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Background/Objectives: There is emerging evidence that task-specific pain-related psychological measures may better predict movement behaviour in chronic low back pain (CLBP) than general pain-related psychological measures. Currently, little is known regarding the prediction of movement duration and movement velocity. Methods: Baseline data from a previously published randomized controlled trial were used (clinicaltrials.gov NCT02773160). Fifty-five patients with CLBP and 54 pain-free persons performed a lifting task while kinematic measurements were obtained to calculate movement velocity of the L1 vertebra, S1 vertebra, and the lumbar spine, as well as the time to complete the lifting task. Scores on the Photograph Daily Activities Series-Short Electronic Version (PHODA-SeV), Tampa Scale for Kinesiophobia (TSK), and its Activity Avoidance and Somatic Focus subscales were used as general pain-related psychological measures. The score on a picture of the PHODA-SeV, showing a person lifting an object with a bent back (PHODA-Lift), was used as task-specific measure of perceived harmfulness. Results: The task-specific measure best predicted movement duration and movement velocity of L1 and the lumbar spine, and explained 35%, 19%, and 25% of the respective movement parameters. Although general perceived harmfulness predicted S1 velocity and movement duration, it only explained 6% and 8% of the respective movement parameters. General measures of pain-related fear were not predictive for any of the movement parameters. It took patients with CLBP significantly longer to complete the lifting task when compared to the pain-free participants (ES = 1.01, p < 0.0001), and patients with CLBP also moved significantly slower at L1 (ES = 0.85, p < 0.0001) and the lumbar spine (ES = 1.01, p < 0.0001). These between-groups differences were larger for CLBP subgroups with higher scores on the PHODA-Lift, and to some extent for subgroups with higher total scores on the PHODA-SeV. Conclusions: Task-specific perceived harmfulness best predicts movement velocity. General pain-related fear measures (i.e., TSK and its subscales) do not predict these movement parameters. [ABSTRACT FROM AUTHOR]

We aimed to conduct a biophysical comparison of angular (Biorower) and linear (Concept2) rowing ergometers across a wide spectrum of exercise intensities. Sixteen (eleven male) skilled rowers, aged 29.8 ± 8.6 and 23.6 ± 1.5 years, with international competitive experience, performed 7 × 3 min bouts with 30 W increments and 60 s intervals, plus 1 min of all-out rowing on both machines with 48 h in between. The ventilatory and kinematical variables were measured breath-by-breath using a telemetric portable gas analyzer and determined using a full-body markerless system, respectively. Similar values of oxygen uptake were observed between ergometers across all intensity domains (e.g., 60.36 ± 8.40 vs. 58.14 ± 7.55 mL/min/kg for the Biorower and Concept2 at severe intensity). The rowing rate was higher on the Biorower vs. Concept2 at heavy and severe intensities (27.88 ± 3.22 vs. 25.69 ± 1.99 and 30.63 ± 3.18 vs. 28.94 ± 2.29). Other differences in kinematics were observed across all intensity domains, particularly in the thorax angle at the finish (e.g., 19.44 ± 4.49 vs. 27.51 ± 7.59° for the Biorower compared to Concep2 at heavy intensity), likely due to closer alignment of the Biorower with an on-water rowing technique. The overall perceived effort was lower on the Biorower when compared to the Concept2 (14.38 ± 1.76 vs. 15.88 ± 1.88). Rowers presented similar cardiorespiratory function on both rowing ergometers, while important biomechanical differences were observed, possibly due to the Biorower's closer alignment with an on-water rowing technique. [ABSTRACT FROM AUTHOR]

A common challenge for exoskeleton control is discerning operator intent to provide seamless actuation of the device with the operator. One way to accomplish this is with joint angle estimation algorithms and multiple sensors on the human–machine system. However, the question remains of what can be accomplished with just one sensor. The objective of this study was to deploy a modular testing approach to test the performance of two joint angle estimation models—a kinematic extrapolation algorithm and a Random Forest machine learning algorithm—when each was informed solely with kinematic gait data from a single potentiometer on an ankle exoskeleton mock-up. This study demonstrates (i) the feasibility of implementing a modular approach to exoskeleton mock-up evaluation to promote continuity between testing configurations and (ii) that a Random Forest algorithm yielded lower realized errors of estimated joint angles and a decreased actuation time than the kinematic model when deployed on the physical device. [ABSTRACT FROM AUTHOR]

Accurate sensing and control are important for high-performance formation control of spacecraft systems. This paper presents a strategy of disturbance estimation and distributed predefined-time control for the formation of multi-spacecraft systems with uncertainties based on a disturbance observer. The process begins by formulating a kinematics model for the relative motion of spacecraft, with the formation's communication topology represented by a directed graph for the formation system of the spacecraft. A disturbance observer is then developed to estimate the disturbances, and the estimation errors can be convergent in fixed time. Following this, a disturbance-estimation-based sliding mode control is proposed to guarantee the predefined-time convergence of the multi-spacecraft formation system, regardless of initial conditions. It allows each spacecraft to reach its desired position within a set time frame. The results of the analysis of the multi-spacecraft formation system are also provided. Finally, an example simulation of a five-spacecraft formation flying system is provided to demonstrate the presented formation control method. [ABSTRACT FROM AUTHOR]

Standing long jump is known as one of the important skills in the success of athletes in most sports. In addition, one of the most effective factors that can affect standing long jump distance and kinematics is the focus of attention used by the athlete. Therefore, the aim of the present study was to compare the effect of internal, external, and holistic focus of attention instructions on standing long jump performance and kinematics. The participants were 30 novices (all males; mean age = 21.70 ± 2.21 years; mean height = 175.73 ± 6.09 cm; and mean weight = 73.76 ± 11.77 kg) who performed 12 standing long jumps in four focus of attention conditions. Internal focus, external focus, holistic focus, and control conditions were implemented in a counterbalanced order. Jump distance and maximum knee flexion angle before take-off were recorded in all trials. The results showed that in relation to the standing long jump performance, the distance was similar in external and holistic focus conditions, and both were superior to internal or control conditions. There was no difference between control and internal focus of attention conditions. The results related to movement kinematics, however, did not report a difference between the maximum flexion angles before take-off. This study replicates the benefits of external and holistic focus instructions for jump distance, but this difference was not a product of different maximum knee flexion angles. It is suggested that coaches implement external and/or holistic focus cues to maximize athlete performance in jumping tasks. [ABSTRACT FROM AUTHOR]

