Upper limb discomfort profile due to intermittent isometric pronation torque at different postural combinations of the shoulder-arm system

Twenty-seven right-handed male university students participated in this study, which comprised a full factorial model consisting of three forearm rotation angles (60% prone and supine and neutral range of motion), three elbow angles (45°, 90° and 135°), three upper arm angles (45° flexion/extension and neutral), one exertion frequency (15 per min) and one level of pronation torque (20% maximum voluntary contraction (MVC) relative to MVC at each articulation). Discomfort rating after the end of each 5 min treatment was recorded on a visual analogue scale. Results of a repeated measures analysis of covariance on discomfort score, with torque endurance time as covariate, indicated that none of the factors was significant including torque endurance time (p = 0.153). An initial data collection phase preceded the main experiment in order to ensure that participants exerted exactly 20% MVC of the particular articulation. In this phase MVC pronation torque was measured at each articulation. The data revealed a significant forearm rotation angle effect (p = 0.001) and participant effect (p = 0.001). Of the two-way interactions, elbow?participant (p = 0.004), forearm?participant (p = 0.001) and upper arm?participant (p = 0.005) were the significant factors. Electromyographic activity of the pronator teres and biceps brachii muscles revealed no significant change in muscle activity in most of the articulations. Industrial jobs involving deviated upper arm postures are typical in industry but have a strong association with injury. Data from this study will enable better understanding of the effects of deviated upper arm postures on musculoskeletal disorders and can also be used to identify and control high-risk tasks in industry.     

Forearm torque strengths and discomfort profiles in pronation and supination

This experiment investigated maximum forearm pronation and supination torques and forearm discomfort, for intermittent torque exertions in supine and prone forearm angles for the right arm. Twenty-two subjects participated in the study that comprised two parts, the first of which involved measurement of maximum forearm torque in both twisting directions at five forearm angles including neutral. This was followed by endurance tests at 50% maximum voluntary contraction (MVC) in both directions. The second part of the study involved subjects performing 5-min duration of intermittent isometric torque exercises at 20% MVC in both directions at 11 forearm angles. Regression equations were developed that accurately predict torques as a function of forearm angle expressed as a percentage of maximum motion. Analysis of the discomfort data for the intermittent isometric torque exertions indicated that both forearm angle and twisting direction significantly affected forearm discomfort (p < 0.001). A significant two-way interaction (p < 0.01) was identified between forearm angle and direction for supine forearm angles only. The results provide important strength and discomfort models for the design of tasks involving static or repetitive forearm twisting. Such tasks have a strong association with forearm injuries including lateral and medial epicondylitis. These results provide needed data on the risk factors associated with these injuries so they can be prevented.     

Forearm torque strengths and discomfort profiles in pronation and supination

This experiment investigated maximum forearm pronation and supination torques and forearm discomfort, for intermittent torque exertions in supine and prone forearm angles for the right arm. Twenty-two subjects participated in the study that comprised two parts, the first of which involved measurement of maximum forearm torque in both twisting directions at five forearm angles including neutral. This was followed by endurance tests at 50% maximum voluntary contraction (MVC) in both directions. The second part of the study involved subjects performing 5-min duration of intermittent isometric torque exercises at 20% MVC in both directions at 11 forearm angles. Regression equations were developed that accurately predict torques as a function of forearm angle expressed as a percentage of maximum motion. Analysis of the discomfort data for the intermittent isometric torque exertions indicated that both forearm angle and twisting direction significantly affected forearm discomfort (p?<?0.001). A significant two-way interaction (p?<?0.01) was identified between forearm angle and direction for supine forearm angles only. The results provide important strength and discomfort models for the design of tasks involving static or repetitive forearm twisting. Such tasks have a strong association with forearm injuries including lateral and medial epicondylitis. These results provide needed data on the risk factors associated with these injuries so they can be prevented.     

