparative analytical profile for both Formulationon i.e Rasamanikya prepared by Kushmanda swarasa & Churnodhaka Shodita Haratala. The study aims to provide insights into the comparative efficacy and analytical aspects of these formulations for enhanced therapeutic outcomes.
Local Advanced Lung Cancer: Artificial Intelligence, Synergetics, Complex Sys...Oleg Kshivets
Overall life span (LS) was 1671.7±1721.6 days and cumulative 5YS reached 62.4%, 10 years – 50.4%, 20 years – 44.6%. 94 LCP lived more than 5 years without cancer (LS=2958.6±1723.6 days), 22 – more than 10 years (LS=5571±1841.8 days). 67 LCP died because of LC (LS=471.9±344 days). AT significantly improved 5YS (68% vs. 53.7%) (P=0.028 by log-rank test). Cox modeling displayed that 5YS of LCP significantly depended on: N0-N12, T3-4, blood cell circuit, cell ratio factors (ratio between cancer cells-CC and blood cells subpopulations), LC cell dynamics, recalcification time, heparin tolerance, prothrombin index, protein, AT, procedure type (P=0.000-0.031). Neural networks, genetic algorithm selection and bootstrap simulation revealed relationships between 5YS and N0-12 (rank=1), thrombocytes/CC (rank=2), segmented neutrophils/CC (3), eosinophils/CC (4), erythrocytes/CC (5), healthy cells/CC (6), lymphocytes/CC (7), stick neutrophils/CC (8), leucocytes/CC (9), monocytes/CC (10). Correct prediction of 5YS was 100% by neural networks computing (error=0.000; area under ROC curve=1.0).
Muktapishti is a traditional Ayurvedic preparation made from Shoditha Mukta (Purified Pearl), is believed to help regulate thyroid function and reduce symptoms of hyperthyroidism due to its cooling and balancing properties. Clinical evidence on its efficacy remains limited, necessitating further research to validate its therapeutic benefits.
- Video recording of this lecture in English language: https://youtu.be/kqbnxVAZs-0
- Video recording of this lecture in Arabic language: https://youtu.be/SINlygW1Mpc
- Link to download the book free: https://nephrotube.blogspot.com/p/nephrotube-nephrology-books.html
- Link to NephroTube website: www.NephroTube.com
- Link to NephroTube social media accounts: https://nephrotube.blogspot.com/p/join-nephrotube-on-social-media.html
Here is the updated list of Top Best Ayurvedic medicine for Gas and Indigestion and those are Gas-O-Go Syp for Dyspepsia | Lavizyme Syrup for Acidity | Yumzyme Hepatoprotective Capsules etc
Title: Sense of Taste
Presenter: Dr. Faiza, Assistant Professor of Physiology
Qualifications:
MBBS (Best Graduate, AIMC Lahore)
FCPS Physiology
ICMT, CHPE, DHPE (STMU)
MPH (GC University, Faisalabad)
MBA (Virtual University of Pakistan)
Learning Objectives:
Describe the structure and function of taste buds.
Describe the relationship between the taste threshold and taste index of common substances.
Explain the chemical basis and signal transduction of taste perception for each type of primary taste sensation.
Recognize different abnormalities of taste perception and their causes.