This study evaluates the effects of object weight and hand dominance on the end-point kinematics of the hand-to-mouth (withdrawal) movement in a functional reach-to-drink task for typically developing school-aged children. Using 3D motion capture, speed (average velocity and peak velocity), straightness (ratio), and smoothness (number of velocity peaks and log dimensionless jerk) of hand movements were calculated for the withdrawal motion with three different bottle weights (empty, half-filled, and full). Average velocity (550.4 ± 142.0 versus 512.1 ± 145.6 mm/s) and peak velocity (916.3 ± 234 versus 842.7 ± 198.4 mm/s) were significantly higher with the empty versus half-filled bottle and with the non-dominant (average: 543.5 ± 145.2 mm/s; peak: 896.5 ± 207 mm/s) versus dominant (average: 525.2 ± 40.7 mm/s; peak: 864.2 ± 209.2 mm/s) hand. There were no differences in straightness or smoothness. These findings indicate that increasing weight in reach-to-drink task puts greater constraints on the task. The slower movements with the dominant hand might denote better precision control than the non-dominant hand. The quantitative motion capture results show average values for the kinematic variables for a functional reach-to-drink task in a typically developing population of school-aged children with changing weights of the bottles that are relevant to a real-life scenario. These results could inform the design of individualized therapeutic interventions to improve functional upper-extremity use in children with neurodevelopmental motor disorders. [ABSTRACT FROM AUTHOR]

This paper reports an application of the Lie algebra s e (3) of the Euclidean group S E (3) , which is isomorphic to the theory of screws in the velocity and acceleration analyses of serial manipulators. The symbolic computation of the infinitesimal kinematics allows one to obtain algebraic expressions related to the kinematic characteristics of the end effector of the serial manipulator, while in the case of complex manipulators, numerical computations are preferred owing to the emergence of long terms. The algorithm presented enables the symbolic computation of the velocity and acceleration characteristics of the end effector in serial manipulators in order to allow the compact and efficient modeling of velocity and acceleration analyses of both parallel and serial robotic manipulators. Unlike other algebras, these procedures can be extended without significant effort to higher-order analyses such as the jerk and jounce. [ABSTRACT FROM AUTHOR]

Simple Summary: Equestrian sports have evolved beyond traditional disciplines, embracing specialised events that showcase breed-specific abilities. The Criollo horse breed, a product of centuries of genetic refinement, stands out in South America and internationally, particularly in events like the Freio de Ouro. This competition highlights the breed's versatility and skills, emphasising manoeuvres like the esbarrada and volta sobre patas, which demonstrate agility, coordination, and balance. Despite the breed's success, there is a lack of quantitative kinematic studies on these manoeuvres and their relation to horse morphology. Our study aims to fill this gap by using kinematics to analyse the esbarrada and volta sobre patas, exploring any connections between static goniometry and manoeuvre dynamics. Understanding these movements not only enhances our appreciation of equine biomechanics but also informs breeding and training practices, ultimately benefiting both horses and riders in various equestrian disciplines. The esbarrada and volta sobre patas manoeuvres are critical in Criollo horse equestrian activities, yet their kinematics remain largely unexplored. This observational study aimed to kinematically describe the manoeuvres in Criollo breed horses and explore the relationship between static goniometry and dynamics. A 2D kinematic analysis was conducted on 31 Criollo horses performing the manoeuvres using high-speed cameras. Joint angles were measured using static goniometry and analysed in relation to dynamic performance. The esbarrada covered a distance of 4.28 ± 0.99 m in 1.15 ± 0.11 s at a velocity of 3.77 ± 0.55 m/s. Joint angles showed a mean fetlock extension of 75.4° ± 5.3° and hock flexion of 43.2° ± 4.1°. In the volta sobre patas, significant differences were found in turn duration (first: 0.96 ± 0.07 s, second: 1.12 ± 0.09 s, p = 0.03) and thoracic limb suspension (first: 0.23 ± 0.02 s, second: 0.28 ± 0.03 s, p = 0.02). Static goniometry indicated that limb conformation did not significantly correlate with protraction angles during the esbarrada (p = 0.27). The volta sobre patas demonstrated prolonged duration and increased thoracic limb suspension in the second turn. Also, the findings suggest that static conformation does not predict dynamic limb movement during the esbarrada. [ABSTRACT FROM AUTHOR]

Simple Summary: Water treadmill (WT) exercise is popular for cross-training of sport horses. The nature of the horse's adaptation to WT exercise could be influenced by the type of session used and how often it is conducted. The study's aim was to compare the gait characteristics of 48 sport horses during a standardised WT exercise test (WTSET) at the start, i.e., 'week 0', and after 20 and 40 weeks of WT exercise incorporated within their normal training programme. Horses were recruited from the existing client populations of two commercial water treadmill venues for the purpose of this longitudinal, observational study. Measurements of limb, back, poll, wither, and pelvic movement were taken during the WTSET at weeks 0, 20, and 40. Compared to week 0, the results showed changes in gait characteristics during the WTSET at weeks 20 and 40 that reflected adaptation to walking in water, including increased protraction and decreased retraction of the fore and hind limbs. Kinematic responses were primarily dependent upon water depth, but previous experience of the horses with WT exercise, the number of WT exercise sessions carried out per month, and the type of the WT exercise session used during training with respect to speed and depth used were also influential. The WT session design and frequency of use can influence the nature of the kinematic responses to water walking seen over time, suggesting that WT exercise sessions within a normal sport horse training programme could be designed in accordance with specific training goals. Repeated exposure to water treadmill (WT) exercise could elicit kinematic responses reflecting adaptation to WT exercise. The study's aim was to compare the responses of a group of sport horses to a standardised WT exercise test (WTSET) carried out at three time points, week 0 (n = 48), week 20 (n = 38), and week 40 (n = 29), throughout a normal training programme incorporating WT exercise. Horses were recruited from the existing client populations of two commercial water treadmill venues for the purpose of this longitudinal, observational study. Limb, back, poll, wither, and pelvic kinematics were measured during the WTSET using videography, optical motion capture, and inertial motion sensors. Forelimb and hindlimb protraction increased (p < 0.001 for both), and forelimb and hindlimb retraction decreased (p < 0.001 for both) at week 40 compared to week 0. Caudal thoracic flexion–extension and lateral bend ranges of movement were greater at week 40 compared to week 0 (p < 0.001 and p = 0.009, respectively). Increased training speed was associated with increased craniocaudal poll movement (p = 0.021), decreased forelimb protraction (p = 0.008), and increased forelimb retraction (p = 0.021). In addition to characteristic changes in kinematics due to increasing water depth, regular WT exercise resulted in kinematic adaptation to movement in water. Factors such as the frequency of WT sessions and the type of session used with respect to depth and speed were seen to influence the nature of the adaptation. The results suggest that WT exercise sessions could be designed in accordance with specific training goals when used within a normal sport horse training programme. [ABSTRACT FROM AUTHOR]

