Immediate Knee Joint Range of Motion after Stable Fixation of Tibial Plateau Fractures

The purpose of this study was to evaluate factors that affect initiation of early postoperative range of motion (ROM) rehabilitation and to investigate whether the postoperative ROM and clinical outcomes were affected by initiation of early ROM, immobilization and other factors. We conducted a retrospective analysis of tibial plateau fractures treated using stable internal fixation between December 2003 and June 2007. The resulting degree of flexion and Rasmussen Clinical and Radiographic Scores were evaluated. Thirty-nine patients were included, and 23 patients underwent a lateral submeniscal arthrotomy for evaluation of joint surface reduction, with 6 lateral meniscus lesions identified via arthrotomy. Three lateral collateral ligament lesions, 3 medial collateral ligament lesions and 1 anterior cruciate ligament lesion were found. Meniscus and ligament lesions significantly and negatively affected the initiation of knee joint ROM. Early ROM was achieved in 26 cases and 13 patients underwent immobilization for 4 weeks. At the final evaluation, the early ROM group had 130.42° ± 5.50° of flexion, compared with 122.92° ± 5.28° in the immobilization group. Moreover, the final Rasmussen score was 25.69 ± 2.92 in the early motion group, compared with 22.61 ± 3.5 in the immobilization group. There was no difference between radiographic scores of the groups. Although the initiation of early ROM improved the clinical results, soft tissue lesions influenced initiation of early knee joint motion. Therefore, meniscus and ligament injuries should be considered as prognostic factors in similar cases.

Radiographic Circularity of Capitellum and Its Relation to the Range of Motion

Background: The shape of the capitellum has been traditionally described in anatomy books as part of a sphere. Alteration in the capitellar morphology following pathologies such as fractures, osteochondrosis, and degenerative arthritis has been associated with less optimum functional results. Aim: To define the relationship between the sphericity of the capitellar morphology as measured on trauma series plain radiographs and the elbow range of motion. Methods: 40 patients were included in the study. All patients recruited from the upper limb clinics presented with non-elbow joint-related complaints. The elbow range of motion was measured using a standardized technique. Digital anteroposterior and lateral radiographs of patients’ elbows were used to measure capitellar circularity using the ImageJ processing program and circularity calculation equation. Correlation analyses were conducted between the degree of capitellar sphericity and elbow range of motion. Results: The results of measurements from the anteroposterior radiographs showed a positive correlation between increased circularity and an increase in the range of flexion, pronation, and supination. The range of extension decreased with the increased circularity of the capitellum. This trend was repeated with measures of lateral radiographs but was statistically not significant. Conclusion: Native capitellar circularity has an impact on the elbow range of motion. This should be put into consideration when dealing with pathologies that affect capitellar morphology.

Obesity Effect on Children Hip and Knee Range of Motion

The aim of this study was to characterize the obesity effect on children knee and hip joint range of motion. A randomized controlled trial was performed with goniometry evaluation for hip flexion, extension, abduction, adduction, external and internal rotation, and knee flexion in fifty male children (20 obese and 30 non obese), with age ranging from 6 to 12 years old. The obesity effect was found to be non-uniform across the joint range of motion. In the obesity group, a statistically significant reduction in the range of motion of hip flexion and adduction, and knee flexion was observed;and also an increase in external rotation in the hip was observed. Conclusion: Obese and overweight children present alterations in hip and knee joints mobility when compared to eutrophic children. The obesity/overweight associated with factors previously described in the literature, such as joint overload, postural deviation and sedentariness may influence the musculoskeletal development and, consequently, the motor function.