Key Topics:
Significance of Taste Sensation:
Differentiation between pleasant and harmful food
Influence on behavior
Selection of food based on metabolic needs
Receptors of Taste:
Taste buds on the tongue
Influence of sense of smell, texture of food, and pain stimulation (e.g., by pepper)
Primary and Secondary Taste Sensations:
Primary taste sensations: Sweet, Sour, Salty, Bitter, Umami
Chemical basis and signal transduction mechanisms for each taste
Taste Threshold and Index:
Taste threshold values for Sweet (sucrose), Salty (NaCl), Sour (HCl), and Bitter (Quinine)
Taste index relationship: Inversely proportional to taste threshold
Taste Blindness:
Inability to taste certain substances, particularly thiourea compounds
Example: Phenylthiocarbamide
Structure and Function of Taste Buds:
Composition: Epithelial cells, Sustentacular/Supporting cells, Taste cells, Basal cells
Features: Taste pores, Taste hairs/microvilli, and Taste nerve fibers
Location of Taste Buds:
Found in papillae of the tongue (Fungiform, Circumvallate, Foliate)
Also present on the palate, tonsillar pillars, epiglottis, and proximal esophagus
Mechanism of Taste Stimulation:
Interaction of taste substances with receptors on microvilli
Signal transduction pathways for Umami, Sweet, Bitter, Sour, and Salty tastes
Taste Sensitivity and Adaptation:
Decrease in sensitivity with age
Rapid adaptation of taste sensation
Role of Saliva in Taste:
Dissolution of tastants to reach receptors
Washing away the stimulus
Taste Preferences and Aversions:
Mechanisms behind taste preference and aversion
Influence of receptors and neural pathways
Impact of Sensory Nerve Damage:
Degeneration of taste buds if the sensory nerve fiber is cut
Abnormalities of Taste Detection:
Conditions: Ageusia, Hypogeusia, Dysgeusia (parageusia)
Causes: Nerve damage, neurological disorders, infections, poor oral hygiene, adverse drug effects, deficiencies, aging, tobacco use, altered neurotransmitter levels
Neurotransmitters and Taste Threshold:
Effects of serotonin (5-HT) and norepinephrine (NE) on taste sensitivity
Supertasters:
25% of the population with heightened sensitivity to taste, especially bitterness
Increased number of fungiform papillae
MINIMIZATION OF METABOLIC COST OF MUSCLES BASED ON HUMAN EXOSKELETON MODELING: A SIMULATION
1. International Journal of Biomedical Engineering and Science (IJBES), Vol. 3, No. 4, October 2016
DOI: 10.5121/ijbes.2016.3401 01
MINIMIZATION OF METABOLIC COST OF
MUSCLES BASED ON HUMAN EXOSKELETON
MODELING: A SIMULATION
Harita Baskar and Sri Madhava Raja Nadaradjane
Department of Electronics and Instrumentation, St. Joseph’s College of Engineering,
Anna University, Chennai, India
ABSTRACT
In this work, movement of the exoskeleton wearer and the metabolic energy changes with the assisted
devices using OpenSim platform has been attempted. Two musculoskeletal models, one with torsional ankle
spring and the other with bi-articular path spring are subjected to forward dynamic simulation.The
changes in the metabolic rate of the lower extremity muscles before and after the addition of the assistive
devices were tested. The results about the effect of these external devices on individual muscles of the lower
muscle group were analysed which provided effective results.
KEYWORDS
Human Exoskeleton, Metabolic Cost, Gastrocnemius muscle, Soleus muscle & Illiopsoas muscle
1. INTRODUCTION
An exoskeleton is a particular kind of mechanical device designed to be worn by an operator that
help in assisting limb movement and the execution of a motor task [1]. These exoskeletons are
widely used for various orthopaedic disorders, different levels of paralysis, military applications
and in rehabilitation centres [2]. The main target of this technology is to augment the human body
and its capabilities[3].
Exoskeletons have the potential to reduce the metabolic cost of walking, loaded walking as well
as running. Figure1 shows the main components of an exoskeleton on a loaded subject. It includes
hip springs, adduction springs and an ankle spring. These spring components help in reducing the
metabolic energy of the muscles. The knee damper helps in limiting the range of motion [4]. The
reduction in metabolic cost decreases the possibilities of injury and increases the load carrying
capacity [5]. Researchers have attempted to achieve this by developing both active and passive
exoskeletons. Kazerooni, Racine, et. al. developed a lower extremity exoskeleton for load
carriage with actuated hip, knee and ankle joints which described an autonomous model
[6].Walsh et. al. designed an quasi passive leg exoskeleton with only ankle and hip springs with a
knee variable damper [7]. These devices try to assist human gait but there are certain challenges
associated with such devices. It is difficult to analyse the effectiveness of the device and also
cannot predict how external actuation assists muscles during loaded walking, Simulation can help
develop the wearable device, as it can give an idea on how the device helps muscles and how the
metabolic cost changes during loaded walking. Muscle driven simulation allows the calculation of
muscle forces, residual forces, fiber length and other parameters that cannot be easily measured. It
is very important to measure these neuromuscular quantities, as they are responsible for the
production of movement [8]. It also makes it possible to measure the metabolic cost of different
muscle groups during the gait cycle.
