ms paper proposes a set of objective and quantitative human motion evaluation indices, among Which the index of difficulty and index of performance are introduced as the general indices for the quality measure of 2-D ...ms paper proposes a set of objective and quantitative human motion evaluation indices, among Which the index of difficulty and index of performance are introduced as the general indices for the quality measure of 2-D target-to-talget movement. As an example, the target-reaching movement of index finger, which is a basic functional action of index finger in the daily life of hUman beings, were experimentally investigated. In the experiment five healthy male subjects were asked to perform three target-reaching movement tasks Which have different indices of difficulty. All movements were recorded by a 3-D motion analysis system. Later, their motion qualities were measured with these evaluation metrics. The results showed that these indices are reasonable and have potential applications to biomedical engineering.展开更多
目的:研究坐位体前屈的欲测属性,并进一步分析坐位体前屈性别差异和等级差异的原因;方法:对240名大学生(男116,女124)的坐位体前屈以及身高、坐高、上肢长、下肢长B进行测试,同时采用关节角度仪对脊柱各段运动幅度(Range of motion,ROM...目的:研究坐位体前屈的欲测属性,并进一步分析坐位体前屈性别差异和等级差异的原因;方法:对240名大学生(男116,女124)的坐位体前屈以及身高、坐高、上肢长、下肢长B进行测试,同时采用关节角度仪对脊柱各段运动幅度(Range of motion,ROM)进行分解测量;结果:身高对坐位体前屈有较小的影响,该影响主要来自于下肢长;坐位体前屈属于相对柔韧性,能够反映大学生脊柱前屈和骨盆在髋关节处屈的能力;坐位体前屈有显著的性别差异和等级差异,该差异主要来源于骨盆ROM。结论:坐位体前屈性别差异和等级差异,均与脊柱ROM和骨盆ROM关系密切,而与长度指标关系不大;提高骨盆ROM是改善坐位体前屈的最关键因素。展开更多
基于单树随机树搜索算法(Single directional rapidly-exploring random tree,single-RRT)和双树随机树搜索算法(Bi-directional rapidly-exploring random tree,bi-RRT),对7R机械臂的避障达点运动规划展开系统研究。基于single-RRT算...基于单树随机树搜索算法(Single directional rapidly-exploring random tree,single-RRT)和双树随机树搜索算法(Bi-directional rapidly-exploring random tree,bi-RRT),对7R机械臂的避障达点运动规划展开系统研究。基于single-RRT算法进行避障达点运动的数值仿真和实物样机试验。提出一种新的bi-RRT算法,结合末端姿态调整和关节自运动来生成目标树。并利用7R机械臂的解析逆解,生成目标位形。传统的bi-RRT算法只给定了一个目标位形,而新算法中目标点树根是由一群目标位形组成。在给定的障碍物环境中,机器人自动选择某一合适的位形作为目标节点来引导搜索树最有效地生长。通过数值仿真,验证该方法的优越性。利用Matlab和C++的混合编程和OpenGL开发了7R机械臂避障达点运动规划仿真软件。利用该软件,对基于bi-RRT的7R机械臂避障达点运动规划进行虚拟样机的试验研究。展开更多
文摘ms paper proposes a set of objective and quantitative human motion evaluation indices, among Which the index of difficulty and index of performance are introduced as the general indices for the quality measure of 2-D target-to-talget movement. As an example, the target-reaching movement of index finger, which is a basic functional action of index finger in the daily life of hUman beings, were experimentally investigated. In the experiment five healthy male subjects were asked to perform three target-reaching movement tasks Which have different indices of difficulty. All movements were recorded by a 3-D motion analysis system. Later, their motion qualities were measured with these evaluation metrics. The results showed that these indices are reasonable and have potential applications to biomedical engineering.
文摘目的:研究坐位体前屈的欲测属性,并进一步分析坐位体前屈性别差异和等级差异的原因;方法:对240名大学生(男116,女124)的坐位体前屈以及身高、坐高、上肢长、下肢长B进行测试,同时采用关节角度仪对脊柱各段运动幅度(Range of motion,ROM)进行分解测量;结果:身高对坐位体前屈有较小的影响,该影响主要来自于下肢长;坐位体前屈属于相对柔韧性,能够反映大学生脊柱前屈和骨盆在髋关节处屈的能力;坐位体前屈有显著的性别差异和等级差异,该差异主要来源于骨盆ROM。结论:坐位体前屈性别差异和等级差异,均与脊柱ROM和骨盆ROM关系密切,而与长度指标关系不大;提高骨盆ROM是改善坐位体前屈的最关键因素。
文摘基于单树随机树搜索算法(Single directional rapidly-exploring random tree,single-RRT)和双树随机树搜索算法(Bi-directional rapidly-exploring random tree,bi-RRT),对7R机械臂的避障达点运动规划展开系统研究。基于single-RRT算法进行避障达点运动的数值仿真和实物样机试验。提出一种新的bi-RRT算法,结合末端姿态调整和关节自运动来生成目标树。并利用7R机械臂的解析逆解,生成目标位形。传统的bi-RRT算法只给定了一个目标位形,而新算法中目标点树根是由一群目标位形组成。在给定的障碍物环境中,机器人自动选择某一合适的位形作为目标节点来引导搜索树最有效地生长。通过数值仿真,验证该方法的优越性。利用Matlab和C++的混合编程和OpenGL开发了7R机械臂避障达点运动规划仿真软件。利用该软件,对基于bi-RRT的7R机械臂避障达点运动规划进行虚拟样机的试验研究。