The efficacy of vitamin E in preventing arthrofibrosis after joint replacement

Background:Arthrofibrosis is a joint disorder characterized by excessive scar formation in the joint tissues.Vitamin E is an antioxidant with potential anti-fibroblastic effect.The aim of this study was to establish an arthrofibrosis rat model after joint replacement and assess the effects of vitamin E supplementation on joint fibrosis.Methods:We simulated knee replacement in 16 male Sprague–Dawley rats.We immobilized the surgical leg with a suture in full flexion.The control groups were killed at 2 and 12 weeks(n=5 per group),and the test group was supplemented daily with vitamin E(0.2 mg/mL)in their drinking water for 12 weeks(n=6).We performed histological staining to investigate the presence and severity of arthrofibrosis.Immunofluorescent staining andα2-macroglobulin(α2M)enzyme-linked immunosorbent assay(ELISA)were used to assess local and systemic inflammation.Static weight bearing(total internal reflection)and range of motion(ROM)were collected for functional assessment.Results:The ROM and weight-bearing symmetry decreased after the procedure and recovered slowly with still significant deficit at the end of the study for both groups.Histological analysis confirmed fibrosis in both lateral and posterior periarticular tissue.Vitamin E supplementation showed a moderate anti-inflammatory effect on the local and systemic levels.The vitamin E group exhibited significant improvement in ROM and weight-bearing symmetry at day 84 compared to the control group.Conclusions:This model is viable for simulating arthrofibrosis after joint replacement.Vitamin E may benefit postsurgical arthrofibrosis,and further studies are needed for dosing requirements.

Charge Couple Device-Based Systemfor3-di mensional Real Ti me Positioning on the Assessment of Segmental Range of Motion of Lumbar Spine

Objective： To observe the tested results of the segmental range of motion （ROM） of lumbar spine by charge couple device （CCD）-based system for 3-dimensional real-time positioning （CCD system）, and to analyze its clinical significance. Methods： Seven patients with lumbar joint dysfunction and 8 healthy subjects were tested twice by the CCD-based system with an interval of 10 min. Results： The ROM of the patients was obviously lesser than that of the healthy subjects. The measuring data of segmental ROM of lumbar spine by CCD system is correlated significantly to the same data checked later on the same subjects in every direction of the movements. The differences between two checks are usually less than 1 degree. Conclusion： Specially designed CCD based system for 3-dimensional real-time positioning could objectively reflect the segmental ROM of lumbar spine. The system would be of great clinical significance in the assessment of the biomechanical dysfunction of lumbar spine and the effect of the treatment applied.

Comparison study on measurement of rail weld joint between inertial reference method and multi-point chord reference method

Purpose – Straightness measurement of rail weld joint is of essential importance to railway maintenance. Dueto the lack of efficient measurement equipment, there has been limited in-depth research on rail weld joint with a5-m wavelength range, leaving a significant knowledge gap in this field.Design/methodology/approach – In this study, the authors used the well-established inertial referencemethod (IR-method), and the state-of-the-art multi-point chord reference method (MCR-method). Two methodshave been applied in different types of rail straightness measurement trollies, respectively. These instrumentswere tested in a high-speed rail section within a certain region of China. The test results were ultimatelyvalidated through using traditional straightedge and feeler gauge methods as reference data to evaluate the railweld joint straightness within the 5-m wavelength range.Findings – The research reveals that IR-method and MCR-method produce reasonably similar measurementresults for wavelengths below 1 m. However, MCR-method outperforms IR-method in terms of accuracy forwavelengths exceeding 3 m. Furthermore, it was observed that IR-method, while operating at a slower speed,carries the risk of derailing and is incapable of detecting rail weld joints and low joints within the track.Originality/value – The research compare two methods’ measurement effects in a longer wavelength rangeand demonstrate the superiority of MCR-method.

Electrical Stimulation in Addition to Passive Exercise Has a Small Effect on Spasticity and Range of Motion in Bedridden Elderly Patients: A Pilot Randomized Crossover Study

Purpose: Belt electrode skeletal muscle electrical stimulation (B-SES) can stimulate large portions of muscles including deep sites without localisation of the stimulation area. The purpose of this study is to investigate both immediate treatment effects of B-SES and long-term treatment effects of B-SES with passive exercise on range of motion (ROM) and muscle tone of lower extremities in bedridden elderly patients. Methods: Outcome measures before and after B-SES treatment alone (4 Hz, 20 min, both lower extremities) were examined for the immediate effect. Outcome measures were: ROM and Modified Ashworth scale (MAS) of hip flexion and adduction;knee flexion and extension;and knee joint distance at position of flexion abduction in hip (distance of knee). A randomized crossover trial was conducted to examine the long-term effect of adding B-SES to passive exercise on ROM and MAS. Results and Discussion: The immediate effect study had 18 patients. ROM and MAS of 4 joint angles in 2 joints and distance of knee significantly improved after B-SES treatment. The long-term effect study had 11 patients. Friedman test revealed ROM and MAS of 4 joint angles in 2 joints and distance of knee significantly improved during B-SES intervention but not control intervention. B-SES in addition to passive stretch has a more statistically significant effect on contracture and spasticity in large portions of the lower extremities of bedridden elderly patients than passive stretching alone. Conclusions: We consider B-SES a useful tool to improve the ROM in lower extremities of bedridden patients.