Gait dysfunction (GD) is a common impairment of Parkinson's disease (PD), which negatively impacts patients' quality of life. Among the most recent rehabilitation technologies, a lower-limb powered exoskeleton (LLEXO) arises as a useful instrument for gait training in several neurological conditions, including PD. However, some questions relating to methods of use, achievable results, and usefulness compared to traditional rehabilitation methodologies still require clear answers. Therefore, in this review, we aim to summarise and analyse all the studies that have applied an LLEXO to train gait in PD patients. Literature research on PubMed and Scopus retrieved five articles, comprising 46 PD participants stable on medications (age: 71.7 ± 3.7 years, 24 males, Hoehn and Yahr: 2.1 ± 0.6). Compared to traditional rehabilitation, low-profile lower-limb exoskeleton (lp-LLEXO) training brought major improvements towards walking capacity and gait speed, while there are no clear major benefits regarding the dual-task gait cost index and freezing of gait symptoms. Importantly, the results suggest that lp-LLEXO training is more beneficial for patients with an intermediate-to-severe level of disease severity (Hoehn and Yahr > 2.5). This review could provide a novel framework for implementing LLEXO in clinical practise, highlighting its benefits and limitations towards gait training. [ABSTRACT FROM AUTHOR]

This study aimed to assess the validity and reliability of a commercially available inertial measurement unit (Enode) for measuring barbell kinematics and kinetics during a snatch. In order to assess validity and within- and between-session reliability, thirteen competitive weightlifters conducted two snatches on two separate occasions at 85% of their one-repetition maximum. The Enode sensor was attached to the barbell, with each lift recorded via the device's native application concurrently with an 11-camera motion capture system. Passing–Bablok regression indicated fixed and proportional bias in some horizontal measures of barbell mechanics but showed no bias in all but one vertical variable. Collectively, this suggests that the Enode is a valid tool in the measurement of vertically derived, but not horizontally derived, variables from barbell kinematics. Within- and between-session reliability showed moderate to excellent ICCs, with trivial to small differences between repetitions and between sessions. However, between-session reliability showed lower levels of variability and, thus, may help coaches identify changes in technique over time (between sessions) with good accuracy. Overall the Enode offers a practical and affordable option for coaches seeking to monitor weightlifting technique in training environments. [ABSTRACT FROM AUTHOR]

This paper presents a procedure for estimating the motion capabilities of an omnidirectional mobile platform with three omni wheels arbitrarily distributed and oriented. This procedure is based on the analysis of the bidirectionality compliance between the inverse and forward kinematics of a mobile platform for a wide set of discrete motion commands. This procedure has been applied to analyze eleven alternative mobile platform configurations with three omni wheels. The estimation of the omnidirectional motion capabilities of these platforms agrees with state-of-the-art methods while providing new differentiated information on the translational capabilities of each platform. The procedure can be applied in the design stage of new omnidirectional mobile platforms in order to verify the motion capabilities of new designs with omni wheels. [ABSTRACT FROM AUTHOR]

Soccer referees are at risk of injury due to the physical demands of their role. This study evaluated the impact of the 24-week FIFA 11+ Referees training program on the quality of change of direction (COD) maneuvers in elite soccer referees. Eighty-one male referees were randomly assigned to either the 11+ referee group (n = 40) or a control group (n = 41). The intervention group replaced their usual warm-up routines with the FIFA 11+ program, while the control group continued their standard training. Both groups were assessed using the cutting movement assessment score (CMAS) before and after the intervention. The results demonstrated significant improvements in CMAS scores for the 11+ referee group at all tested angles (45°, 70°, and 90°), with the most notable improvements observed at 90° angles. These findings indicate that the FIFA 11+ Referees program enhances COD maneuver quality, which is critical for injury prevention. Implementing this program may therefore improve movement quality and reduce injury risks among soccer referees. Further research should explore the program's long-term efficacy and applicability across different populations and injury factors. [ABSTRACT FROM AUTHOR]

This paper proposes a calculation method for the optimal solution of the inverse kinematics of redundant robots. Specifically, eight sets of vector solutions of redundant robots are solved by the D-H parameter method. Then, an objective function is designed to measure the accuracy of the robot's inverse kinematics solution and the smoothness of the robot's joint motion. By adjusting the weights of each item, the optimal solution that meets different requirements can be selected. In addition, this paper also introduces an improved artificial potential field method to solve the problem of discontinuous changes in gravitational potential in path planning and the problem of excessive joint torque caused by excessive gravitational potential. Finally, the application of the rapidly exploring random tree (RRT) algorithm in robot path planning and obstacle avoidance is introduced. The above-mentioned calculation method and path planning algorithm were verified in the joint simulation environment of MATLAB Robot Toolbox and CoppeliaSim. The proposed inverse solution method is compared with the inverse solution generated in the CoppeliaSim simulation environment, and the angle error of each joint is less than 0.01 rad. [ABSTRACT FROM AUTHOR]