A passive movement method for parameter estimation of a musculo-skeletal arm model incorporating a modified hill muscle model

In this paper we present an experimental method of parameterising the passive mechanical characteristics of the bicep and tricep muscles in vivo, by fitting the dynamics of a two muscle arm model incorporating anatomically meaningful and structurally identifiable modified Hill muscle models to measured elbow movements. Measurements of the passive flexion and extension of the elbow joint were obtained using 3D motion capture, from which the elbow angle trajectories were determined and used to obtain the spring constants and damping coefficients in the model through parameter estimation. Four healthy subjects were used in the experiments. Anatomical lengths and moment of inertia values of the subjects were determined by direct measurement and calculation. There was good reproducibility in the measured arm movement between trials, and similar joint angle trajectory characteristics were seen between subjects. Each subject had their own set of fitted parameter values determined and the results showed good agreement between measured and simulated data. The average fitted muscle parallel spring constant across all subjects was 143 N/m and the average fitted muscle parallel damping constant was 1.73 Ns/m. The passive movement method was proven to be successful, and can be applied to other joints in the human body, where muscles with similar actions are grouped together.     

Real-time indicators and influence factors of muscle fatigue in push-type work

Muscle fatigue is a significant cause of musculoskeletal injury and can easily induce unsafe behaviour. Push-type work is a common type of physical work, and if not designed appropriately, may lead to muscle fatigue. Previous studies on muscle fatigue mainly focus on investigating continuous force exertion, and in most of them, a constant muscle force is assumed, thereby ignoring the fluctuations present in exertion. In this study, bolt hole drilling was chosen to represent typical push-type work, and the muscle fatigue from this work was examined. The experimental system designed in this study monitored the muscle force in real time. In the experiments, different thrust angles (15°, 45°, and 75°), different relative force values (20% MVC, 40% MVC, and 60% MVC; MVC: maximum voluntary contraction) and different working time intervals (0 s, 30 s, 60 s, and 90 s) were considered. The results demonstrate that there is a significant positive correlation between the rating of perceived exertion (RPE) and muscle force attenuation (r = 0.786, p = 0). The cubic regression model (Y = − 0.00071x³ − 0.024x² − 0.334x + 1.146, R² = 0.639) fits the data most closely. Therefore, force attenuation can be used as a real-time indicator of muscle fatigue. In addition, the relative force value and thrust angle have a significant impact on the RPE score, whereas the working time interval has no major effect on it. This study provides a new method for evaluating muscle fatigue and a basis for the design of push-type work to reduce fatigue-induced accidents and musculoskeletal injuries.     

Effect of horizontal position of the computer keyboard on upper extremity posture and muscular load during computer work

The distance of the keyboard from the edge of a work surface has been associated with hand and arm pain; however, the variation in postural and muscular effects with the horizontal position have not been explicitly explored in previous studies. It was hypothesized that the wrist approaches more of a neutral posture as the keyboard distance from the edge of table increases. In a laboratory setting, 20 adults completed computer tasks using four workstation configurations: with the keyboard at the edge of the work surface (NEAR), 8 cm from the edge and 15 cm from the edge, the latter condition also with a pad that raised the work surface proximal to the keyboard (FWP). Electrogoniometers and an electromagnetic motion analysis system measured wrist and upper arm postures and surface electromyography measured muscle activity of two forearm and two shoulder muscles. Wrist ulnar deviation decreased by 50% (4°) as the keyboard position moved away from the user. Without a pad, wrist extension increased by 20% (4°) as the keyboard moved away but when the pad was added, wrist extension did not differ from that in the NEAR configuration. Median values of wrist extensor muscle activity decreased by 4% maximum voluntary contraction for the farthest position with a pad (FWP). The upper arm followed suit: flexion increased while abduction and internal rotation decreased as the keyboard was positioned further away from the edge of the table. In order to achieve neutral postures of the upper extremity, the keyboard position in the horizontal plane has an important role and needs to be considered within the context of workstation designs and interventions.     