将Range of motion内容操作规程化的探索与研究

目的提高本科护生Range ofmotion练习的手法技能.方法通过编制被动性Range ofmotion的操作规程,选择从头颈部屈曲、伸展、左、右侧屈、顺时针、逆时针旋转;肩关节屈曲、伸展、外展、外旋、内旋;肘关节伸直、屈曲、内旋、外旋;腕关节屈曲、伸展;手指关节屈曲、伸直;髋、膝关节屈曲、伸直、内收、外展;踝关节背屈、跖屈、内旋、外旋;脚趾关节屈曲、伸展的活动,结合患者病情,在合适的体位配合下,按一定的节拍、顺序、时间完成Range of motion的操作练习.结论使Range ofmotion的练习具有一定的操作性、规范性和指导性,让护生对被动性Range ofmotion的练习内容、操作程序、动作要领、手法、时间、注意事项都能全面掌握并正确予以实施,提高了护生对被动性Range of motion练习的技能.

Multilevel Anterior Cervical Decompression and Fusion: Cervical Range of Motion and Clinical Outcomes

Background: Multiple level anterior cervical discectomy and fusion (ACDF) is indicated for those who suffer from multilevel stenosis or compression of the spinal canal. It was reported that this intervention would unfortunately lead to a loss of normal cervical range of motion (CROM). Although, fewer studies have demonstrated the exact impact of the procedure on CROM. In our study, short and midterm postoperative CROM was described. Methods: Ninety patients who underwent ACDF were followed up postoperatively for at least 3 months. Active CROM was measured in all patients preoperatively and in postoperative follow-ups by cervical spine X-rays in lateral dynamic view using Cobb’s angle method. Results: Unfortunately, postoperative CROM was significantly diminished. At the short-term (3 months) follow-up there was a great limitation in CROM. While an obvious increase in CROM at the midterm (6 months) follow-up was observed in flexion especially. The reduction in global ROM (calculated as preoperative global ROM – 6 months postoperative ROM) was 4.1 and the reduction rate (calculated as reduction ROM divided by preoperative ROM) was 9.5%. The recovery ROM (calculated as 6 months postoperative ROM – 1 month postoperative ROM) was 8.2. The recovery rate (calculated as recovery ROM divided by 1 month postoperative ROM) was 26.5%. Conclusion: Active CROM following multiple level ACDF was obviously diminished. The most affected motion after surgery was flexion. It was noticed that at the short-term follow-up CROM would be more limited while after further follow up CROM was obviously improved even in neck flexion motion.

Experimental Study of the Motion Modes of a Planar Mechanical System with Multi-Clearance Revolute Joints

Clearances in joints of a mechanical multibody system can induce impulsive forces, leading to vibrations that compromise the system’s reliability, stability, and lifespan. Through dynamic analysis, designers can investigate the effects of the clearances on the dynamics of the multibody system. A revolute joint with clearance exhibits three motions which are;free-flight, impact and continuous contact motion modes. Therefore, a multibody system with n-number of revolute clearance joints will exhibit 3n motion modes which are a combination of the three motions in each joint. This study investigates experimentally the nine motion modes in a mechanical system with two revolute clearance joints. A slider crank mechanism has been used as the demonstrative example. We observed that the experimental curve exhibits a greater impact compared to the simulation curve. In conclusion, this experimental investigation offers valuable insights into the dynamics of planar mechanical systems with multiple clearance revolute joints. Utilizing a slider-crank mechanism for data acquisition, the study successfully confirmed seven out of nine motion modes previously identified in numerical research. The missing modes are attributed to inherent complexities in real-world systems, such as journal-bearing misalignment.

