PubMed Health⌕ Search

Biomedical subjects

H Hemami

Publications and source records attributed to H Hemami.

At least 19 recordsLinked to original sources
PubMed2000

A well-posed, embedded constraint representation of joint moments from kinesiological measurements.

Joint moment estimation using the traditional inverse dynamics analysis presents two challenging problems, which limit its reliability. First, the quality of the computed moments depends directly on unreliable estimates of the segment accelerations obtained numerically by differentiating noisy marker measurements. Second, the representation of joint moments from combined video and force plate measurements belongs to a class of ill-posed problems, which does not possess a unique solution. This paper presents a well-posed representation derived from an embedded constraint equation. The proposed method, referred to as the embedded constraint representation (ECR), provides unique moment estimates, which satisfy all measurement constraints and boundary conditions and require fewer acceleration components than the traditional inverse dynamics method. Specifically, for an n-segment open chain planar system, the ECR requires n-3 acceleration components as compared to 3(n-1) components required by the traditional (from ground up) inverse dynamics analysis. Based on a simulated experiment using a simple three-segment model, the precision of the ECR is evaluated at different noise levels and compared to the traditional inverse dynamics technique. At the lowest noise levels, the inverse dynamics method is up to 50 percent more accurate while at the highest noise levels the ECR method is up to 100 percent more accurate. The ECR results over the entire range of noise levels reveals an average improvement on the order 20 percent in estimating the moments distal to the force plate and no significant improvement in estimating moments proximal to the force plate. The new method is particularly advantageous in a combined video, force plate, and accelerometery sensing strategy.

Algorithms↗
PubMed1999

Postural stability of wheelchair users exposed to sustained, external perturbations.

The postural stability of wheelchair users experiencing external perturbations was examined. Rotation of a tilt platform generated moments in the trunks of subjects seated in a manual wheelchair on the platform. The magnitude and duration of the moments were on the order of those that might be encountered in the sagittal plane during controlled braking maneuvers in a vehicle. Four subjects with tetraplegia, four with paraplegia, and five controls participated in experimental trials on the platform. As input, four different Disturbance profiles with either a 0.2 g (gravitational acceleration) or 0.4 g maximal level were imposed. The majority of the subjects with spinal cord injury lost balance at Disturbance levels below 0.2 g. The results suggest that the rate of change of the applied perturbation may also affect stability. The use of a stability index based on normalized motion of the center of pressure with respect to the seat showed efficacy in characterizing the response.

Adult↗
PubMed1998

Stability and a control strategy of a multilink musculoskeletal model with applications in FES.

This paper introduces a relegated control strategy for point-to-point movement of musculoskeletal systems driven by redundant actuators. The actuator system is partitioned to two functional groupings referred to as gravity compensators and movement generators. Unlike dynamic optimization methods, relegation of control enables real-time computation of control signals to the muscle actuators. It is shown that this strategy significantly reduces the degree of coactivation needed to stabilize the movement. The real-time nature of this strategy coupled with reduced coactivation makes the proposed strategy amenable for multichannel control of parapalegics through functional electrical stimulation. Stimulations of a three-link sagittal system are conducted to test the algorithm for a bowing movement.

Algorithms↗
PubMed1995

Control of a one-link arm by burst signal generators.

The focus of this paper is the study of stability and point-to-point movement of a one-link arm. The sagittal arm has two musculotendon actuators, two neural oscillators that generate burst signals as motoneuron inputs, and spindles and Golgi tendon organs for extrinsic reflex feedbacks. It is shown that coactivation leads to intrinsic position and velocity feedback, and that the tendons introduce intrinsic force and rate of force feedback. In addition, the integrating effects of the tendons are studied when the actuator is constructed from a large number of identical fibers that are excited by alpha signals whose arrival times at the fiber are randomly distributed. Each of the musculotendon actuators receives two input signals--a burst signal analogous to alpha inputs and a conventional analogue signal that represents fusimotor input to the spindles. The process of combining burst signals and conventional analogue signals is studied. Simulation results show that the movement of the system with burst signals as inputs has overshoot and speed similar to the system with analogue signals.

Biomechanical Phenomena↗
PubMed1993

Stability and movement of a one-link neuromusculoskeletal sagittal arm.

This paper's focus is the stability, point-to-point, and rhythmic movements of a one-link sagittal arm. The system is highly nonlinear in all its physical and physiological attributes. The major physiological characteristics of this system are simultaneous activation of a pair of nonlinear muscle-like actuators for control purposes, existence of nonlinear spindle-like sensors, and actions of gravity and loading. Transmission delays are included in the afferent and efferent neural paths to account for a more accurate representation of the reflex loops. An algorithm for computation of the actuator forces and the feedback signals in the system is provided. It automatically renders positive forces and positive neural signals. The positiveness of the forces represents the unidirectional character of muscular forces, i.e., natural muscles can only pull in the direction of shortening. The positiveness of the neural signals implies these signals can correspond to firing rates. The stability of the system is analyzed. The role of the nonlinearities in the dynamics, actuators, and feedback signals, and the delays in the feedback loops in destabilizing the system, and the consequently undesirable oscillations are studied by simulation. The system is designed to perform stable point-to-point movement. The effects of the presetting of the input signals, gain of the feedback loops, and the duration of delays in generating undesirable tremor-like oscillations at the end of the movement are studied and demonstrated by digital computer simulations.