The influence of arm position on the pinch grip strength of female dentists in standing and sitting positions

The objective of this study was to measure and compare hand pinch grip forces in standing and sitting postures for a group of 77 healthy female dentists of 25 to 55 years old. The equipment used consisted of a gripping device with strain gauges, a measuring device and a printer. The results can be described as follows. With respect to absolute values the hand pinch forces are higher when the subject is standing with her arm supported, than when she is sitting. In the standing position the measured forces were maximum when the forearm was at 60 degrees angle towards the frontal position, while in the sitting position the pinch grip forces were maximum with the forearm vertical (90 degrees ) with respect to the frontal position. The above data can be used to design the dentist's working area.     

牵引车–飞机系统的自适应滑模变结构控制

将自动转向技术应用于牵引车–飞机系统, 并以侧偏位移和相对横摆角作为反馈, 提出一种牵引车四轮主动转向控制策略. 重点考虑牵引车和飞机的侧向和横摆运动, 建立含铰接角在内的牵引车–飞机系统非线性动力学模型. 将牵引车和飞机的轮胎侧偏刚度视为有界的不确定性参数, 将侧向风等因素视为未知的外在扰动, 采用自适应滑模变结构控制方法设计牵引车转向角控制器. 仿真结果表明, 设计出的前、后轮转向控制器能使控制系统同时获得很好的轨迹跟踪性和操纵稳定性, 并且能够有效的克服参数摄动和外界干扰对系统操作性的影响.     

The effects of shoulder load and pinch force on electromyographic activity and blood flow in the forearm during a pinch task

The object of the current study was to determine whether static contraction of proximal musculature has an effect on the blood flow more distally in the upper extremity. Static contractions of muscles in the neck shoulder region at three levels (relaxed, shoulders elevated and shoulders elevated loaded with 4.95 kg each) were combined with intermittent pinch forces at 0, 10 and 25% of the maximum voluntary contraction (MVC). Blood flow to the forearm was measured with Doppler ultrasound. Myoelectric activity of the forearm and neck-shoulder muscles was recorded to check for the workload levels. Across all levels of shoulder load, blood flow increased significantly with increasing pinch force (21% at 10% MVC and by 44% at 25% MVC). Blood flow was significantly affected by shoulder load, with the lowest blood flow at the highest shoulder load. Interactions of pinch force and shoulder load were not significant. The myoelectric activity of forearm muscles increased with increasing pinch force. The activation of the trapezius muscle decreased with increasing pinch force and increased with increasing shoulder load. The precise mechanisms accounting for the influence of shoulder load remains unclear. The results of this study indicate that shoulder load might influence blood flow to the forearm.     

Alternative computer mouse design and testing to reduce finger extensor muscle activity during mouse use

OBJECTIVE: The purpose of this study was to design and test alternative computer mouse designs that attempted to reduce extensor muscle loading of the index and middle fingers by altering the orientation of the button switch direction and the force of the switch. BACKGROUND: Computer users of two-button mouse designs exhibit sustained lifted finger behaviors above the buttons, which may contribute to hand and forearm musculoskeletal pain associated with intensive mouse use. METHODS: In a repeated-measures laboratory experiment, 20 participants completed point-and-click, steering, and drag tasks with four alternative mouse designs and a reference mouse. Intramuscular and surface electromyography (EMG) measured muscle loading, and movement times recorded by software provided a measure of performance. RESULTS: Changing the direction of the switch from a conventional downward to a forward design reduced (up to 2.5% maximum voluntary contraction [MVC]) sustained muscle activity (10th percentile EMG amplitude distribution) in the finger extensors but increased (up to 0.6% MVC) flexor EMG and increased movement times (up to 31%) compared with the reference mouse (p < .001). Implementing a high switch force design also increased flexor EMG but did not differ in movement times compared with the reference mouse (p < .001). CONCLUSION: The alternative mouse designs with altered switch direction reduced sustained extensor muscle loading; however, trade-offs with higher flexor muscle loading and lower performance existed. APPLICATION: Potential applications of this study include ergonomic and human computer interface design strategies in reducing the exposure to risk factors that may lead to upper extremity musculoskeletal disorders.     

