..., and 3DOF wrist rehabilitation mechanism. The forward and inverse kinematics and Jacobian matrix of the upper limb rehabilitation robot are derived based on the kinematics of a rigid body, and its working space is also analyzed based on arm kinematics. The forward and inverse kinematics of the arm...

..., kinematic analysis, and teleoperation algorithm are introduced in detail. The simulation shows that the catheter centerline can be oriented toward the target tissue over a large area, thus providing a better initial position for the surgical instruments and enlarging the workspace of the instruments...

... for longitudinal bone reduction surgery. First, the inverse and forward kinematic models of the mechanism are investigated. Particularly, the forward kinematic is solved by applying Sylvester's dialytic method. Second, the velocity model is studied and its singular configurations are identified. The workspace...

...Shahram Amiri; T. Derek. V. Cooke; Urs P. Wyss 01 06 2011 biomechanics bone kinematics orthotics prosthetics Better performance of total knee replacement requires normal kinematics and higher range of motion. A potential solution can be a surface-guided knee with asymmetric...

... of a separate condition known as foot drop, as well as unknown causes. When the cause is unknown, it is classified as “habitual” or “idiopathic” toe walking (ITW). biomedical electronics data acquisition gait analysis kinematics low-power electronics medical disorders paediatrics 2011...

... mechanics can be used to describe the shape of the cannula, given the translations and axial angles of each tube base. Here, in order to aim the laser, we invert this relationship (obtaining the “inverse kinematic”), solving for the translations and axial angles of each tube, given a desired position...

...R. Dana Carpenter, Ph.D.; Sandra J. Shefelbine, Ph.D.; Jesus Lozano, BA; Julio Carballido-Gamio, Ph.D.; Sharmila Majumdar, Ph.D.; C. Benjamin Ma, MD There are few commonly used clinical techniques to quantify the rotational stability and joint contact kinematics in knees in vivo. A magnetic...

... the usage of the simulator is limited. Thus, simulator modifications were made to implement a wear test as outlined in ISO 14243, and to improve both user-friendliness of operation and cost of simulation. In particular, this involved modifying the implant holders and controlling implant kinematics during...

... with four degrees of freedom (DOFs) (three rotational DOFs and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics...

...Brian A. Garner, Ph.D.; Jaeho Shim, Ph.D.; Scott Wilson, BS Muscles actuating the shoulder girdle are important for stabilizing the scapula and coordinating phased kinematics of the shoulder complex. If these muscles become weak or imbalanced, joint instability and injury may result. Reliable...