The object of this study was to develop a method to assess the accuracy of an image-free total knee replacement navigation system in legs with normal or abnormal mechanical axes. A phantom leg was constructed with simulated hip and knee joints and provided a means to locate the centre of the ankle joint. Additional joints located at the midshaft of the tibia and femur allowed deformation in the...

When rails are laid in a railway track, small gaps are left between the ends of adjoining rails to allow for the expansion of the rails when the temperature rises. Rail joints are provided to form a continuous rail path which are normally laid in standard lengths bolted together by fishplates. When two rail joints are exactly opposing each other, they are called square (side by side) joints...

Kinematic modeling of joints is an important element for proper motion analysis of tasks, including the estimation of muscle lengths and moment arms [Delp and Loan, 1995]. In general, anatomical axes of rotation and joint centres are obtained from the literature and refined to produce improved fidelity of motion [Buford and Andersen, 2002]. Various applications will require different levels of ...

This paper presents an algorithm that solves the inverse kinematics problem of all six degrees of freedom manipulators, "general" or "special". A manipulator is represented by a chain of characters that symbolizes the position of prismatic and revolute joints in the manipulator and the special geometry that may exist between its joint axes. One form of the loop closure equation is chosen and th...

Background: The sternoclavicular joint (SCJ) is the only synovial articulation between the upper extremity and the trunk. This joint is one of the most frequently used joints, so osteoarthritis (OA) should be very common. However, there are few studies about OA in this joint. Methods: In this study, 48 sternoclavicular joints from the left and right joints of 23 cases and two left joints from t...

Shoulder motions consist of a composite movement of three joints and one pseudo-joint, which together dictate the humerothoracic motion. The purpose of this work was to quantify the location of the centre of rotation (CoR) of the shoulder complex as a whole. Dynamic motion of 12 participants was recorded using optical motion tracking during coronal, scapular and sagittal plane elevation. The in...

Only few artificial limbs for total upper arm replacement includes other active joints than those of hand and elbow. The main cause is the difficulty to the set up the limb command system. Some components of artificial upper arm have been recently designed and built by the our research group. The full arm consists of a two active axes shoulder and a single axis elbow, plus a commercial hand. Th...

The primary purpose of humanoid telepresence cyber-physical systems is to faithfully reproduce user intent in the remote robot. One of the main challenges lies in maintaining bipedal balance during complex behaviour such as walking, or negotiating obstacles whilst operating in a changing environment. The aim is to achieve this dynamic balance during human-controlled motion, and determine an eff...

In this paper the design of a new DOF RPRS parallel manipulator has been proposed Di erent from the conventional Stewart Gough platform manipulator which has six extensible legs the RPRS parallel manipula tor employs three identical RPRS legs to support the mov ing platform Consequently it possesses a compromised per formance e g workspace accuracy and sti ness between a serial robot and a six ...