The effects of shoulder load and pinch force on electromyographic activity and blood flow in the forearm during a pinch task

The object of the current study was to determine whether static contraction of proximal musculature has an effect on the blood flow more distally in the upper extremity. Static contractions of muscles in the neck shoulder region at three levels (relaxed, shoulders elevated and shoulders elevated loaded with 4.95 kg each) were combined with intermittent pinch forces at 0, 10 and 25% of the maximum voluntary contraction (MVC). Blood flow to the forearm was measured with Doppler ultrasound. Myoelectric activity of the forearm and neck-shoulder muscles was recorded to check for the workload levels. Across all levels of shoulder load, blood flow increased significantly with increasing pinch force (21% at 10% MVC and by 44% at 25% MVC). Blood flow was significantly affected by shoulder load, with the lowest blood flow at the highest shoulder load. Interactions of pinch force and shoulder load were not significant. The myoelectric activity of forearm muscles increased with increasing pinch force. The activation of the trapezius muscle decreased with increasing pinch force and increased with increasing shoulder load. The precise mechanisms accounting for the influence of shoulder load remains unclear. The results of this study indicate that shoulder load might influence blood flow to the forearm.     

A comparative investigation of the influence of certain arm positions on hand pinch grips in the standing and sitting positions of dentists

Hand pinch grips in the standing and sitting positions on a group of 46 healthy males of 20 to 26 years old were measured. The results were as follows: 1. Hand pinch grip forces are higher when the subject is standing than when he is sitting. 2. Hand pinch grip forces, depending on the position of the arm in the working space, are higher when the arm is supported than the corresponding forces of the unsupported arm. 3. There is an effect due to the position of the arm in relation to the frontal position of the subject's thorax. In the standing position, the forces are maximum when the forearm has a 60 degrees angle towards the frontal position, while in the sitting position pinch grip forces are maximum when the forearm is perpendicular (90 degrees ) to the frontal position. 4. A handle which permits all fingers to be spread in a pinch grip is capable of having an applied force 50% greater than if the thumb and either forefinger or middlefinger grips the handle. In such a handle each finger is required to apply less force to contribute to the total needed for the task, and therefore there is a diminished likelihood of the onset of fatigue.     

The effect of fatigue on trunk muscle activation patterns and spine postures during simulated firefighting tasks

The purpose of this study was to determine the effect of a fatiguing task (3 min intense stair climbing) on the adopted spinal postures and trunk muscular activation patterns during three highly physically demanding simulated firefighting tasks. Following the fatigue protocol, it was observed that individuals adopted significantly greater spinal flexion (16.3° maximum prior to fatigue as compared to 20.1° post fatigue) and displayed reduced abdominal muscle activation as compared to before the fatigue protocol (mean ranging from 16.6% maximum voluntary contraction (MVC) to 30.6% MVC prior to fatigue as compared to ranging from 14.6% MVC to 25.2% MVC post fatigue). The reduced abdominal activation may be due to a reduction in co-contraction during these tasks, which may compromise spinal stability. Reduced co-contraction combined with the increased spinal flexion may increase the risk of sustaining an injury to the low back.     