Measurement of cervical range of motion using smartphone compass in the healthy people:a cross-sectional pilot study

Objective:This study evaluates the reliability of smartphone compass software in measuring the cervical range of motion in healthy people.Methods:We selected 40 healthy intern college students from Tianjin Hospital from June to August 2022 to participate in this study.Two physiotherapists used a smartphone(iPhone 11256 Gb(model A2223))compass software to measure six directions of motion of the cervical spine in 40 subjects in a total of 3 rounds each.The intraclass correlation coefficient was used to compare the reliability intra-group,and the Pearson correlation coefficient was also used to compare the correlation between groups,with P<0.05 being statistically significant.Results:The intraclass correlation coefficient showed good reliability(>0.5)in cervical range of motion(CROM),especially in cervical flexion and right rotation(>0.9).In the correlation comparison between the two groups,the Spearman comparison was used,and the six directions of the cervical spine were significantly correlated(P<0.05).Conclusion:The built-in compass software in smartphones has good reliability in measuring CROM in healthy people.

The resistive range of motion exercise training in Duchenne muscular dystrophy:a case study

Background:To determine the effectiveness of resistive range of motion exercises in improving muscle strength and functional abilities in Duchenne muscular dystrophy.The study was also aimed to determine if resistive range of motion exercises can slow down the progression of the disease.Methods:A seven-year-old male child was diagnosed with Duchenne muscle dystrophy presented to outpatient physiotherapy clinic.The patient was presented with difficulty in stair climbing,sitting up from the floor,fatigue,and muscle weakness specifically weakness in the proximal limb muscles.The progressive resistive range of motion training was implemented for four years to improve muscle strength and functional abilities.The medical research council grading scale,north ambulatory assessment scale,and creatine kinase were used to evaluate muscle strength,functional abilities,and creatine kinase levels.Results:The muscular strength and functional abilities did not improve after four years of exercise training.The creatine kinase levels were decreased over the period of four years.Conclusion:Resistive range of motion exercises are helpful in maintaining the muscular strength and functional abilities in Duchenne muscular dystrophy.

The influence of head-neck and implant position on the range of motion after total hip arthroplasty

To study the influence of head-neck ratio and implant position on the range of motion (ROM) after total hip arthroplasty (THA).Methods In this study the author established a three-dimensional computerized model of hip joint and tested the range of motion of three different head-neck ratio after total hip arthroplasty.Results Range of motion after total hip arthroplasty depended on design parameters such as head-neck ratio,but also on the implantation parameters such as the cup’s inclination and antevertion,the stem’s antevertion and their combination of each other.Optimal range of motion required compliant position of total hip components.The range of motion increased with the enlarging of head-hnck ratio.Conclusion Higher head-neck ratio leads to optimal range of motion and decreased the prevalence of prosthetic impingement within compliant,well-defined combination of cup’s inclination,cup’s antevertion and stem’s antevertion depending on the intended ROM.Domestic magnesium-silicon jade total hip prosthesis has too low head-neck ratio to result in enough range of motion that fulfilled daily living after total hip arthroplasty.14 refs,4 figs,3 tabs.

The Effect of Low Frequency Repetitive Transcranial Magnetic Stimulation Combined with Range of Motion Exercise on Paretic Hand Function in Female Patients after Stroke

Repetitive transcranial magnetic stimulation (rTMS) has recently been demonstrated to improve motor function after stroke. However, no study has yet tested the synergetic effects of physical exercise on rTMS in clinical settings. We investigated the effect of a 6-session course of low frequency rTMS on contralesional primary motor cortex combined with range-of motion (ROM) exercise on paretic hand function in female stroke patients. This was a single-blind study of the effects of rTMS with or without ROM exercise in female hemiplegic patients after stroke. All patients underwent rTMS on the contralesional primary motor cortex for 15 minutes and ROM exercise on the paretic hand. The cortical excitability determined by the amplitude and latency of the motor evoked potential (MEP) was measured in both first dorsal interosseous (FDI) muscles. We also evaluated arm function using Box and Block, arm reach, 9-hole pegboard, power grip, and pinch grip force tests. The rTMS-induced MEP amplitude of the paretic side significantly increased whereas the non-paretic side showed a decrease through every session. However, the MEP latency significantly increased on the non-paretic hand at post-rTMS with exercise, but a tendency of decrement on paretic hand at same application. Motor function showed improvement in the 9-hole pegboard and arm reach tests at post-rTMS with exercise on the paretic side compared with the non-paretic side. A significant correlation was especially noted between motor function and MEP on the paretic side of stroke patients. Low frequency rTMS with ROM exercise improved hand function after stroke. This may, in part, result in additional rehabilitation in stroke patients.