Low back pain (LBP) is a major contributor to lifting-related disabilities. To minimize the risk of back pain, emerging technologies known as lifting exoskeletons were designed to optimize lifting movements. However, it is currently unknown whether a minimally supportive exoskeleton can alter the lifting movement in people without LBP. This study aims to investigate if wearing a novel lightweight exoskeleton that minimally supports the back, hip, and knee can alter the lifting range of motion and movement variations in people without LBP. This study also aims to investigate if wearing this novel exoskeleton can result in a reliable between-day lifting movement. In two separate sessions (each one week apart), fourteen participants lifted a box (that weighed 10% of their body weight) ten times, once while wearing an exoskeleton and once while not wearing an exoskeleton. Wearing the novel exoskeleton during lifting produced moderate-high, test-retest reliability (Trunk: ICC3,1 = 0.89, 95% CI [0.67, 0.96], SEM = 9.34°; Hip: ICC3,1 = 0.63, 95% CI [0.22, 0.88], SEM = 2.57°; Knee: ICC3,1 = 0.61, 95% CI [0.23, 0.87], SEM = 2.50°). Wearing an exoskeleton significantly decreased the range of motion of the knee (F1,4 = 4.83, p = 0.031, ηp2 = 0.06). Additionally, wearing an exoskeleton significantly decreased hip (diff = 8.38, p = 0.045) and knee (diff = −8.57, p = 0.038) movement variability; however, wearing an exoskeleton did not decrease the movement variability of the body's trunk (diff = 0.60, p = 1.00). Therefore, minimally supported lifting through the use of exoskeletons can modify movement in people without LBP and produce reliable lifting movements. Wearing the novel exoskeleton is also desirable for monitoring lifting movements. Future studies should investigate the use of sensors and IMU to monitor lifting movement at work with the least amount of intrusion on an individual's movement. [ABSTRACT FROM AUTHOR]

Sports-related concussions are caused by one substantial impact or several smaller-magnitude impacts to the head or body that lead to an acceleration of the head, causing shaking of the brain. Athletes with a history of sports-related concussion demonstrate lower-extremity biomechanics during landing tasks that are conducive to elevated injury risk. However, the effect of head acceleration on lower-extremity biomechanics during landing tasks is unknown. Twenty participants were evenly separated into a vertical hopping group and a lateral hopping group. Participants performed several land-and-cut maneuvers before and after a hopping intervention. Vertical head acceleration (g) was measured via an accelerometer during the hopping interventions. Comparisons in head acceleration during the hopping tasks were made between groups. Additionally, kinematic and kinetic variables were compared pre- and post-intervention within groups as well as post-intervention between groups. The vertical hopping group demonstrated greater vertical head acceleration compared to the lateral hopping group (p = 0.04). Additionally, the vertical hopping group demonstrated greater knee abduction angles during landing post-intervention compared to the lateral hopping group (p < 0.000). Inducing head acceleration via continuous hopping had an influence on lower-extremity biomechanics during a landing task. [ABSTRACT FROM AUTHOR]

In this study, an optimization method for the motion trajectory of attitude actuators was investigated in order to improve assembly efficiency in the automatic docking process of large components. The self-developed dual-attitude adjustment mechanism (2-PPPR) is used as the research object, and the structure is symmetrical. Based on the modified Denavit–Hartenberg (MDH) parameter description method, a kinematic model of the attitude mechanism is established, and its end trajectory is parametrically expressed using a five-order B-spline curve. Based on the constraints of the dynamics and kinematics of the dual-posture mechanism, the total posturing time, the degree of urgency of each joint, and the degree of difficulty of the mechanism's posturing are selected as the optimization objectives. The Lévy flight and Cauchy variation algorithms are introduced into the salp swarm algorithm (SSA) to solve the parameters of the multi-objective trajectory optimization model. By combining the evaluation method of the multi-objective average optimal solution, the optimal trajectory of the dual-tuning mechanism and the motion trajectory of each joint are obtained. The simulation and experiment results show that the trajectory planning method proposed in this paper is effective and feasible and can ensure that the large-part dual-posture mechanism can complete the automatic docking task smoothly and efficiently. [ABSTRACT FROM AUTHOR]

In this work, non-linear elastic deformations of beams are investigated. The kinematics of the beam is derived based on an element with four-parameter containing a through-the-thickness stretch parameter to avoid Poisson locking. Moreover, the Kirchhoff-Saint Venant model is used to derive kinetic quantities. Next, a non-linear FE formula in Total Lagrangian form is obtained, and three-node beam element with two-node reduced integration is employed to avoid shear locking. Finally, to evaluate the performance of the derived formulations, some examples are provided. The results prove that the current formulation is in very good agreement with those available in the literature. More importantly, the formulation is capable of predicting the experimental results with high accuracy. [ABSTRACT FROM AUTHOR]

Curvature theory, a fundamental subject in kinematics, is typically addressed through the concepts of instantaneous invariants and canonical coordinates, which are pivotal for the generation of mechanical paths. This paper delves into this subject with a higher-order analysis of screws, employing both canonical and natural coordinates. Through this exploration, a new Euler–Savary equation is derived, one that does not rely on canonical coordinates. Additionally, the paper provides a comprehensive classification of the degenerate conditions of the cubic of stationary curves of four-bar linkages at rotational positions. A thorough examination of four-bar linkages in translational positions—the couple links translate instantaneously—is also presented, with analyses extending up to the sixth order. The findings reveal that the Burmester's points at translational positions can be extended to Burmester's points with excess one, provided that all pivot points are symmetrically distributed about the pole norm with the two cranks in corotating senses. However, the extension to Burmester's points with excess two is not possible. Similarly, the Ball's point with excess one does not progress to Ball's point with excess two. The paper also highlights that the traditional method, which is based on canonical coordinates, is ineffective when the four-bar linkage forms a parallelogram. Fortunately, this scenario can be effectively analyzed using the screw-based approach. Ultimately, the results presented can also serve as analytical solutions for 3-RR platforms with higher-order shakiness. [ABSTRACT FROM AUTHOR]

The iron roughneck is an automated piece of equipment utilized for the connection and removal of drilling tools. This paper presents the design of an integrated iron roughneck, providing a detailed introduction to its clamp body structure, along with an analysis of its structural characteristics and performance requirements. The study delves into the integration mode and working characteristics of the clamping mechanism and spin buckle mechanism for the integrated upper clamp body structure of the iron roughneck. Additionally, this paper conducts an in-depth theoretical study on the spin buckle mechanism. Firstly, it analyzes the actual working condition of the spin buckle roller from two perspectives, namely contact theory and rolling friction theory, determining the structural form of the spin buckle roller. Secondly, it investigates the relative displacement between the spin buckle mechanism and the drilling tool, proposing a design method for the floating device mounted on the spin buckle roller and establishing the kinematic equation of the spin buckle roller under the influence of the floating device. Furthermore, the kinematic equations of the spin buckle roller under the influence of the floating device are established. Finally, a dynamics simulation experiment is performed to simulate the working process of the spin buckle mechanism under actual working conditions, analyzing the dynamics and kinematics of the spin buckle mechanism and obtaining the relevant parameter curves of the spin buckle mechanism and drilling tools. Through data comparison and analysis, the correctness of the theoretical analysis results and the rationality of the performance and structure of the spin buckle mechanism are verified. [ABSTRACT FROM AUTHOR]