Algorithms↗
PubMed1993

Stability and control of a frontal four-link biped system.

A conceptual model for studying the involvement of the central nervous system (CNS) in the performance of lateral swaying movements is described. The model is based on a four-link planar biped that approximates gross human locomotion in the frontal plane. The viscoelastic function of the musculoskeletal system provides a linear controller for the system. Such an intrinsic controller can effectively duplicate simple well-learned tasks in the absence of higher level CNS feedback. This hypothesis is supported by comparing the proposed controller with two neurophysiologically involved linear decoupling schemes. Reference trajectories for swaying commands are recorded from experiments conducted in the Gait Analysis Laboratory of the Ohio State University Hospitals. These reference trajectories are inputs to all three controllers. The viability of intrinsic feedback scheme in the execution of swaying tasks is demonstrated via comparison of responses from the three controllers.

Central Nervous System↗
PubMed1992

Energy transformations in human movement by contact.

This study focuses on the transformation of energy in multilinkage systems by a deliberate use of the contact with the ground, leading to a derivation of the directional change of translational velocity of the body's center of mass. The coefficient of friction on the surface on which the impact occurs, and its effect on the overall movement, is studied for general multilinkage systems undergoing impact. The effect of surface friction is made apparent via simulation studies for a two-link example, where two interesting conditions arise: slippage or no slippage on the surface at impact. It is found that once the system stops on the surface, the translational energy increases as the angular velocity increases. Likewise, it is seen that the rotational energy after impact increases as the angular velocity of the first link increases, but the rate of increase of energy is less in the case where the system stops on the ground with no slippage.

Biomechanical Phenomena↗
PubMed1988

A dynamic model for finger interphalangeal coordination.

In this paper a dynamic model to investigate interphalangeal coordination in the human finger is proposed. Suitable models which describe the relationship between the tendon displacement and the joint angles have been chosen and incorporated into the skeletal dynamic model. A kinematic and kinetic model for interphalangeal coordination is suggested. Digital computer simulations are carried out to study interphalangeal (IP) flexion. Moreover, the effect of two different optimization methods is contrasted. The two optimization algorithms are employed to obtain a set of feasible values for the forces in the tendons or muscles of the finger.

Biomechanical Phenomena↗
PubMed1986

Dynamic modelling for implementation of a right turn in bipedal walking.

This paper deals with the development of a conceptual model for the control of a multilink biped during a turning maneuver. The skeletal model is a seven link biped for which the equations of motion are derived. A set of lower limb muscles are idealized by simple force actuators with no co-contraction of agonist-antagonist muscle pairs. A nonlinear control scheme is proposed to guide the model along the desired trajectory and to control ground reaction forces. The input to the system is a desired set of trajectories as functions of time and the patterns of desired ground reaction forces in a turn. One set of such inputs are inferred from the existing literature. With this input, the nonlinear control strategy allows computation of muscular forces needed for the turning maneuver.

Biomechanical Phenomena↗
PubMed1985

Modeling, control, and simulation of human movement.

This article is a discussion and survey of current research activities in modeling, control, and simulation of human movement; the rationale for this methodology, its philosophical implications; current modular implementation; practical and theoretical contributions to other fields such as robotics, prosthetics, medicine, and anatomy; its inherent limitations; relation to other disciplines dealing with human movement; future directions; and the emerging principles that govern human movement.

Biomedical Engineering↗
PubMed1984

Control exerted by ligaments.

The function of the ligaments as local controllers, independent of the central nervous system, in maintaining the integrity of the joint is demonstrated by modelling the human knee in the sagittal plane, and studying its anterior-posterior motion. In addition to the ligaments, the model includes the characteristic geometry of the joint surface and some muscle groups. The connecting reaction forces at the point of contact between the tibia and the femur are considered to be constraint forces due to three different surface motions--gliding, rolling and combined gliding and rolling. It is demonstrated that the ligamentous structure maintains these holonomic and nonholonomic constraints that describe the joint motion, and that stability of the knee joint is provided mainly by ligaments. Muscular structures further stabilize and contribute to joint movement. Computer simulation of rolling movement of the knee is presented to illustrate the importance of the ligaments for joint integrity and stability.

Computers↗
PubMed1984

Control of sliding and rolling at natural joints.

The planar motion of the human knee joint is modeled, involving the relative motion of the geometry of the contacting surface between the tibia and the femur. The pure gliding motion and the pure rolling motion are formulated including the holonomic and nonholonomic constraints that must be satisfied. A control strategy with two classes of inputs: muscle forces that stabilize and bring about the motion and the ligament forces that maintain the constraints is presented. Finally, the effectiveness of this control structure is demonstrated via digital computer simulations in the pure gliding motion and the pure rolling motion of the knee.

Biomechanical Phenomena↗
PubMed1983

Four neural circuit models and their role in the organization of voluntary movement.

Four neural circuit models and their role in the organization of voluntary movement are presented here. These circuits collectively control a ballistic type biped voluntary movement. The structure of each circuit, and its function is discussed. Three of the circuits are central and contribute to the construction of two classes of inputs, analogous to the alpha signals and gamma signals in biological systems. The fourth circuit plays a role in stabilization of the movement, and in compensation for the receptors. Digital computer simulations are undertaken to demonstrate the construction of all the intermediate signals and the response of a two link biped to these efferent signals.

Animals↗