Characteristics of Human Arm Impedances: A Study on Daily Movement

Transcription

1 214 UKSim-AMSS 16th Itratial Cfr Cmputr Mdllig ad Simulati Charatriti f Huma Arm Impda: A Stud Dail Mvmt Tauva Tabahhum Chudhur, Md Mzar Rahma, Md Raiuddi Kha Dpt. f Mhatri Egirig, Kulliah f Egirig, IIUM, Malaia tauva@ah.m Abtrat Thi papr prt th impda haratriti f huma arm i dail patial ativit. Huma arm i idrd a a ma-prig-dampr tm. Th iput data i th frm f Cartia piti i maurd t gt dami impda rlatihip b th mti quati fr th ma-prigdampr tm. Mappig ar d b variu mbiati t brv th atur f th diffrt impda mpt durig dami mvmt. Th igifiat amut f variati i dampig ad irtia mpt ar brvd i vr turig f th arm mvmt whil th tiff hw th hagig bhavir thrughut th mvmt. Frm thi tud it i kw that fr thi partiular mvmt th arm fllw a pattr ad am bhavir i fllwd fr th rptiti f th mvmt. Th btaid rult uld b bfiial fr th tud f uppr xtrmit xklt fr huma rhabilitati. Kwrd Huma arm mvmt, impda, Kimati, Dami. I. INTRODUCTION Ma rarh wrk hav b dvtd t mappig f tati impda. I mt f th tud, impda i big idrd a tiff mtl fr tw dgr f frdm tm. Of th variu papr dalig with th huma arm impda maurmt with th 1df plar mti ([1], [2]), 2df plar mti ([3], [4], [5]) ad 3df patial mti ([6]). Mt f th rarh aum th muulkltal tm a a ma-prig-dampr tm ad mdld it a quati f mti ([7]- [2]). Rfr [6] ud th dami quati f mti fr ma-prig-dampr tm a mathmatial mdl, b uig rbt maipulatr, kimati data wr aquird ad b fr r th rrpdig fr i maurd at th d pit. I thir xprimt, mvmt wa dirt ad impda haratriti f th huma arm ar maurd i 3D pa. Th limitati with th mtid tudi i that th ithr idrd a limitd part f a tir mvmt r a dirt mvmt whil th mai fu f thi tud i impda haratriti mappig bad mplt dami mvmt dutd i 3D pa. Impda maurmt fr 2df plar mti, ivtigatd b [3], i pir i thi ara f rarh. Th itrdu a idtial wa t rprt impda haratriti. B ivtigatig th huma arm mul bhavir th fud that it bhav lik prig. I tiuati t thi wrk [11] ha d th ivtigati f th impda haratriti fr impda i killd huma had, whih th maurd th huma arm impda trllabilit f th tak rlatd impda. Th irtial, viit ad tiff fatr a impda ar al alulatd. I additi t afrmtid ivtigati, ma rarhr hav fud that huma mul bhav lik prig; h, vral xprimt hav b dutd t fid ut th tiff f th arm ([3], [4], [5]). I [21] huma arm i idrd a a ma-prig-dampr tm ad th rlati btw irtia, dampig ad tiff fatr ar rprtd. Amg th tudi dutd impda maurmt i th pat tw dad ([8]- [12]), [8] ha h th arm mvmt a dirt ad pit-t-pit mvmt, whr l th tiff a th impda i idrd. I thi tud, th mpard th dami had tiff durig dirt pit-t-pit multi jit arm mvmt ad th tati tiff. Mvmt f th arm wa a hriztal pla, th applid mdl wa a d rdr liar diffrtial quati. Frm thi xprimt it wa fud that thr i vr mall variati i dami haratriti ad tati tiff. I 1997, a highl ffiit dig f maipuladum alg with timati algrithm wa itrdud b [9]. Th fud that th arm tiff durig th travr mvmt i muh gratr tha th