A Digital Photographic Technique for Knee Range of Motion Measurement: Performance in a Total Knee Arthroplasty Clinical Population

Background: Knee range of motion is an essential outcome measure following total knee arthroplasty and it is important to measure this outcome with a simple and accurate tool. Measurement from digital photographs could provide a superior clinical alternative to the common goniometer as devices for capturing digital photographs are becoming more accessible, measurement accuracy is assisted with the associated software and images can be saved and stored for later reference. This ability to store images with measurements could be particularly useful in research involving knee range of motion. This study evaluated the validity and reliability of a simple photographic measurement technique to measure knee flexion and extension of patients following knee arthroplasty.Methods: Knee flexion and extension of 38 subjects who had undergone total knee arthroplasty were assessed at the one year post-operative review with the digital technique and a universal goniometer as the criterion reference. Digital measurements were repeated one month later by the first assessor (intra-tester reliability) and another independent assessor (inter-tester reliability).Results: Validity: the digital technique was found to have a high level of agreement with the universal goniometer measurements (all MAD sion with almost perfect Intra-Class Correlations (Intra-tester;flexion 0.99, extension 0.96;inter-tester;flexion 0.97, extension 0.93).Conclusion: Measurement of knee range of motion from digital photographs can be used in routine clinical total knee arthroplasty follow-up instead of, or interchangeably with the universal goniometer.

What Is the Accuracy of Shoulder Range of Motion Measurements on Physical Exam?

The purpose of this study is to investigate a new method for measuring shoulder range of motion (ROM) in an orthopedic practice utilizing a smartphone application to improve accuracy from physical exam typically used in research. Our aim is to evaluate the application, Physio2Go (P2G), which uses a virtual goniometer, assessing validity by comparing its measurements to those taken by a universal goniometer (UG). Two observers of varying clinical experience, a research assistant and research fellow, compared measurements. Statistically, we used the intra-class correlation coefficient (ICC), standard error of measurement (SEM), and the Pearson correlation coefficient (PCC). Following validation we tested P2G in symptomatic postoperative shoulder patients measuring forward flexion (FF) and external rotation (ER). We compared P2G measurements to visual estimation (VE) done by a fellowship trained orthopedic surgeon. Statistically we used ICC, Bland- Altman plots with 95% limits of agreement (LOA), and scatter plots. We examined the impact of the application using Welch’s t-test comparing pre-to-postoperative ROM improvements using the values obtained by P2G and VE. We found high intra-rater reliability of P2G for both observers, substantial correlation between UG and P2G measurements, highly correlated inter-observer reliability for UG and P2G, and statistically significant PCC values (p < 0.05). As expected, ROM measurements of symptomatic patients comparing P2G and VE measurements demonstrated lower correlation. Bland-Altman plots demonstrated wide confidence intervals;scatterplots and histograms confirmed low agreement among measurement methods. Clinical application demonstrated varying statistical significance depending on whether measurements were done by P2G or VE. Our study found that P2G provided superior reliability compared to the customary physical exam routinely used for orthopedic research. The value of using this application instead of a UG is the ease of use and the ability for any member of the healthcare team, regardless of clinical experience to be able to produce reliable and valid measurements.

