Virtual human hand: model and kinematics

The human hand plays an important role in daily life. It is the interface between the human and the exterior world by positioning, orienting, touching and grasping objects. The human hand has multiple degrees of freedom (DOFs) to enable mobility and dexterity. A virtual human hand model can be inserted into CAD (Computer Aided Design) models to assess the manipulation capabilities in the early design stage to reduce design time and cost. Joystick assessment is one of the important design cases. This study is a first step towards a comprehensive hand simulation tool to simulate the manipulation and grasping of objects. This paper presents a novel 25 DOFs' hand skeletal model based on hand anatomy and hand kinematics: (1) joint range of motion, (2) Denavit–Hartenberg method to define the joint relationship and (3) finger workspace determination. Novelty for this hand model includes arching the palm with the four DOFs added in the carpometacarpal and wrist joints for the ring and small fingers.     

Surpassing Mt. Everest: extreme flight performance of alpine bumble-bees

Animal flight at altitude involves substantial aerodynamic and physiological challenges. Hovering at high elevations is particularly demanding from the dual perspectives of lift and power output; nevertheless, some volant insects reside and fly at elevations in excess of 4000 m. Here, we demonstrate that alpine bumble-bees possess substantial aerodynamic reserves, and can sustain hovering flight under hypobaria at effective elevations in excess of 9000 m, i.e. higher than Mt. Everest. Modulation of stroke amplitude and not wingbeat frequency is the primary means of compensation for overcoming the aerodynamic challenge. The presence of such excess capacity in a high-altitude bumble-bee is surprising and suggests intermittent behavioural demands for extreme flight performance supplemental to routine foraging.     

Kinematic diversity suggests expanded roles for fly halteres

The halteres of flies are mechanosensory organs that provide information about body rotations during flight. We measured haltere movements in a range of fly taxa during free walking and tethered flight. We find a diversity of wing–haltere phase relationships in flight, with higher variability in more ancient families and less in more derived families. Diverse haltere movements were observed during free walking and were correlated with phylogeny. We predicted that haltere removal might decrease behavioural performance in those flies that move them during walking and provide evidence that this is the case. Our comparative approach reveals previously unknown diversity in haltere movements and opens the possibility of multiple functional roles for halteres in different fly behaviours.     

Maturation of hamster epididymal sperm motility and influence of the thiol status of hamster and rat spermatozoa on their motility patterns

A method for objective quantification of hamster sperm movement parameters as an indicator of maturation along the epididymis was established using a computerised system. Analysis of spermatozoa released into medium from five epididymal regions showed that the most drastic increases in percentage motility and curvilinear velocity (VCL) occurred from the distal corpus to the beginning of the proximal cauda and in straight-line velocity (VSL) from the beginning to a more distal site within the proximal cauda region. Both high osmolarity (400 mOsm/kg) and the thiol-oxidising agent diamide (10 μM) increased flagellar straightness of distal corpus spermatozoa, but VSL was increased only with the latter. The thiol-reducing agent dithiothreitol (DTT, 1mM) stimulated and maintained percentage motility and velocities of spermatozoa from the caput, stimulated only percentage motility of distal corpus sperm, but decreased velocities of those from the proximal cauda in prolonged incubation. In rats, diamide increased path straightness but not velocities of caput spermatozoa and yet caused immotility within 15 min, whereas DTT prolonged the maintenance of in vitro motility. The slight increases in kinematic parameters in the presence of DTT were enhanced by a 2-min preincubation with diamide. The finding that the effects of DTT and diamide were not compensatory suggests that the influence of the SH/S-S status on sperm movement is multifaceted, with decreasing sensitivity to stimulation upon sperm maturation. © 1994 Wiley-Liss, Inc.     

