Musculoskeletal Key

(7.2) is the homogeneous transformation matrix, is the orthonormal matrix that describes the orientation of frame B with respect to frame A and is the translation from origin of frame…

and the XYZ Euler angles used to describe the end-effector orientation. It should be noted that both these quantities are observed in the global coordinate frame and are grouped together…

Fig. 8.1 a Rotational motions of the human ankle. b Anatomical planes of the human body (adapted from [2]) Table 8.1 Typical range of motion at the human ankle Type of motion…

Fig. 4.1 Anatomy of the human shoulder. The three joints responsible for shoulder movements are the glenohumeral, sternoclavicular and acromioclavicular joints The movements of the two remaining joints, the sternoclavicular and…

: (6.1)A measure of smoothness can be obtained for a trajectory x that starts at time and ends at time by calculating the jerk cost: (6.2)To obtain the smoothest trajectory,…

Fig. 5.1 Process diagram of the NSGA II algorithm 1. [Start] Select a termination criterion based on number of iterations.   2. [Initialize] Initialize a random population of Q chromosomes (suitable…

Fig. 3.1 The mandible (jaw). On the left is a sectioned image of the mandible when viewed from above and on the right is the lateral perspective [4] The hyoid bone…

Fig. 2.1 Kinematics of a an end-effector robot and b an exoskeleton robot [10] Exoskeletons have a structure that resembles the human upper limb, having robot joint axes that match the…

Fig. 1.1 The MIT-MANUS end-effector rehabilitation robot [9] 1.3.2 Ankle Rehabilitation The human ankle is one of the most complex structures in the human musculoskeletal system and plays an important role…