rrpdig arm ptur but thi phm i t fllwd durig lgitudial mvmt. Rfr [1] fud impda haratriti fr 2DF gal ritd arm mvmt. At th bgiig ad dig, tiff valu i highr tha th middl f th arm mvmt a th vlit hag. I [13] it wa ivtigatd ad mpard th impda f th frarm thrugh diffrt maurmt thiqu. Thir mvmt wa rp t tt pul. Th alulatd th lbw tiff ad viit ad mpard th rult with th whr th ubjt wr akd fr tati diplamt. Expt afrmtid tudi, ma thr mthd fr maurig impda ar prpd b thr rarhr ([14] - [18]). Rfr [15] dvlpd a mthd fr maurig dpit tiff durig mtr adaptati. Thir mthd rquir l trial i mpari with th tud d b [9]. Rfr [16] t a xprimtal dvi whih wa abl t maur dami impda haratriti f a huma arm mvmt. I thi a mvmt wa t hrt durati ad writ vr a rtai dita. Th alulatd th tiff mpt f th huma arm impda ad uggt that thi dvi a b ud t mitr th prgr ad rvr f th mtr diti f trk patit wh ar takig rhabilitati. Rfr [18] itrdu a w /14 $ IEEE DOI 1.119/UKSim

2 dvi fr maurig had dami impda haratriti whih uld rprt th irtial mpt ad tiff mpt a impda haratriti. I th urrt wrk a ivtigati f huma arm fr 3DF patial tak wa d. Ivtigati wa d th ativit mr tha 5 durati. I thi tud all th data prig ad plttig wr d b MATLAB (th prdur wr tatd i th ti II). Th ivtigatd rult wr mappd b plttig (th btaid rult ar prtd ad diud i ti III). II. MATERIALS AND METHOD Th mathmatial mdl applid i thi tud i am a dami quati f mti fr ma-prig-dampr tm. Fr aquirig kimati data w hav ud Maurad I., Shaptap dvi. Thi dvi i abl t giv pitial valu f th dird Cartia rdiat agait tim. Six halth ubjt, ragd frm 25-3 ar ld, partiipatd i th xprimt. Thr wa rprt mul ijur, r, prptual, r a mtr dirdr aiatd with a f th ubjt. Subjt wr t familiar with th tpi ad had prir kwldg f th fild f tud. Exprimtal prdur wa xplaid t th ubjt bfr partiipati/trail. Subjt wr akd t mv thir right arm hriztall t arr a bjt frm A t B ad rtur t A idrig thi a full l f mvmt a hw i Fig. 1. Fr th uifrmit f th mvmt ubjt ar akd t mv thir arm ardig t th path. Th path wa idiatd b a li. Figur 1. Exprimt pathwa A. Exprimtal t-up ShapTap dvi wa attahd t th right arm f th ubjt t maur th piti f th writ a hw i Fig.2. I trial ubjt wr akd t mplt thr l. Svral trial ar rrdd t th mvmt imilar t th ral path. Eah ubjt wr rquird t partiipat thr diffrt da t avid tr ad thr phlgial fft. A adjutabl hair wa ud t maitai arm ptur. Th idrd mvmt wa a ativ dail ruti tak, m xtral fr wa applid b hadlig a bjt f 1.5 kg wight. Figur 2. Shaptap mutd ubjt arm Figur 3. Arm mdl fr dami impda maurmt. B. rdur Th had impda mdl (hw i Fig. 3) a b xprd i th d-pit lvl wh th huma arm i udr a tabl ptur, b th fllwig quati: Whr rprtd th had irtia, dampig fatr, ad tiff matri rptivl., ad rprtd th d pit piti ad fr vtr. Th mvmt idrd i thi tud i fat mvmt, du t thi m trm wr mpatd [22]. (1) I th quati (1), th piti valu wr maurd b th dvi agait tim. Th vlit ( ) ad alrati ( ) trm wr btaid frm. ad th fr trm (F) i alulatd b Nwt Sd Law f mti. Th Slvig prdur f quati (1) i fllwd b [6]. III. EERIMENTAL RESULT AND DISCUSSION Agular vlit at huldr ad lbw ar al timatd ad mpard with th thrtial rult btaid frm ivr kimati (figur 4). I th Fig. 4 uppr i fr th agular hag i huldr ad th lwr i fr agular hag i lbw. I bth f th figur, bld li idiat th atual agular piti hag, dttd li i frm th ivr kimati mputd agular pitial hag, rd li i th rrr alulatd b lat quar rrr 84