2. International Journal of Biomedical Engineering and Scie
In order to achieve a simulation based design there are certain tools such as AnyBody modelling
system [9], SimTK[10], Virtual Interactive Musculoskeletal System (VIMS)[
(Software for Interactive Musculoskeletal Modeling)[
the effect of elastic ankle exoskeleton
tendon dynamics with a generic musculoskeletal model
the effectiveness of powered exoskeleton using computer simulation that aimed to decrease the
metabolic energy consumption for upper arm reaching
Figure 1.Components sketch of the main components of the exoskeleton
This paper focuses on the simulation of movement of the exoskeleton wearer using Open
platform and the metabolic energy c
This exoskeleton is based on the spring like action of leg
human stance during walking, it is seen that there exist a linear relationship among the dorsi
flexion and plantar-flexion stages of the stance Therefore, the metabolic
reduced by replacing it with a torsional ankle spring.
the spring is able to minimize the energy expenditure during walking by storing energy during the
progression stage and allowing free movement in rest of the gait cycle [
simulation is performed for two musculoskeletal models, one with torsional ankle spring and the
other with bi-articular path spring. T
muscles after and before the addition of the assistive devices
effects of these external devices on Gastrocnemius muscle, Soleus muscle and Illiopsoas muscle
were also analysed.
2. METHODOLOGY
In this paper, two three-dimensional musculoskeletal models with 10 degrees of freedom with 18
muscle tendon paths with actuators were created using OpenSim. Both the model
male of 75 (Kg) mass and 1.8(m) height. The
for the forward dynamic simulation.
and foot segments [17]. The two models are subjected to three processes before the addition of
the assistive devices which includes scaling, inverse kinematics and computes muscle control.
These three processes were used to create simulations of the
1.3(m/s). Then a torsional ankle
the other model.
International Journal of Biomedical Engineering and Science (IJBES), Vol. 3, No. 4, October
In order to achieve a simulation based design there are certain tools such as AnyBody modelling
], Virtual Interactive Musculoskeletal System (VIMS)[
(Software for Interactive Musculoskeletal Modeling)[12] and OpenSim[13]. Dominic et al studied
the effect of elastic ankle exoskeleton on bilateral hopping by utilizing simulation of muscle
with a generic musculoskeletal model[14]. Recently, Yoshiaki et al evaluated
the effectiveness of powered exoskeleton using computer simulation that aimed to decrease the
metabolic energy consumption for upper arm reaching movement [15].
1.Components sketch of the main components of the exoskeleton
This paper focuses on the simulation of movement of the exoskeleton wearer using Open
platform and the metabolic energy changes associated with the lower extremity muscle
eleton is based on the spring like action of leg and from the moment angle analysis of
human stance during walking, it is seen that there exist a linear relationship among the dorsi
flexion stages of the stance Therefore, the metabolic cost of the ankle joint is
reduced by replacing it with a torsional ankle spring. In conjunction with a damping mechanism,
the spring is able to minimize the energy expenditure during walking by storing energy during the
progression stage and allowing free movement in rest of the gait cycle [16]. Forward dynamic
d for two musculoskeletal models, one with torsional ankle spring and the
th spring. The changes in the total metabolic cost of the lower extremity
the addition of the assistive devices were examined. More
devices on Gastrocnemius muscle, Soleus muscle and Illiopsoas muscle
dimensional musculoskeletal models with 10 degrees of freedom with 18
with actuators were created using OpenSim. Both the model
75 (Kg) mass and 1.8(m) height. The dynamic musculoskeletal model is used as the input
simulation.. The model consist of head, trunk, pelvis,both femur,
and foot segments [17]. The two models are subjected to three processes before the addition of
the assistive devices which includes scaling, inverse kinematics and computes muscle control.
used to create simulations of the subject running at a speed of
ankle spring is attached to one model and a bi-articular path spring to
nce (IJBES), Vol. 3, No. 4, October 2016
2
In order to achieve a simulation based design there are certain tools such as AnyBody modelling
], Virtual Interactive Musculoskeletal System (VIMS)[11],SIMM
Dominic et al studied
by utilizing simulation of muscle
Recently, Yoshiaki et al evaluated
the effectiveness of powered exoskeleton using computer simulation that aimed to decrease the
This paper focuses on the simulation of movement of the exoskeleton wearer using Open Sim
hanges associated with the lower extremity muscle group.
