To improve the robustness of human motion synthesis and capture algorithms, our goal is to provide an effective framework for imposing joint limits and reducing ambiguities. To this end, we determine these joint limits from measures performed on human subjects and then transpose them to an intuitive joint limits formalism. Here we focus on the case of ball-andsocket joint limits, applied to the...

OBJECTIVE To determine whether chondroitin sulfate (CS) is effective in inhibiting cartilage loss in knee osteoarthritis (OA). METHODS In this randomized, double-blind, placebo-controlled trial, 300 patients with knee OA were recruited from an outpatient clinic, from private practices, and through advertisements. Study patients were randomly assigned to receive either 800 mg CS or placebo onc...

of Robotic Joint Failures James D. English and Anthony A. Maciejewski Purdue University 1285 Electrical Engineering Building West Lafayette, Indiana 47907-1285 Abstract Robotic joint failures are directly characterized and measured in joint space. A locking failure, for example, is one for which a joint cannot move, and it gives an error equal to the desired value minus the locked value. This a...

A novel approach based on genetic algorithms (GA) is developed to find a global minimum-jerk trajectory of a space robotic manipulator in joint space. The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance ...

we design a two-stage scheme to consider trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in presence of static obstacles. within the first stage, regarding the static obstacles we develop a method that searches the workspace for the shortest possible path between start and goal configurations by constructing a graph on a portion of the confi...

In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes is introduced. Numerical examples are given in order to illustrate graphically the results. This study is of high interest for planning trajectories in the joint space of 3-RPR parallel manipulator...

This ethics committee-approved pilot study was performed with informed consent. A Web-based service that was developed for automated measurement of joint space and automatic analysis of radiographs was tested prospectively. A total of 160 metacarpophalangeal joint spaces were measured in 20 patients (average age, 48 years; age range, 18-89 years; 16 women) suspected of having rheumatoid arthrit...

Abnormalities of joint space in knee roentgenograms were compared among 28 symptomatic patients with pseudogout and 2 control groups consisting of spouses of patients and hospital based patients with knee pain. Joint space narrowing was significantly more frequent in the pseudogout patients than in the 2 control groups. Division of patients and controls into 3 age groups revealed a striking deg...