Continuum robots, possessing great flexibility, can accomplish tasks in complex work scenes, regarded as an important direction in robotics. However, the current continuum robots are not satisfying enough in terms of fabrication and maintenance, and their workspace is limited by structure and other aspects. In this paper, to address the above problems, a modular deployable robot, which adopts an origami structure instead of a flexible hinge, is proposed. A fabrication method is innovated, the Spherical Linkage Parallel Mechanism (SLPM) unit is optimized, and the installation and fabrication process of the robot is simplified through modularization. The forward kinematics and inverse kinematics of the robot and its workspace are analyzed by using the screw theory. The prototype of the robot is constructed, and its folding performance, bending performance, and motion accuracy are tested, and the error analysis and compensation optimization are carried out. After the optimization, the position error of the robot is reduced by about 65%, and the standard deviation is greatly lowered, which effectively improves the motion accuracy and stability of the robot. [ABSTRACT FROM AUTHOR]

This paper proposes a kinetostatic approach for analyzing the joint torques of a redundant snake robot. The method is suitable for weightless space environments. With the high degree of freedom and flexible cable actuation, the redundant snake robot is well-suited for utilization in space-weightless environments. This method reduces computational cost by using the multiplication of matrices and vectors instead of inverse matrices. Taking advantage of the velocity screw (twist) and force screw (wrench), this strategy provides an idea for redundant serial robots to achieve the calculation of joint torques. This methodology is straightforward for programming and has good computational efficiency. The instantaneous work performed by the actuation is expressed with the force screw. According to the principle of virtual work, the kinetostatic equation of the robot can be obtained and the torque required for each joint can be determined. Meanwhile, to solve the inertia force generated by joint acceleration, D'Alembert's principle is adopted to transform the dynamic problem into a static problem. Through kinetostatic analysis of a redundant snake robot, this paper shows the approach of establishing the kinetostatic model to calculate the torque in screw form. At the same time, the actuation distribution of the redundant snake robot is also cracked effectively for practical purposes. Due to the difficulty of achieving weightless space environments, this paper validates the method by using ADAMS simulation without gravity in the simulation. [ABSTRACT FROM AUTHOR]

The performance characteristics of fast bowling include high ball release speed, that reduces the shot execution time of the batter, accuracy, ensuring the ball follows the desired trajectory, and deception. This can lead the batter to misjudge the ball speed or path. Previous research has utilised a variety of biomechanical methodologies in order to further understand fast bowling techniques. The aim of this study was to systematically review biomechanical literature related to cricket fast bowling performance and narratively synthesise findings to provide a comprehensive summary of key performance characteristics. The articles were finalised according to Preferred Reporting Items for Systematic Reviews (PRISMA) guidelines. PubMed/MEDLINE, Scopus, CINAHL, SPORT Discus and Web of Science databases were searched and assessed by title, abstract, full-text and a bibliography assessment of included full-text articles. The search strategy included keywords of cricket fast bowling, biomechanics and performance analysis. A validated scale was developed to evaluate the quality of studies and risk of bias. Across the 15 studies finalised for the review (from 2000--2022), there was consensus in some of the characteristics reported to be associated with ball release speed; however, there was disagreement or limited evidence for others. A faster run-up, efficient and sequential transfer of linear to angular momentum, quick deceleration during the delivery stride with an extended front knee from front foot contact to ball release and delaying the bowling arm leading to ball release were the major techniques variables consensually associated with ball release speed. The lack of standardisation of cohort ability and protocols may have contributed to contradictory findings across studies. [ABSTRACT FROM AUTHOR]

Soccer biomechanics is a field that applies principles of mechanics to improve performance and reduce the risk of injury for soccer players. The purpose of this research is to perform a mapping review of the existing knowledge in the current literature, identify leading researchers and institutions, and explore emerging research topics. After conducting a mini literature review, a bibliometric analysis was carried out using the VOSviewer software. The data imported into VOSviewer was obtained from the Scopus database and included 951 records. The analysis performed included: (a) performance analysis to calculate the number of records per year and the authors with the most citations; (b) science mapping analysis (co-authorship, co-citation, and bibliographic coupling); and (c) clustering analysis through the co-occurrence analysis of author keywords. Our findings highlight a significant growth in research publications on soccer biomechanics over the past few decades, with a notable increase in the number of articles published in high-impact journals. Additionally, the clustering analysis resulted in seven clusters, with each cluster providing valuable insights into different aspects of soccer biomechanics, which clearly reflects the multifaceted nature of the field. [ABSTRACT FROM AUTHOR]

Variable-Angle Tow (VAT) laminates can improve straight fiber composites' mechanical properties thanks to the application of curvilinear fibers. This characteristic allows one to achieve ambitious objectives for design and performance purposes. Nevertheless, the wider design space and the higher number of parameters result in a more complex structural problem. Among the various approaches that have been used for VAT study, Carrera's Unified Formulation (CUF) allows one to obtain multiple theories within the same framework, guaranteeing a good compromise between the results' accuracy and the computational cost. In this article, the linear buckling behavior of VAT laminates is analyzed through the extension of CUF 2D plate models within Reissner's Mixed Variational Theorem (RMVT). The results show that RMVT can better approximate the prebuckling nonuniform stress field of the plate when compared to standard approaches, thus improving the prediction of the linear buckling loads of VAT composites. [ABSTRACT FROM AUTHOR]

