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121.
Giuseppe Placidi Danilo Avola Marco Ferrari Daniela Iacoviello Andrea Petracca Valentina Quaresima Matteo Spezialetti 《Computer methods and programs in biomedicine》2014
Background and objective
The degeneration of the balance control system in the elderly and in many pathologies requires measuring the equilibrium conditions very often. In clinical practice, equilibrium control is commonly evaluated by using a force platform (stabilometric platform) in a clinical environment.In this paper, we demonstrate how a simple movement analysis system, based on a 3D video camera and a 3D real time model reconstruction of the human body, can be used to collect information usually recorded by a physical stabilometric platform.Methods
The algorithm used to reconstruct the human body model as a set of spheres is described and discussed. Moreover, experimental measurements and comparisons with data collected by a physical stabilometric platform are also reported. The measurements were collected on a set of 6 healthy subjects to whom a change in equilibrium condition was stimulated by performing an equilibrium task.Results
The experimental results showed that more than 95% of data collected by the proposed method were not significantly different from those collected by the classic platform, thus confirming the usefulness of the proposed system.Conclusions
The proposed virtual balance assessment system can be implemented at low cost (about 500$) and, for this reason, can be considered a home use medical device. On the contrary, astabilometric platform has a cost of about 10,000$ and requires periodical calibration. The proposed system does not require periodical calibration, as is necessary for stabilometric force platforms, and it is easy to use. In future, the proposed system with little integration can be used, besides being an emulator of a stabilometric platform, also to recognize and track, in real time, head, legs, arms and trunk, that is to collect information actually obtained by sophisticated optoelectronic systems. 相似文献122.
Acquisition of the contact force at the instrument tip can enable better performance, e.g. transparency of the haptic feedback in the surgical robot systems. It is, however, difficult to measure the contact force directly due to technical limitations in attaching sensors to the tip of the instruments. This paper proposes a method to estimate the forces by installing the sensors away from the instrument tip. The proposed method employs specially designed mechanical parts of the slave robot, i.e. a slider cover plate for the z-axis translational force along the insertion direction, and docking clamps for the rotational pivot torques around the fulcrum point. Strain gauges are attached to specially designed places with enhancing shapes. The simulation results of the force estimation are presented to confirm the strain concentration area. The proposed method is validated with quantitative experimental results. Calibrated weights are determined upon the comparison of the strain value with a calibrated 6-axis force/torque sensor. The percentage error in the force calibration is about 5~8% calculated by the root mean square error (RMSE) of force-sensing performance. In addition, it can be computed by considering only the bending phase of each sensor although the hysteresis is observed from the calibration graph. 相似文献
123.
This paper proposes a tactile display providing both shear and normal feedback to the fingertip for generating three-axis tactile feedback during teleoperation of a surgical robot. The display is composed of five balloons actuated by controlling the pneumatic pressure. The implemented display is 18?mm?×?18?mm?×?15?mm. This size is suitable for mounting the display onto the master controls of a surgical robot. The maximum normal and shear displacements are 2 and 1.3?mm, respectively. The proposed tactile display may provide perceivable stimuli to a human finger pad in all five directions: normal, distal, proximal, radial, and ulnar. This paper also reports on the results of psychophysical measurement of the minimum perceivable movement of the developed tactile display for each of the five directions. 相似文献
124.
The effects of the molecular weights (molecular weight of polystyrene, Mw,PS, varying from 2.9 to 129 k) on the surface morphologies of spin-coated and annealed polystyrene/poly (methyl methacrylate) (PS/PMMA=50/50, w/w) blend films were investigated by atomic force microscopy and X-ray photoelectron spectroscopy. For the spin-coated films, when the Mw,PS varied from 2.9 to 129 k, three different kinds of surface morphologies (a nanophase-separated morphology, a PMMA cellular or network-like morphology whose meshes filled with PS, a sea-island like morphology) were observed and their formation mechanisms are discussed, respectively. Upon annealing, two different morphology-evolution processes were observed. It is found that a upper PS-rich phase layer is formed when Mw,PS<4 k, and this behavior is mainly attributed to the low interfacial tension between PS and PMMA component. When Mw,PS>4 k, the PS-rich phase forms droplets on top of the PMMA-rich phase layer which wets the SiOx substrate. These results indicate that the surface morphology of the polymer blend films can be controlled by the polymer molecular weight and annealing conditions. 相似文献
125.
The effect of electrostatic and capillary forces on bumpy particle adhesion and removal in turbulent flows is studied. We use the JKR theory and account for the increase of adhesion by capillary force. The effects of electrostatic forces and nonlinear hydrodynamic drag are included in the analyses. The criteria for incipient rolling and sliding detachments and electrostatic lifting removal are evaluated. A turbulence burst model is used for evaluating the peak air velocity near the substrate. The critical shear velocities for detaching particles of different sizes under different conditions are evaluated. The electric field strength needed for electrostatic removal of particles with different charges is also estimated. The results are compared with those obtained in the absence of the capillary force. Comparisons of the model predictions with the available experimental data are also presented. 相似文献
126.
基于分级型模数转换器AD7884对分离脱落电连接器的分离力进行测量,采用8位单片机W77E58与之接口,进行数据处理并通过485串口传输到上位机。实现了对分离脱落电连接器的分离力进行测量,系统运行稳定,且与上位机数据交互简单、可靠。 相似文献
127.
浅析SRT-Ⅳ裂解炉炉管弯曲及断裂原因 总被引:1,自引:0,他引:1
主要分析计算了裂解炉炉管受力情况,进而得出结论:裂解炉自身结构的相互约束力和炉管渗碳是导致炉管弯曲、断裂的主要原因,并提出了相应的解决措施。 相似文献
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