An Experimental Study on the Gait Patterns and Kinematics of Chinese Mitten Crabs

Despite the many studies on eight-legged animals and the importance of their mechanics of terrestrial locomotion, the mechanical energy of crabs in voluntary locomotion on uneven, unpredictable terrain surfaces has received little attention thus far. In this paper, motion video images of Chinese mitten crab (Eriocheir sinensis Milne-Edwards) locomotion on five types of terrains were recorded using a high-speed three-dimensional (3D) recording video system. The typical variables of locomotion such as gait patterns, duty factor, mechanical energy of the mass center, mass-specific rate of the total mechanical power of the mass center, and percentage recovery, were analyzed. Results show that the Chinese mitten crab uses random gaits instead of the alternating tetrapod gait with the increasing terrain roughness. The duty factors of the rows of the leading legs are greater for all terrains than those of the rows of the trailing legs. On smooth terrain, the duty factors of the rows of the trailing legs are greater than that on rough terrains. Kinematic measurements and calculations reveal that similar to mammals, birds, and arthropods, the Chinese mitten crab uses two fundamental gaits to save mechanical energy: the inverted pendulum gait and the bouncing gait. The bouncing gait is the main pattern of mechanical energy conservation. The low probability of injury and energy expenditure due to adaptations to various terrains induce the Chinese mitten crab to modify the mass-specific rate of the total mechanical power of the mass center. The statistical results of percentage recovery also reveal that the Chinese mitten crab has lower energy recovery efficiency over rough terrains compared with smooth terrains.     

Validation of a non-invasive fluoroscopic imaging technique for the measurement of dynamic knee joint motion

The accurate measurement of the in vivo knee joint kinematics in six degrees-of-freedom (6DOF) remains a challenge in biomedical engineering. We have adapted a dual fluoroscopic imaging system (DFIS) to investigate the various in vivo dynamic knee joint motions. This paper presents a thorough validation of the accuracy and repeatability of the DFIS system when used to measure 6DOF dynamic knee kinematics. First, the validation utilized standard geometric spheres made from different materials to demonstrate the capability of the DFIS technique to determine the object positions under changing speeds. The translational pose of the spheres could be recreated to less than 0.15±0.09 mm for velocities below 300 mm/s. Next, tantalum beads were inserted into the femur and tibia of two fresh frozen cadaver knees to compare the dynamic kinematics measured by matching knee models to the kinematics from the tantalum bead matching—a technique similar to Roentgen stereophotogrammetric analysis (RSA). Each cadaveric knee was attached to the crosshead of a tensile testing machine and vertically translated at a rate of 16.66 mm/s while images were captured with the DFIS. Subsequently, the tibia was held fixed and the femur manually flexed from full extension to 90° of flexion, as the DFIS acquired images. In vitro translation of the cadaver knee using the tensile testing machine deviated from predicted values by 0.08±0.14 mm for the matched knee models. The difference between matching the knee and tantalum bead models during the dynamic flexion–extension motion of the knee was 0.1±0.65°/s in flexion speed; 0.24±0.16 mm in posterior femoral translation; and 0.16±0.61° in internal–external tibial rotation. Finally, we applied the method to investigate the knee kinematics of a living subject during a step ascent and treadmill gait. High repeatability was demonstrated for the in vivo application. Thus, the DFIS provides an easy and powerful tool for accurately determining 6DOF positions of the knee when performing daily functional activities.     

Artefact-reduced kinematics measurement using a geometric finger model with mixture-prior particle filtering

It is challenging to measure the finger's kinematics of underlying bones in vivo. This paper presents a new method of finger kinematics measurement, using a geometric finger model and several markers deliberately stuck on skin surface. Using a multiple-view camera system, the optimal motion parameters of finger model were estimated using the proposed mixture-prior particle filtering. This prior, consisting of model and marker information, avoids generating improper particles for achieving near real-time performance. This method was validated using a planar fluoroscopy system that worked simultaneously with photographic system. Ten male subjects with asymptomatic hands were investigated in experiments. The results showed that the kinematic parameters could be estimated more accurately by the proposed method than by using only markers. There was 20–40% reduction in skin artefacts achieved for finger flexion/extension. Thus, this profile system can be developed as a tool of reliable kinematics measurement with good applicability for hand rehabilitation.