Modeling of natural sit-to-stand movement based on minimum jerk criterion for natural-like assistance and rehabilitation

Asker, Ahmed; Assal, Samy F. M.; Ding, Ming; Takamatsu, Jun; Ogasawara, Tsukasa; Mohamed, Abdelfatah M.

doi:10.1080/01691864.2017.1372214

Cited by 22 publications

(12 citation statements)

References 19 publications

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“…With respect to acceleration, a few studies reported that accelerations in sit-to-stand motion are associated with the difficulty the elderly have in performing STSTS [23], [52] which could explain the relationship between STSTS acceleration and HL-IADL. Moreover, the minimum jerk has been reported to be an important factor for natural and smooth sit-to-stand motion [23], [53]. This may indicate that the participants with lower HL-IADL score have impaired control of limb movements to perform natural and smooth STSTS movement.…”

Section: Biomechanical Aspects Of the Resultsmentioning

confidence: 99%

Evaluation of Higher-Level Instrumental Activities of Daily Living via Micro-Doppler Radar Sensing of Sit-to-Stand-to-Sit Movement

Saho

Uemura

Fujimoto

et al. 2020

IEEE J. Transl. Eng. Health Med.

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This paper presents an evaluation technique for higher-level instrumental activities of daily living (HL-IADLs), which are defined as relatively complicated modern daily activities to perform independently, using micro-Doppler radar (MDR) signatures of sit-to-stand-to-sit (STSTS) movements. Because HL-IADLs are useful for evaluating the degree of disability and cognitive decline in daily life, this study aims to develop a system that enables the identification of individuals with HL-IADL impairments in an unconstrained manner. The study participants were elderly adults of age 65-74 years of rural communities in Japan, and their motion parameters in natural STSTS were extracted via a single 24-GHz MDR installed on the ceiling. Their HL-IADLs were evaluated using a questionnaire-based scale called the Japan Science and Technology Agency Index of Competence (JST-IC). The relationship between the HL-IADLs scaled with the JST-IC and the extracted STSTS parameters were statistically analyzed, and the results revealed that the extracted parameters were associated with the JST-IC score. Furthermore, an appropriately accurate screening method was verified for elderly adults with HL-IADL impairment using the extracted parameters.

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Section: Biomechanical Aspects Of the Resultsmentioning

confidence: 99%

Evaluation of Higher-Level Instrumental Activities of Daily Living via Micro-Doppler Radar Sensing of Sit-to-Stand-to-Sit Movement

Saho

Uemura

Fujimoto

et al. 2020

IEEE J. Transl. Eng. Health Med.

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“…Similarities across the hip, knee, and ankle joint moment waveforms between the first computer simulation and the experiment were evaluated using Pearson’s correlation coefficients. Moreover, to confirm whether the joint moment waveforms of the first computer simulation were quantitatively reasonable compared to those of the experiment, we used “normalized integral error” [ 34 ]. In the second computer simulation, 15 patterns of sit-to-stand movement based on different times (0.5–4.0 s at intervals of 0.25 s) were entered for each sit-to-stand movement.…”

Section: Methodsmentioning

confidence: 99%

Relationship between movement time and hip moment impulse in the sagittal plane during sit-to-stand movement: a combined experimental and computer simulation study

et al. 2018

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BackgroundThe association between repetitive hip moment impulse and the progression of hip osteoarthritis is a recently recognized area of study. A sit-to-stand movement is essential for daily life and requires hip extension moment. Although a change in the sit-to-stand movement time may influence the hip moment impulse in the sagittal plane, this effect has not been examined. The purpose of this study was to clarify the relationship between sit-to-stand movement time and hip moment impulse in the sagittal plane.MethodsTwenty subjects performed the sit-to-stand movement at a self-selected natural speed. The hip, knee, and ankle joint angles obtained from experimental trials were used to perform two computer simulations. In the first simulation, the actual sit-to-stand movement time obtained from the experiment was entered. In the second simulation, sit-to-stand movement times ranging from 0.5 to 4.0 s at intervals of 0.25 s were entered. Hip joint moments and hip moment impulses in the sagittal plane during sit-to-stand movements were calculated for both computer simulations.Results and conclusionsThe reliability of the simulation model was confirmed, as indicated by the similarities in the hip joint moment waveforms (r = 0.99) and the hip moment impulses in the sagittal plane between the first computer simulation and the experiment. In the second computer simulation, the hip moment impulse in the sagittal plane decreased with a decrease in the sit-to-stand movement time, although the peak hip extension moment increased with a decrease in the movement time. These findings clarify the association between the sit-to-stand movement time and hip moment impulse in the sagittal plane and may contribute to the prevention of the progression of hip osteoarthritis.

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“…Previous works have focused on the joint torque support for STS transitions with 1 DOF torso, minimizing a jerk criterion on a 3-DOF powered system [18]; or through optimal trajectories of the COM [19], demonstrated with elderly patients in [20]. In contrast to previous works where the body model was reduced to 1 degree of freedom (DOF) at the torso [14], [16], [18], [21] we concluded that a 7-DOF human biomechanical model (HBM) was more adequate to fit the transitions shown in Fig. contribute to the postural transition, therefore, in our work we include crouching of the spine (q 4 ), arms (q 5 , q 6 , q 7 ) and head in the modelling in order to determine possible postures for controlling the device motion.…”

Section: A Task Dynamics: Human Biomechanical Modelmentioning

confidence: 99%

Personal Mobility With Synchronous Trunk–Knee Passive Exoskeleton: Optimizing Human–Robot Energy Transfer

Paez-Granados

Kadone

Hassan

et al. 2022

IEEE/ASME Trans. Mechatron.

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We present a personal mobility device for lowerbody impaired users through a light-weighted exoskeleton on wheels. On its core, a novel passive exoskeleton provides postural transition leveraging natural body postures with support to the trunk on sit-to-stand and stand-to-sit (STS) transitions by a single gas spring as an energy storage unit. We propose a direction-dependent coupling of knees and hip joints through a double-pulley wire system, transferring energy from the torso motion towards balancing the moment load at the knee joint actuator. Herewith, the exoskeleton maximizes energy transfer and the naturalness of the user's movement. We introduce an embodied user interface for hands-free navigation through a torso pressure sensing with minimal trunk rotations, resulting on average 19 • ± 13 • on six unimpaired users. We evaluated the design for STS assistance on 11 unimpaired users observing motions and muscle activity during the transitions. Results comparing assisted and unassisted STS transitions validated a significant reduction (up to 68% p < 0.01) at the involved muscle groups. Moreover, we showed it feasible through natural torso leaning movements of +12 • ± 6.5 • and −13.7 • ± 6.1 • for standing and sitting, respectively. Passive postural transition assistance warrants further work on increasing its applicability and broadening the user population.

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Modeling of natural sit-to-stand movement based on minimum jerk criterion for natural-like assistance and rehabilitation

Cited by 22 publications

References 19 publications

Evaluation of Higher-Level Instrumental Activities of Daily Living via Micro-Doppler Radar Sensing of Sit-to-Stand-to-Sit Movement

Evaluation of Higher-Level Instrumental Activities of Daily Living via Micro-Doppler Radar Sensing of Sit-to-Stand-to-Sit Movement

Relationship between movement time and hip moment impulse in the sagittal plane during sit-to-stand movement: a combined experimental and computer simulation study

Personal Mobility With Synchronous Trunk–Knee Passive Exoskeleton: Optimizing Human–Robot Energy Transfer

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