3 mthd. Iitiall, maurd pitial data ar vrifid. Vrifiati wa d b mparig th atual data ad th ivr kimati. T timat th diffr, th rrr wa alulatd ad plttd. Validati wa d writ piti ad th lbw piti whih i hw b Fig. 4. I th figur blu li idiat thrtial data, blak li i maurd data ad th rd li i rrr. Thrughut thi papr, figur hw ar fr ubjt 3. Th Cartia piti hag i 3D i hw i Fig. 5. Cmpt f piti, vlit, ad alrati ar hw i Fig. 6, 7, ad 8 rptivl. Th plttig ar d fr whl thr l f mvmt. Ardig t th figur it i vidt that majrit f th mvmt wa alg th ad rdiat. A th mt f th mvmt atd th ad pla, th impda haratriti alg th ad i al muh gratr tha mpt, thi i vidt frm Fig. 9. aralll plttig fr th diffrt impda ar hw i Fig. 9 (a), (b), ad (). Frm th figur it i brvd that th dmiatig mpt f th impda ar th mpt. Th mai bjtiv f thi tud i t map th dami haratriti f th huma arm mvmt. H a t f mappig wa d (hw i Fig. 1). It hw th dami hag f diffrt impda mpt. iti m ) iti m ) iti m ) Figur 5. Cartia diplamt f th writ Sampl Figur 6. Writ liar piti fr ubjt 3. it ) V l / it ) V l / it ) V l / Sampl Figur. 7 Liar vlit at writ fr ubjt 3. (a) Agular vlit hag at lbw. (b) Agular vlit hag at huldr. Figur 4. Cmpari f agular hag btw atual maurd agl ad th mputd agl l A / l A / l A / Sampl Figur 8. Liar alrati at writ fr ubjt 3. 85

4 2/ m) (Ṅ a t i m ) / (Ṅ a t i ) (N/m a t i mpt mpt mpt.4 Mx M Mz 1.5 x (a)aralll plttig fr irtia mpt mpt mpt mpt Bx B Bz x 1-4 (b)aralll plttig fr dampig fatr mpt mpt mpt mpt Kx K Kz ()aralll plttig fr tiff mpt Figur 9. Rati f diffrt impda mpt (fr ubjt 3). IV. CONCLUSION I thi tud 3DF impda haratriti f huma arm mvmt fr dail ativit wa ivtigatd. Exprimtal data wr maurd frm ShapTap dvi ad fittd t th mathmatial mdl t gt impda haratriti. Th mai r f thi wrk ar t map th impda fr dami tak ad th tak durati i lgr tha th tak d i prviu rarh. Hr th rprtati f mappig wa d i uh a wa that th dami mvmt a b hw a tiuu hagig trd. Frm th mappig it i brvd that a th arm mv th impda haratriti hag. Ad th larg amut f hag brvd i mpt f th impda. It i tiabl that th igifiat mvmt wa d alg th axi. Thrb, thr ar till t b xamid that if th arm mvmt dirti i hagd, hw th impda will hag. ACKNOWLEDGMENT W akwldg th fiaial upprt f th Miitr f Highr Eduati, udr fudamtal rarh grat hm (FRGS). REFERENCES [1] M. M. Rahma, R. Ikura, ad K. Mizutai, "Ivtigati f th Impda Charatriti f Huma Arm fr Dvlpmt f Rbt t Cprat with Huma," JSME Itratial Jural Sri C, vl. 45, pp , 22. [2] M. Rahma, M. Rahma, ad R. Ikura, "Impda Charatriti f Shuldr ad Elbw Jit durig