and from the moment angle analysis of
human stance during walking, it is seen that there exist a linear relationship among the dorsi-
cost of the ankle joint is
In conjunction with a damping mechanism,
the spring is able to minimize the energy expenditure during walking by storing energy during the
Forward dynamic
d for two musculoskeletal models, one with torsional ankle spring and the
of the lower extremity
Moreover, the
devices on Gastrocnemius muscle, Soleus muscle and Illiopsoas muscle
dimensional musculoskeletal models with 10 degrees of freedom with 18
with actuators were created using OpenSim. Both the models represent a
musculoskeletal model is used as the input
. The model consist of head, trunk, pelvis,both femur, tibia
and foot segments [17]. The two models are subjected to three processes before the addition of
the assistive devices which includes scaling, inverse kinematics and computes muscle control.
ubject running at a speed of
articular path spring to
3. International Journal of Biomedical Engineering and Science (IJBES), Vol. 3, No. 4, October 2016
3
Figure 2 Flowchart for dynamic simulation
2.1 Scaling
The initial step to perform forward dynamic simulation is to scale a generic model to fit a
particular data. It is scaled to match the required size and weight of the model. By using motion
capture equipment, the marker locations are identified and this represents the experimental
markers. The unscaled model already has a set of virtual markers around the same location as the
experimental markers. The dimensions of each segment in the model are scaled by moving the
virtual markers such that they coincide with the experimental marker locations [18].
2.2 Inverse kinematics
Inverse kinematics is performed to determine the generalized coordinates which represents the
joint angles and translations of the model and to minimize the coordinate and marker errors .The
IK tool in OpenSim ensures that the model is placed in a pose that best matches the experimental
marker locations in each time frame. This is achieved through solving the weighted least square
problem and the solution is mathematically expressed as
∑ || − || + ∑ −
!(1)
Where q is the vector of generalized coordinates, xi
exp
is the experimental position of marker i,
xi(q) is the position of the corresponding marker on the model (which depends on the coordinate
values), qj
exp
is the experimental value for coordinate j[19]. The weighted square error that has to
be minimized is given as
4. International Journal of Biomedical Engineering and Science (IJBES), Vol. 3, No. 4, October 2016
4
" #$%&' &%%(% = ∑ * − *
+
+ ∑ ,
-+
− , +
(2)
Where * and *
+
are the three dimensional position of the .th marker for the model,
, and , +
are the values of the /th joint angles for the model and and are the
weight factors [13].
2.3 Computed muscle control
Computed muscle control (CMC) is used to generate a set of muscle excitation that drives the
generalized coordinates to closely track the desired kinematics. Before using the CMC tool, the
initial condition values which include the values of generalized velocities, generalized
coordinates and muscle activation length have to be applied for the first 0.03 seconds of the
desired interval. The forward dynamic simulation is attained by the CMC tool with the
combination of static optimization and a proportional derivative control.Static optimization is
used as an actuator controller to achieve the desired accelerations and helps in eliminating any
noise in the data when a there is a sudden difference in acceleration during the gait cycle. The
desired accelerations are computed based on the proportional-derivative control law that is
written as
0 1 + ∆1 = 0 1 + ∆1 + 34 [ 6 1 − 1 ] +6 3 [ 1 − 1 ] (3)
Where84 and 8 are the feedback gains on the velocity and position errors, 0 represents the
desired accelerations whereas and represent the model coordinates and experimentally
derived coordinates respectively[19].CMC is carried out until the desired movement is achieved.
Figure 3 Model without assistance
2.4 Simulation with assistive devices
After the completion of the above processes, forward dynamic simulation is performed with two
assistive devices: torsional ankle spring and bi- articular path spring. The torsional ankle spring
is modelled at the right ankle joint and the bi-articular path spring acts long the right femur and
foot segment. Both the springs act as a force element and functions as a spring and damper with a
specified stiffness value. The stiffness value for the ankle spring and bi-articular path spring is set
as 10 (Nm) and 10000 (Nm) respectively and damping ratio is 0.01. The two force elements are
assigned as a Coordinate Limit Force and this limits the range of motion when the dorsiflexion
angle exceeds a specified angle(set as 5 degrees). Thus two simulations are executed with each of
the springs modelled individually.
5. International Journal of Biomedical Engineering and Science (IJBES), Vol. 3, No. 4, October 2016
5
(a) (b)
Figure 3. (a) Model With Torsional Ankle Spring, Blue Markers Identify The Connection Points (b) Model
With Bi-Articular Path Spring, Green Marker Identifies The Connection Points.
