Applied Bionics and Biomechanics - Volume 2, issue 3-4

Authors: Acosta-Calderon, C. A. | Hu, H.

Article Type: Research Article

Abstract: There are two functional elements used by humans to understand and perform actions. These elements are: the body schema and the body percept. The first one is a representation of the body that contains information of the body's capabilities. The second one is a snapshot of the body and its relation with the environment at a given instant. These elements interact in order to generate, among other abilities, the ability to imitate. This paper presents an approach to robot imitation based on these two functional elements. Our approach is gradually expanded throughout three developmental stages used by humans to refine …imitation. Experimental results are presented to support the feasibility of the proposed approach at the current stage for 2D movements and simple manipulation actions. Show more

Keywords: Robot imitation, body representation, action representation

DOI: 10.1533/abbi.2004.0043

Citation: Applied Bionics and Biomechanics, vol. 2, no. 3-4, pp. 131-148, 2005

Authors: Cole, M. H. | Grimshaw, P. N.

Article Type: Research Article

Abstract: Numerous two- and three-dimensional biomechanical models exist for the purpose of assessing the stresses placed on the lumbar spine during the performance of a manual material handling task. More recently, researchers have utilised their knowledge to develop specific computer-based models that can be applied in an occupational setting; an example of which is 4D WATBAK. The model used by 4D WATBAK bases its predications on static calculations and it is assumed that these static loads reasonably depict the actual dynamic loads acting on the lumbar spine. Consequently, it was the purpose of this research to assess the agreement between the …static predictions made by 4D WATBAK and those from a comparable dynamic model. Six individuals were asked to perform a series of five lifting tasks, which ranged from lifting 2.5 kg to 22.5 kg and were designed to replicate the lifting component of the Work Capacity Assessment Test used within Australia. A single perpendicularly placed video camera was used to film each performance in the sagittal plane. The resultant two-dimensional kinematic data were input into the 4D WATBAK software and a dynamic biomechanical model to quantify the compression forces acting at the L4/L5 intervertebral joint. Results of this study indicated that as the mass of the load increased from 2.5 kg to 22.5 kg, the static compression forces calculated by 4D WATBAK became increasingly less than those calculated using the dynamic model (mean difference ranged from 22.0% for 2.5 kg to 42.9% for 22.5 kg). This study suggested that, for research purposes, a validated three-dimensional dynamic model should be employed when a task becomes complex and when a more accurate indication of spinal compression or shear force is required. Additionally, although it is clear that 4D WATBAK is particularly suited to industrial applications, it is suggested that the limitations of such modelling tools be carefully considered when task-risk and employee safety are concerned. Show more

Keywords: Spinal compression, lifting, manual material handling, 4D WATBAK, biomechanical model

DOI: 10.1533/abbi.2004.0029

Citation: Applied Bionics and Biomechanics, vol. 2, no. 3-4, pp. 149-159, 2005

Authors: El-Sherif, M. A.

Article Type: Research Article

Abstract: “Smart and intelligent” structures are defined as structures capable of monitoring their own “health” condition and structural behavior, such structures are capable of sensing external environmental conditions, making decisions, and sending the information to other locations. Available conventional devices and systems are not technologically mature for such applications. New classes of miniature devices and networking systems are urgently needed for such applications. In this paper, two examples of the successful work achieved so far, in biomedical application of smart structures, are presented. The first one is based on the development of a smart bone fixation device for rehabilitation and treatment. …This device includes a smart composite bar that can sense physical stress applied to the fractured bones, and send the information to the patient's physician remotely. The second is on the development of smart fabrics for many applications including health monitoring and diagnostics. Successful development of such smart fabrics with embedded fiber optic sensors and networks is mainly dependent on the development of the proper miniature sensor technology, and on the integration of these sensors into textile structures. The developed smart structures will be discussed and samples of the results will be presented. Show more

Keywords: Smart structures, bone fixation devices, smart fabrics/textiles, electronic fabrics/textiles, biomedical systems, fiber optic sensors, remote sensors

DOI: 10.1533/abbi.2004.0015

Citation: Applied Bionics and Biomechanics, vol. 2, no. 3-4, pp. 161-170, 2005

Authors: Rojas, J. | Peters II, R. A.

Article Type: Research Article

Abstract: This paper describes the integration of articulated motion with auditory and visual sensory information that enables a humanoid robot to achieve certain reflex actions that mimic those of people. Reflexes such as reach-and-grasp behavior enables the robot to learn, through experience, its own state and that of the world. A humanoid robot with binaural audio input, stereo vision, and pneumatic arms and hands exhibited tightly coupled sensory-motor behaviors in four different demonstrations. The complexity of successive demonstrations was increased to show that the reflexive sensory-motor behaviors combine to perform increasingly complex tasks. The humanoid robot executed these tasks effectively and …established the groundwork for the further development of hardware and software systems, sensory-motor vector-space representations, and coupling with higher-level cognition. Show more

Keywords: Humanoid robotics, robot control, sensory-motor coordination

DOI: 10.1533/abbi.2004.0057

Citation: Applied Bionics and Biomechanics, vol. 2, no. 3-4, pp. 171-178, 2005

Authors: Cardona, A. M. | Barrero, J. I. | Otálora, C. | Parra, C.

Article Type: Research Article

Abstract: When humanity faces challenges in solving problems beyond their technical resources, and has no foundation to solve a problem, engineering must search for an answer developing new concepts and innovative frameworks to excel these limitations and travel beyond our capabilities. This project “Serpentine locomotion articulated chain: ANA II” is a self-contained robot built to evaluate the behavior of the platform being capable of serpentine movements, in a modular chain mechanical design, based on a master/slave architecture.

Keywords: Articulated chains, snakelike robots, master-slave architecture

DOI: 10.1533/abbi.2004.0049

Citation: Applied Bionics and Biomechanics, vol. 2, no. 3-4, pp. 179-185, 2005

Authors: Abdel-Malek, K. | Mi, Z. | Yang, J. | Nebel, K.

Article Type: Research Article

Abstract: The layout problem is of importance to ergonomists, vehicle/cockpit packaging engineers, designers of manufacturing assembly lines, designers concerned with the placement of levers, knobs, controls, etc. in the reachable workspace of a human, and also to users of digital human modeling code, where digital prototyping has become a valuable tool. This paper proposes a hybrid optimization method (gradient-based optimization and simulated annealing) to obtain the layout design. We implemented the proposed algorithm for a project at Oral-B Laboratories, where a manufacturing cell involves an operator who handles three objects, some with the left hand, others with the right hand.

Keywords: Layout design, global optimization, ergonomics, human modeling

DOI: 10.1533/abbi.2004.0046

Citation: Applied Bionics and Biomechanics, vol. 2, no. 3-4, pp. 187-196, 2005