aiv Mvmt," i Idutrial ad Ifrmati Stm, Firt Itratial Cfr, 26, pp [3] F. A. Mua-Ivaldi, N. Hga, ad E. Bizzi, "Nural, mhaial, ad gmtri fatr ubrvig arm ptur i huma," Th Jural f Nuri, vl. 5, pp , [4] M. Darai, N. Malfait,. L. Gribbl, F. Twhidkhah, ad D. J. Otr, "Larig t trl arm tiff udr tati diti," Jural f urphilg, vl. 92, pp , 24. [5] H. Gmi ad R. Ou, "Tak-dpdt vilatiit f huma multijit arm ad it patial haratriti fr itrati with virmt," Th Jural f Nuri, vl. 18, pp , [6]. K. Artmiadi,. T. Katiari, M. V. Liarkapi, ad K. J. Kriakpul, "Huma arm impda: haratrizati ad mdlig i 3d pa," i Itlligt Rbt ad Stm (IROS), 21 IEEE/RSJ Itratial Cfr, 21, pp [7] N. Hga, "Th mhai f multi-jit ptur ad mvmt trl," Bilgial brti, vl. 52, pp , [8] H. Gmi,. Kik, ad M. Kawat, "Huma had tiff durig dirt pit-t-pit multi-jit mvmt," i Egirig i Mdii ad Bilg Sit, th Aual Itratial Cfr f th IEEE, 1992, pp [9] H. Gmi ad M. Kawat, "Huma arm tiff ad quilibriumpit trajtr durig multi-jit mvmt," Bilgial brti, vl. 76, pp , [1] S. Strv, "Impda haratriti f a urmuulkltal mdl f th huma arm I. tur trl," Bilgial Cbrti, vl. 81, pp , [11] T. Tuji,. Takda, ad. Taaka, "Aali f mhaial impda i huma arm mvmt uig a virtual ti tm," Bilgial brti, vl. 91, pp , 24. [12] M. Darai, A. A. Mattar, ad D. J. Otr, "Efft f huma arm impda dami larig ad gralizati," Jural f urphilg, vl. 11, pp , 29. [13] W. MaKa, D. Crammd, H. Kwa, ad J. Murph, "Maurmt f huma frarm vilatiit," Jural f Bimhai, vl. 19, pp , [14] J. M. Dla, M. Fridma, ad M. Nagurka, "A ttbd fr maurmt f huma arm impda paramtr," i Stm Egirig, 199., IEEE Itratial Cfr, 199, pp [15] E. Burdt, R. Ou, D. Frakli, T. hika, T. Milr, ad M. Kawat, "A mthd fr maurig dpit tiff durig multijit arm mvmt," Jural f bimhai, vl. 33, pp , 2. [16] H. M. Hdri ad L. S. Fu, "A Simultau Sig um Atuatig Mthd fr Maurig Huma Arm Mhaial Impda." [17] H. M. Hdri ad L. Shih-Fu, "A Nvl Dvi fr Maurig Mhaial Impda durig Dami Tak," BIODEVICES, vl. 21, pp , 21. [18] H. M. Hdri ad A. W. Th, "Smart mug t maur had' gmtrial mhaial impda," i Egirig i Mdii ad Bilg Sit, EMBC, 211 Aual Itratial Cfr f th IEEE, 211, pp [19] J. M. Dla, M. B. Fridma, ad M. L. Nagurka, "Dami ad ladd impda mpt i th maita f huma arm ptur," Stm, Ma ad Cbrti, IEEE Traati, vl. 23, pp ,

5 [2] T. Tuji, K. Gt, M. Mritai, M. Kak, ad. Mra, "Spatial haratriti f huma had impda i multi-jit arm mvmt," i Itlligt Rbt ad Stm' 94.'Advad Rbti Stm ad th Ral Wrld', IROS'94. rdig f th IEEE/RSJ/GI Itratial Cfr, 1994, pp [21] T. Tuji,. G. Mra, K. Gt, ad K. It, "Huma had impda haratriti durig maitaid ptur," Bilgial brti, vl. 72, pp , [22] M. Kataama ad M. Kawat, "Virtual trajtr ad tiff llip durig multijit arm mvmt prditd b ural ivr mdl," Bilgial brti, vl. 69, pp , (a) mpt f irtia (b) mpt f irtia () mpt f irtia (d) mpt f dampig fatr () mpt f dampig fatr (f) mpt f dampig fatr (g) mpt f tiff (h) mpt f tiff (i) mpt f tiff Figur. 1. Cmpt f impda agait ampl. 87