Projects

Motion Analysis and Prosthetics Research

Motion Analysis and Prosthetics Research

Through collaboration with the School of Theatre & Dance and the School of Physical Therapy and Rehabilitation Sciences, biomechanics of human body motion is analyzed for various activities using Vicon motion analysis system, leading to fewer injuries, and better training practices. These activities include upper and lower body motion practices used by athletes and dancers, as well as prosthetics users when performing recreational or daily activities.

Current upper-limb prosthetic devices have powered wrist rotation only, making it difficult to grasp and manipulate objects. The wrist and shoulder compensatory motions of people with transradial prostheses have been investigated in the eight-camera infrared Vicon visual system that collects and analyzes three-dimensional movement data. This information helps clinicians, researchers, and designers develop more effective and practical prosthetic devices. The intact joints of the upper limb compensate for the limitations of the prosthesis using awkward motions. By analyzing the compensatory motions required for activities of daily living due to limitations of the prosthesis we hope to be able to improve the design and selection of prostheses.

Simulation Tool for Prediction of Human-Upper Body Motion

This project is dedicated to the development of a simulation tool consisting of a robotics-based human body model (RHBM) to predict functional motions, and integrated modules for aid in prescription, training, comparative study, and determination of design parameters of upper extremity prostheses. The simulation of human performance of activities of daily living while using various prosthetic devices is optimized by data collected in the motion analysis lab.

The current generation of the RHBM has been developed in MATLAB and is a 25 degree of freedom robotics based kinematic model, with subject specific parameters. The model has been trained and validated using motion analysis data from ten control subjects and data collected from amputee subjects is being integrated as it is collected.

Socket Residual-limb Interface Model

This project concentrates on measuring and predicting motion occurring at the socket residual limb interface. The current model will be a 4 degree of freedom robotics based kinetic model. Movement between the residual limb and prosthetic socket will be collected by a motion capture system (socket rotations and translations) and a new optics based device (relative slip between internal socket face and residual limb skin surface).

Human Upper Body Modeling and Simulation in Space Conditions for Astronaut Training

The goal of this project is to develop a robotics based human upper body model (RHBM), and associated constraints for the prediction and simulation of human motion in confined spaces, and under microgravity conditions to aid astronaut training. A force based component with an adjustable gravity term will also be added to the current kinematic based RHBM to allow for the simulation of external forces at varying levels of gravity: moon gravity; and microgravity. Statistically based probability constraints from motion capture data will also be incorporated to determine if a mixed method of modeling is more accurate and more efficient for studying upper limb movements such as using tools and moving objects. A motion analysis system will be used to collect kinematic data of subjects performing astronaut based activities of daily living in a confined space similar to the International Space Station. Analysis of this data will then be used to derive the model parameters. Functional joint center estimations will be used to find the geometric parameters of the model, and a variety of control methods including using force fields and statistical processes to generate microgravity will be used to determine the control parameters.