The Qiulitage fold and thrust belt (QFTB) is situated in the Kuqa Depression, exhibiting spectacular salt structures with well-defined geometric and kinematic characteristics and thereby playing a significant role in advancing the study of salt structures worldwide. This research, based on regional geology, well logging, and newly acquired three-dimensional seismic data, applies principles of salt-related fault structures to interpret seismic data and restore structural equilibrium in the Qiulitage fold and thrust belt within the Kuqa Depression by conducting quantitative studies on structural geometry and kinematics. Results indicate clear differences in salt structures between the eastern and western segments of it, vertically divided into upper salt, salt layer, and lower salt and horizontally into four parts. The Dina segment features a single-row basement-involved thrust fault, the East QFTB segment displays detachment thrust faults involving cover layers, the Central QFTB segment exhibits detachment thrust faults involving multiple rows of cover layers, the leading edge forms structural wedges, and the West QFTB segment develops blind-thrust faults. During the deposition of the Kangcun formation, the eastern profile experiences an 18% shortening rate, 14% in the central part, and 9% in the western part. For the Kuqa formation, the eastern profile experiences a 10% shortening rate, 9% in the central part, and 3% in the western part, indicating more significant deformation in the east than in the west. Quantitative statistical analysis reveals that different types of detachments, paleogeomorphology, and northeast-directed compressive stress exert control over the Qiulitage fold-thrust belt. [ABSTRACT FROM AUTHOR]

This paper studies the trajectory tracking issue for an underactuated autonomous underwater vehicle (AUV) in the horizontal plane. The desired velocity–tracking error relationship (DVTER) is constructed according to the kinematics and kinetic equation, which means that the expected velocities are built so that the position tracking errors converge to 0. Moreover, the limitation of obtaining the expected velocity by directly differentiating the desired position values is avoided. Then, the nonsingular fast terminal sliding mode (TSM) controller is developed to ensure that the velocities converge to the designed expected values in finite time, and tracking speed is improved by comparing with the traditional nonsingular terminal sliding mode method. It turns out that the expected trajectory can be tracked by an underactuated AUV. Finally, the efficiency of the constructed control mechanism is confirmed by simulation results. [ABSTRACT FROM AUTHOR]

(1) Background: Traditional gait assessment methods have limitations like time-consuming procedures, the requirement of skilled personnel, soft tissue artifacts, and high costs. Various 3D time scanning techniques are emerging to overcome these issues. This study compares a 3D temporal scanning system (Move4D) with an inertial motion capture system (Xsens) to evaluate their reliability and accuracy in assessing gait spatiotemporal parameters and joint kinematics. (2) Methods: This study included 13 healthy people and one hemiplegic patient, and it examined stance time, swing time, cycle time, and stride length. Statistical analysis included paired samples t-test, Bland–Altman plot, and the intraclass correlation coefficient (ICC). (3) Results: A high degree of agreement and no significant difference (p > 0.05) between the two measurement systems have been found for stance time, swing time, and cycle time. Evaluation of stride length shows a significant difference (p < 0.05) between Xsens and Move4D. The highest root-mean-square error (RMSE) was found in hip flexion/extension (RMSE = 10.99°); (4) Conclusions: The present work demonstrated that the system Move4D can estimate gait spatiotemporal parameters (gait phases duration and cycle time) and joint angles with reliability and accuracy comparable to Xsens. This study allows further innovative research using 4D (3D over time) scanning for quantitative gait assessment in clinical practice. [ABSTRACT FROM AUTHOR]

As a kind of space robot, the two-arm cascade combination system (TACCS) has been applied to perform auxiliary operations at different locations outside space cabins. The motion coupling relation of two arms and complex surrounding obstacles make the collision-free trajectory planning optimization of TACCS more difficult, which has become an urgent problem to be solved. For the above problem, this paper proposed collision-free and time–energy–minimum trajectory planning optimization algorithms, considering the motion coupling of two arms. In this method, the screw-based inverse kinematics (IK) model of TACCS is established to provide the basis for the motion planning in joint space by decoupling the whole IK problem into two IK sub-problems of two arms; the minimum distance calculation model is established based on the hybrid geometric enveloping way and basic distance functions, which can provide the efficient and accurate data basis for the obstacle-avoidance constraint condition of the trajectory optimization. Moreover, the single and bi-layer optimization algorithms are presented by taking motion time and energy consumption as objectives and considering obstacle-avoidance and kinematics constraints. Finally, through example cases, the results indicate that the bi-layer optimization has higher convergence efficiency under the premise of ensuring the optimization effect by separating variables and constraint terms. This work can provide theoretical and methodological support for the efficient and intelligent applications of TACCS in the space arena. [ABSTRACT FROM AUTHOR]

To ensure the safe production of mines, the intelligent trend of underground mining operations is gradually advancing. However, the operational environment of subterranean mining is intricate, making the conventional path-planning algorithm used by mining inspection robots frequently inadequate for real requirements. To safeguard the mining inspection robot, targeting the problem of low search efficiency and path redundancy in the path planning of the existing rapidly exploring random tree (RRT) algorithm in the narrow and complex unstructured environment, a path-planning algorithm combining improved RRT and a probabilistic road map (PRM) is proposed. Initially, the target area is efficiently searched according to the fan-shaped goal orientation strategy and the adaptive step size expansion strategy. Subsequently, the PRM algorithm and the improved RRT algorithm are combined to reduce the redundant points of the planning path. Ultimately, considering the kinematics of the vehicle, the path is optimized by the third-order Bessel curve. The experimental simulation results show that the proposed path-planning algorithm has a higher success rate, smoother path, and shorter path length than other algorithms in complex underground mining environments, which proves the effectiveness of the proposed algorithm. [ABSTRACT FROM AUTHOR]

Simple Summary: Animals and plants present asymmetric structures in nature. The most relevant motor behavioural manifestation of lateralisation is handedness, which is defined as the consistent use of one effector rather than the other in performing certain tasks. In animals, including human beings, handedness is associated with the presence of a nervous system. Researchers have recently challenged this idea by reporting that even organisms without a nervous system, such as plants, exhibit similarities with animals in terms of directional movement patterns (i.e., right-handed prevalence), opening up the possibility of a comparative study of handedness across taxa. Here, we advance a comparative approach to the study of handedness in plants by adopting the experimental paradigms already used to research laterality in various animal species. Structural and functional asymmetries are traceable in every form of life, and some lateralities are homologous. Functionally speaking, the division of labour between the two halves of the brain is a basic characteristic of the nervous system that arose even before the appearance of vertebrates. The most well-known expression of this specialisation in humans is hand dominance, also known as handedness. Even if hand/limb/paw dominance is far more commonly associated with the presence of a nervous system, it is also observed in its own form in aneural organisms, such as plants. To date, little is known regarding the possible functional significance of this dominance in plants, and many questions remain open (among them, whether it reflects a generalised behavioural asymmetry). Here, we propose a comparative approach to the study of handedness, including plants, by taking advantage of the experimental models and paradigms already used to study laterality in humans and various animal species. By taking this approach, we aim to enrich our knowledge of the concept of handedness across natural kingdoms. [ABSTRACT FROM AUTHOR]