Development of a tractor operator-operation environment coupled biomechanical model and analysis of lower limb muscle fatigue

For the quantitative analysis and evaluation of tractor pedal operation comfort, this study developed a tractor operator-operation environment coupled biomechanical model in AnyBody Modeling System. First, operator model and operation environment model were generated according to Chinese adult male anthropometric dimensions and Dongfanghong LX804 tractor design parameters. To couple these two models, the connections between operator model's palms, feet, pelvis and operation environment model's steering wheel, joystick, pedals, seat were created. The release scheme of limb joint angle constraints was designed, which allowed limbs to fulfill the kinematic requirement of operating devices. Then, to drive the model, a driver device with a rotation angle range of 0°-42°and a spring with a stiffness of 37.85Nm/rad were added to pedal hinge based on the driving data of pedal force and pedal travel collected by sensors. Subsequently, to validate the model, the surface electromyography signals of lower limb muscles were acquired using the test system of Cometa MiniWave. The average relative error between the lower limb muscle activity calculated from electromyography signals and that computed from the model was 9.2%. Finally, the model was employed to simulate the dynamic process of pedal operation and analyze lower limb fatigue. The results demonstrated that the fatigue exhibited a tendency of first decreasing and then increasing as pedal rotation angle increased, and reached a lower level within the pedal rotation angle range of 8°-17°.     

Evaluation of five steering input devices in terms of muscle activity,upper body kinematics and steering performance during heavy machine simulator driving

Work related upper body musculoskeletal symptoms and disorders constitute a major problem for operators of heavy machinery. Steering input devices mediate risk factors of upper body musculoskeletal disorders. Little research has been conducted to compare the multiple commercially available steering input devices in a multi-faceted approach. The present study evaluated five commonly used steering input devices (conventional steering wheel, fast steering wheel, miniature steering wheel, first-order joystick and second-order joystick) in terms of muscle activity, upper body kinematics and steering performance during heavy machine simulator driving. Fifteen healthy males novice to operation of heavy machinery completed five laps on a simulated track with each steering input device. Results showed a generally lower muscle activity when using the joysticks. The conventional and fast steering wheel increased mean wrist and shoulder flexion/extension angles and participants spent more time in wrist flexion/extension angles corresponding to moderate and poor comfort levels. An increased elbow protonation angle was found for the three steering wheels compared to the joysticks. The conventional steering wheel showed slowest track completion time and was subjectively ranked worst. The first-order joystick was ranked highest but also showed the highest amount of steering reversal rates, posing a risk of increased repetitiveness. Overall, the second-order joystick is considered superior ergonomically compared to the other steering input devices evaluated. However, all evaluated steering input devices exceeded muscle activity and/or joint angle recommendations.Relevance to the industry: Compared to steering wheels, joystick steering showed reduced muscular activity and less awkward joint postures, suggesting a reduced risk of developing musculoskeletal disorders in the long term. However, the results warrant efforts to further develop joystick steering resulting in a reduction of exposure level beyond the existing solutions.     

The impact of working technique on physical loads - an exposure profile among newspaper editors

The aim of this study was to investigate the possible associations between working technique, sex, symptoms and level of physical load in VDU-work. A study group of 32 employees in the editing department of a daily newspaper answered a questionnaire, about physical working conditions and symptoms from the neck and the upper extremities. Muscular load, wrist positions and computer mouse forces were measured. Working technique was assessed from an observation protocol for computer work. In addition ratings of perceived exertion and overall comfort were collected. The results showed that subjects classified as having a good working technique worked with less muscular load in the forearm (extensor carpi ulnaris p=0.03) and in the trapezius muscle on the mouse operating side (p=0.02) compared to subjects classified as having a poor working technique. Moreover there were no differences in gap frequency (number of episodes when muscle activity is below 2.5% of a reference contraction) or muscular rest (total duration of gaps) between the two working technique groups. Women in this study used more force (mean force p=0.006, peak force p=0.02) expressed as % MVC than the men when operating the computer mouse. No major differences were shown in muscular load, wrist postures, perceived exertion or perceived comfort between men and women or between cases and symptom free subjects. In conclusion a good working technique was associated with reduced muscular load in the forearm muscles and in the trapezius muscle on the mouse operating side. Moreover women used more force (mean force and peak force) than men when operating the click button (left button) of the computer mouse.     