3. RESULTS AND DISCUSSIONS
3.1 Without assistance
Computed muscle control (CMC) was used to generate muscle driven simulation for model
without any assistance. After the application of computed muscle control, the total metabolic
energy was calculatedusing the metabolic cost calculator at various time intervals. Figure 4
illustrates the total metabolic energy, which ranges from 500J-2000J. The maximum value of
metabolic energy is 1852.54 (Joules) at time 1.35 seconds.
Figure 4. Total Metabolic Energy Vs Time For Unassisted Model
6. International Journal of Biomedical Engineering and Science (IJBES), Vol. 3, No. 4, October 2016
6
3.2 With torsional ankle spring
A torsional ankle spring is added to the model by using the OpenSim tool. This aids in reducing
the total metabolic energy of the lower extremity. The blue curve in fig 2 indicates the total
metabolic energy after adding the torsional ankle spring, which shows a 30% decrease in the total
energy when compared to the unassisted model. The maximum value of total energy is
1255.18(Joules) at time 0.7 (sec).
Figure 5. Comparison of Total Metabolic Energy vs Time For Unassisted
3.3 With Bi-articular path spring
This spring reduces the metabolic energy of the muscles along the femur and the foot segments. It
significantly reduces the metabolic energy of the gastrocnemius muscle, illiopsoas muscle and
soleus muscle. Figure 6 indicates that there is a 30% decrease in the total metabolic energy when
compared with the metabolic energy generated by the unassisted model. The maximum value
total metabolic energy is 1252.14(Joules) at 0.7(seconds) of the gait cycle.
Figure 6. Total metabolic energy vs time for a model with bi-articular path spring
7. International Journal of Biomedical Engineering and Science (IJBES), Vol. 3, No. 4, October 2016
7
Table 1 Comparison of total metabolic energy of unassisted model with assisted models with respect to
time
S.No Time
(sec)
Total metabolic energy(Joules)
Unassisted
model
Model with
Torsional
ankle spring
Model with
Bi-articular
path spring
1. 0.7 1752.10 1255.18 1252.14
2. 0.8 1101.29 772.19 662.73
3. 0.9 592.89 656.71 543.92
4. 1.0 231.42 110.32 201.15
5. 1.1 361.14 301.11 431.29
6. 1.2 701.91 737.81 744.56
7. 1.3 553.12 624.43 251.03
8. 1.35 1852.54 901.73 826.15
9. 1.4 761.22 770.10 669.45
3.4 Effect of Bi-articular path spring on the lower extremity muscles:
The spring helps in reducing the metabolic energy of the Gastrocnemius muscle, Soleus muscle
and Illiopsoas muscle. By using the OpenSim tool, the total metabolic energy with respect to time
was obtained. From the simulation plots, the average of the total metabolic energy is calculated
for each muscle group before and after the addition of the Bi-articular path spring. After the
comparison of the results, it is seen that there is a substantial decrease in the metabolic energy
after the addition of the Bi-articular path spring. The average value of metabolic energy for
Gastrocnemius muscle is 95.487(Joules), for Soleus muscle it is 46.604(Joules) and for Illiopsoas
muscle it is 50.743(Joules).
(a)
8. International Journal of Biomedical Engineering and Science (IJBES), Vol. 3, No. 4, October 2016
8
(b)
(c)
Figure 7. (a) Gastrocnemius muscle metabolic rate (b) Illiopsaos muscle metabolic rate
(c) Soleus muscle metabolic rate
Table 2 Average value of metabolic energy with and without Bi-articular path spring
Muscle group
Metabolic energy (Joules)
Without bi-articular
spring
With bi-articular
spring
Gastrocnemius
muscle
102.71 67.48
Soleus
Muscle
98.16 46.60
Illiopsoas
Muscle
88.760 50.74
4. CONCLUSION
In this paper, the modelling of an exoskeleton with two assisted devices and the simulation of the
exoskeleton wearer has been executed. The total metabolic energy for different muscle groups
were compared with and without the assisted devices. It was examined, thatthe metabolic energy
of each muscle has reduced with the addition of a torsional ankle spring and bi-articular path
spring. For future work, these simulations can aid in evaluating the performance of powered
prosthetic legs and can provide inputs for alternate prosthesis design. Furthermore, the analysis of
metabolic cost of the lower extremity muscles (Gastrocnemius and soleus muscle) can forma
foundation for minimizing the effects of osteoporosis and medial calf injuries.
9. International Journal of Biomedical Engineering and Science (IJBES), Vol. 3, No. 4, October 2016
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