Locomotor and balance disorders are major limitations for subjects with hemiparesis. The Timed Up and Go (TUG) test is a complex navigational task involving oriented walking and obstacle circumvention. We hypothesized that subjects with hemiparesis adopt a cautious gait during complex locomotor tasks. The primary aim was to compare spatio-temporal gait parameters, indicators of cautious gait, between the locomotor subtasks of the TUG (Go, Turn, Return) and a Straight-line walk in people with hemiparesis. Our secondary aim was to analyze the relationships between TUG performance and balance measures, compare spatio-temporal gait parameters between fallers and non-fallers, and identify the biomechanical determinants of TUG performance. Biomechanical parameters during the TUG and Straight-line walk were analyzed using a motion capture system. A repeated measures ANOVA and two stepwise ascending multiple regressions (with performance variables and biomechanical variables) were conducted. Gait speed, step length, and % single support phase (SSP) of the 29 participants were reduced during Turn compared to Go and Return and the Straight-line walk, and step width and % double support phase were increased. TUG performance was related to several balance measures. Turn performance (R2 = 63%) and Turn trajectory deviation followed by % SSP on the paretic side and the vertical center of mass velocity during Go (R2 = 71%) determined TUG performance time. People with hemiparesis adopt a cautious gait during complex navigation at the expense of performance. [ABSTRACT FROM AUTHOR]

It is worthwhile to calculate the execution cost of a manipulator for selecting a planning algorithm to generate trajectories, especially for an agricultural robot. Although there are various off-the-shelf trajectory planning methods, such as pursuing the shortest stroke or the smallest time cost, they often do not consider factors synthetically. This paper uses the state-of-the-art Python version of the Robotics Toolbox for manipulator trajectory planning instead of the traditional D–H method. We propose a cost function with mass, iteration, and residual to assess the effort of a manipulator. We realized three inverse kinematics methods (NR, GN, and LM with variants) and verified our cost function's feasibility and effectiveness. Furthermore, we compared it with state-of-the-art methods such as Double A* and MoveIt. Results show that our method is valid and stable. Moreover, we applied LM (Chan λ = 0.1) in mobile operation on our agricultural robot platform. [ABSTRACT FROM AUTHOR]

The last few decades have led to the rise of research focused on propulsion and control systems for bio-inspired unmanned underwater vehicles (UUVs), which provide more maneuverable alternatives to traditional UUVs in underwater missions. Recent work has explored the use of time-series neural network surrogate models to predict thrust and power from vehicle design and fin kinematics. We expand upon this work, creating new forward neural network models that encapsulate the effects of the material stiffness of the fin on its kinematic performance, thrust, and power, and are able to interpolate to the full spectrum of kinematic gaits for each material. Notably, we demonstrate through testing of holdout data that our developed forward models capture the thrust and power associated with each set of parameters with high resolution, enabling highly accurate predictions of previously unseen gaits and thrust and FOM gains through proper materials and kinematics selection. As propulsive efficiency is of utmost importance for flapping-fin UUVs in order to extend their range and endurance for essential operations, a non-dimensional figure of merit (FOM), derived from measures of propulsive efficiency, is used to evaluate different fin designs and kinematics and allow for comparison with other bio-inspired platforms. We use the developed FOM to analyze optimal gaits and compare the performance between different fin materials. The forward model demonstrates the ability to capture the highest thrust and FOM with good precision, which enables us to improve thrust generation by 83.89% and efficiency by 137.58% with proper fin stiffness and kinematics selection, allowing us to improve material selection for bio-inspired fin design. [ABSTRACT FROM AUTHOR]

The use of both hands is a common practice in everyday life. The capacity to interact with the environment is largely dependent on the ability to use both hands. A thorough review of the current state of the art reveals that commercially available prosthetic hands designed for children are very different in functionality from those developed for adults, primarily due to prosthetic hands for adults featuring a greater number of actuated joints. Many times, patients stop using their prosthetic device because they feel that it does not fit well in terms of shape and size. With the idea of solving these problems, the design of HandBot-Kid has been developed with the anthropomorphic qualities of a child between the ages of eight and twelve in mind. Fitting the features of this age range, the robotic hand has a length of 16 cm, width of 7 cm, thickness of 3.6 cm, and weight of 328 g. The prosthesis is equipped with a total of fifteen degrees of freedom (DOF), with three DOFs allocated to each finger. The concept of design for manufacturing and assembly (DFMA) has been integrated into the development process, enabling the number of parts to be optimized in order to reduce the production time and cost. The utilization of 3D printing technology in conjunction with aluminum machining enabled the manufacturing process of the robotic hand prototype to be streamlined. The flexion–extension movement of each finger exhibits a trajectory that is highly similar to that of a real human finger. The four-bar mechanism integrated into the finger design achieves a mechanical advantage (MA) of 40.33% and a fingertip pressure force of 10.23 N. Finally, HandBot-Kid was subjected to a series of studies and taxonomical tests, including Cutkosky (16 points) and Kapandji (4 points) score tests, and the functional results were compared with some commercial solutions for children mentioned in the state of the art. [ABSTRACT FROM AUTHOR]

Collaborative robots are used in scenarios requiring interaction with humans. In order to improve the safety and adaptability of collaborative robots during human–robot interaction, this paper proposes a modular wire-actuated robotic arm with symmetric variable-stiffness units. The variable-stiffness unit is employed to extend the stiffness-adjustment range of the robotic arm. The variable-stiffness unit is designed based on flexure, featuring a compact and simple structure. The stiffness–force relationship of the variable-stiffness unit can be fitted by a quadratic function with an R-squared value of 0.99981, indicating weak nonlinearity. Based on the kinematics and stiffness analysis of the symmetric joint module of the robotic arm, the orientation of the joint module can be adjusted by regulating the length of the wires and the stiffness of the joint module can be adjusted by regulating the tension of the wires. Because of the actuation redundancy, the orientation and stiffness of the joint module can be adjusted synchronously. Furthermore, a direct method is proposed for the stiffness-oriented wire-tension-distribution problem of the 1-DOF joint module. A simulation is carried out to verify the proposed method. The simulation result shows that the deviation between the calculated stiffness and the desired stiffness was less than 0.005%. [ABSTRACT FROM AUTHOR]