Estimation of the 2010 Mentawai tsunami earthquake rupture process from joint inversion of teleseismic and strong ground motion data

Joint inversion of teleseismic body-wave data and strong ground motion waveforms was applied to determine the rupture process of the 2010 Mentawai earthquake. To obtain stable solutions, smoothing and non-negative constraints were introduced. A total of 33 teleseismic stations and 5 strong ground motion stations supplied data. The teleseismic and strong ground motion data were separately windowed for 150 s and 250 s and bandpass filtered with frequencies of 0.001e1.0 Hz and 0.005e0.5 Hz, respectively. The finitefault model was established with length and width of 190 km and 70 km, and the initial seismic source parameters were set by referring to centroid moment tensor(CMT) solutions. Joint inversion results indicate that the focal mechanism of this earthquake is thrust fault type, and the strike, dip, and rake angles are generally in accordance with CMT results. The seismic moment was determined as 5.814 1020Nm(Mw7.8) and source duration was about 102 s, which is greater than those of other earthquakes of similar magnitude. The rupture nucleated near the hypocenter and then propagated along the strike direction to the northwest, with a maximum slip of 3.9 m. Large uncertainties regarding the amount of slip retrieved using different inversion methods still exist; however, the conclusion that the majority of slip occurred far from the islands at very shallow depths was found to be robust. The 2010 Mentawai earthquake was categorized as a tsunami earthquake because of the long rupture duration and the generation of a tsunami much larger than was expected for an earthquake of its magnitude.

Cartilage Repair by Joint Distraction and Motion Using an External Fixator for Massive Cartilage Defect

The objective of the present study was to investigate our novel methods for the repair of massive cartilage defects by joint distraction and motion using an external fixator. In this study, we used a rabbit model of massive articular cartilage defect in order to evaluate the effectiveness of using joint distraction and motion with a ring-type external fixator. This external fixator has a hinged joint with a center of rotation along the femoral transepicondylar axis, which allows the knee joint to freely flex and extend. Mesenchymal cells from bone marrow, induced by spongialization, were differentiated into mature chondrocytes and formed hyaline-like cartilage as a result of joint distraction and movement. The transplantation of autologous cells expanded from bone-marrow-derived mesenchymal cells, concentrated autologous bone marrow aspirate, and concentrated autologous peripheral blood cells were all effective in promoting cartilage repair. The quality of the cartilage after long-term joint distraction for 6 months was inferior to that after 12 weeks. In general, weight bearing on the regenerated cartilage promoted cartilage repair, although this effect differed based on when gradual weight bearing was begun. Specifically, gradual weight bearing beginning at 9 weeks produced superior results to that beginning at 6 weeks. Our methods provide an optimal environment for cartilage regeneration.

Future of Treatment of Temporomandibular Joint Dysfunctions in Parkinsonian Patients

The purpose of the study was designed to clarify the modern trends of physical therapy in treatment of temporomandibular joint dysfunctions in Parkinsonian patients, which in this respect included the degree of pain, the muscles power of both masseter and pterygoid, the range of TMJ motion, the angle of mouth opening and their effects on electromyography study in both sexes. Subjects: Thirty males and females were the same degree of disabilities according to modified Hoehn and Yahr scales (grade 3) of Parkinsonian patients, and their age ranged from 50 - 77 years old and their weight ranged from 60 - 88 kg. They were randomly divided into two equal groups (G1 and G2). G1 (control) consisted of 15 patients of both sexes and was treated by exercises therapy program and G2 (experimental) consisted of 15 Parkinsonian patients of both sexes and was treated by the same exercises therapy program and low level pulsed electromagnetic therapy. Vital signs such as blood pressure, body temperature, pulse rate and respiratory rate were measured before and after the treatment sessions. Assessments: Visual analogue scale was used to measure degree of pain. Tensiometer was used to measure the muscle power of masseter and pterygoid, the digital goniometer was used to investigate the range of TMJ movement. Moreover, standard electromyography test (EMG) was used to measure the compound muscle action potentials. Statistically the results for all groups were analyzed by t-test to compare the differences between the two groups. The statistical package of social sciences (SPSS, version 10) was used for data processing using the P-value 0.05 as a level of significance. Results showed that there were significant improvements in all variables in G2 only. However, there was a little improvement but not significant in both G1. Therefore, it could be concluded that the use of low level pulsed electro-magnetic therapy combined with exercises program was the good method to control pain of TMJ, increase of muscle power and the range of their movements together with determination of electro-myography. Our results opened a new link to manage the TMJ dysfunctions in Parkinsonian patients via the use of low level pulsed electromagnetic therapy combined with exercises program.

Motion planning for redundant prismatic-jointed manipulators in the free-floating mode

This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.