Combined influence of forearm orientation and muscular contraction on EMG pattern recognition

The performance of intelligent electromyogram (EMG)-driven prostheses, functioning as artificial alternatives to missing limbs, is influenced by several dynamic factors including: electrode position shift, varying muscle contraction level, forearm orientation, and limb position. The impact of these factors on EMG pattern recognition has been previously studied in isolation, with the combined effect of these factors being understudied. However, it is likely that a combination of these factors influences the accuracy. We investigated the combined effect of two dynamic factors, namely, forearm orientation and muscle contraction levels, on the generalizability of the EMG pattern recognition. A number of recent time- and frequency-domain EMG features were utilized to study the EMG classification accuracy. Twelve intact-limbed and one bilateral transradial (below-elbow) amputee subject were recruited. They performed six classes of wrist and hand movements at three muscular contraction levels with three forearm orientations (nine conditions). Results indicate that a classifier trained by features that quantify the angle, rather than amplitude, of the muscle activation patterns perform better than other feature sets across different contraction levels and forearm orientations. In addition, a classifier trained with the EMG signals collected at multiple forearm orientations with medium muscular contractions can generalize well and achieve classification accuracies of up to 91%. Furthermore, inclusion of an accelerometer to monitor wrist movement further improved the EMG classification accuracy. The results indicate that the proposed methodology has the potential to improve robustness of myoelectric pattern recognition.     

Shoulder and neck muscle activities during typing with articulating forearm support at different heights

Use of forearm support is known to reduce physical stress of computer users, but research about how to properly position the forearm support is insufficient. This study was aimed to determine whether the height of forearm support influences muscular loads during typing. Twenty four subjects performed a typing task with a pair of articulating forearm support at three different heights as well as without any support, while shoulder, neck and forearm muscle activities and posture data were recorded. Typing with the support at resting elbow height produced significantly (p < 0.05) lower shoulder and neck muscle activities than that of no support condition. Typing with the support at heights higher than the resting elbow height produced significantly greater shoulder and neck muscle activities compared to the no support condition. Results suggest that forearm support can help computer users lessen physical stress in typing, but only when the supports are positioned at resting elbow height.

Practitioner Summary: Use of forearm support is known to alleviate physical stress of PC users in computer works such as typing. This experimental study addressed the importance of proper positioning of forearm support by comparing neck and upper extremity muscle activities between conditions with varying heights of forearm support in keyboard typing.     

Differentiating types of muscle movements using a wavelet based fuzzy clustering neural network

Abstract: The electromyographic signals observed at the surface of the skin are the sum of many small action potentials generated in the muscle fibres. After the signals are processed, they can be used as a control source of multifunction prostheses. The myoelectric signals are represented by wavelet transform model parameters. For this purpose, four different arm movements (elbow extension, elbow flexion, wrist supination and wrist pronation) are considered in studying muscle contraction. Wavelet parameters of myoelectric signals received from the muscles for these different movements were used as features to classify the electromyographic signals in a fuzzy clustering neural network classifier model. After 1000 iterations, the average recognition percentage of the test was found to be 97.67% with clustering into 10 features. The fuzzy clustering neural network programming language was developed using Pascal under Delphi.     

人与机器人共存中的位姿估计与碰撞检测

提出了一种人与机器人共存中的位姿估计与碰撞检测方法。首先,利用光学3维动作捕捉系统获取标记点位姿信息,建立人体手臂的运动学模型。其次,针对工作空间中障碍物遮挡导致部分标记点位姿信息丢失的问题,将角度传感器获取的肘关节角度作为人体手臂运动学模型的输入,获取人体手臂末端位姿信息。再次,构建人体手臂和协作机器人的胶囊体模型,计算各胶囊体之间的最短距离,从而判断人机的相对位姿关系并实现碰撞检测。最后,通过10个人在不同人机共存场景下对人机位姿估计与碰撞检测方法进行评价。实验结果表明,本方法估计的人体手臂末端位置误差在20mm以内,人机最短距离的最大误差为14.53mm,能够实现人机碰撞检测。