A stroke represents a significant medical condition characterized by the sudden interruption of blood flow to the brain, leading to cellular damage or death. The impact of stroke on individuals can vary from mild impairments to severe disability. Treatment for stroke often focuses on gait rehabilitation. Notably, assessing muscle activation and kinematics patterns using electromyography (EMG) and stereophotogrammetry, respectively, during walking can provide information regarding pathological gait conditions. The concurrent measurement of EMG and kinematics can help in understanding disfunction in the contribution of specific muscles to different phases of gait. To this aim, complexity metrics (e.g., sample entropy; approximate entropy; spectral entropy) applied to EMG and kinematics have been demonstrated to be effective in identifying abnormal conditions. Moreover, the conditional entropy between EMG and kinematics can identify the relationship between gait data and muscle activation patterns. This study aims to utilize several machine learning classifiers to distinguish individuals with stroke from healthy controls based on kinematics and EMG complexity measures. The cubic support vector machine applied to EMG metrics delivered the best classification results reaching 99.85% of accuracy. This method could assist clinicians in monitoring the recovery of motor impairments for stroke patients. [ABSTRACT FROM AUTHOR]

Creating body poses and animations is a critical task for digital content creators, movement artists, and sports professionals. Traditional desktop-based tools for generating 3D poses and animations often lack intuitiveness and are challenging to master. Virtual reality (VR) offers a solution through more intuitive direct-manipulation capabilities. We designed and implemented a VR tool that enables direct manipulation of virtual body parts with inverse kinematics. This tool allows users to pose and animate virtual bodies with one- or two-handed manipulations, while also moving, including bending, jumping, or walking. Our user study demonstrated that participants could produce creative poses and animations using this tool, which we evaluated for creativity support across six factors. Additionally, we discuss further opportunities to enhance creativity support. [ABSTRACT FROM AUTHOR]

To address the question of which posture trailing-arm vehicles (TAVs) should be adopted while driving, this study introduces an innovative active posture controller (APC) to improve both path-following and handling stability performance. Leveraging a nonlinear tire model that considers corner load variation and wheel camber, alongside the kinematics and double-track model of TAVs, the impact of vehicle body posture on handling performance has been investigated. To fully utilize the four-wheel independent drive and posture adjustable characteristics of the TAV mechanisms, an integrated nonlinear model predictive control (NMPC) combining APC and tire forces distribution is devised. Through simulations conducted using Simulink-Multibody (2023a), the effectiveness of the proposed controller is demonstrated, particularly when compared to the scheme that does not account for the unique posture adjustment mechanisms of TAVs. [ABSTRACT FROM AUTHOR]

When using traditional 3D printing equipment to manufacture overhang models, it is often necessary to generate support structures to assist in the printing of parts. The post-processing operation of removing the support structures after printing is time-consuming and wastes material. In order to solve the above problems, a support-free five-degree-of-freedom additive manufacturing (SFAM) method is proposed. Through the homogeneous coordinate transformation matrix, the forward and inverse kinematics equations of the five-degree-of-freedom additive manufacturing device (FAMD) are established, and the joint variables of each axis are solved to realize the five-axis linkage of the additive manufacturing (AM) device. In this research work, initially, the layered curve is obtained through the structural lines of the overhang model, and a continuous path planning of the infill area is performed on it, and further, the part printing experiments are conducted on the FAMD. Compared with the traditional three-axis additive manufacturing (TTAM) method, the SFAM method shortens the printing time by 23.58% and saves printing materials by 33.06%. The experimental results show that the SFAM method realizes the support-free printing of overhang models, which not only improves the accuracy of the parts but also the manufacturing efficiency of the parts. [ABSTRACT FROM AUTHOR]

This paper focuses on the structural and finite strain analysis of the Pelagonian nappe, the HP/LT Ampelakia unit, and the Olympos-Ossa unit in the Olympos-Ossa mountainous area in order to better understand the exhumation history of the Ampelakia unit and the underlain Olympos-Ossa unit. Two main stages of Tertiary deformation were revealed, related to nappe stacking and exhumation processes. During the Paleocene–Eocene crustal subduction, HP/LT metamorphism, compression, and nappe stacking were developed progressively. This D1 stage was terminated with the final SW-ward emplacement of the Ampelakia and Pelagonian nappe on the Olympos-Ossa unit during the Eocene–Early Oligocene. The next stage of deformation, D2, was developed during the Oligocene–Miocene following the orogenic nappes stacking. D2 was considered an extensional event, related to metamorphic isothermal decompression, nappes tectonic denudation, crustal uplift, and final exhumation of the Ampelakia unit and the Olympos-Ossa unit as a tectonic window. The calculated finite strain ellipsoids indicate a main flattening type strain geometry and middle strain intensity, increasing along the nappe contacts. The quartz C-axes diagrams also reveal a flattening type of deformation and non-coaxial flow towards the southwest and northeast at the western and eastern flanks of Olympos-Ossa Mountain, respectively. The calculated Wk vorticity number ranges from 0.23 to 0.93. [ABSTRACT FROM AUTHOR]

The problem of soil and Chuanxiong tuber congestion on vibrating screens usually exists during the Chuanxiong mechanized harvesting process. To address this problem, the conveyance performance of a crankshaft rocker vibrating screen was studied. By establishing and solving the dynamics and kinematics equations for the crankshaft rocker vibrating mechanism and Chuanxiong soil residue, the acceleration of the vibrating screen and Chuanxiong-soil residue was studied. The sliding speed, motion process, and conveying distance of the Chuanxiong soil residue were also analyzed. The theoretical analysis results indicated that the acceleration of the vibrating screen depends on the rod lengths of the vibrating mechanism and the crank rotational speed and position. The displacement of the Chuanxiong-soil residue along the positive sliding direction in a cycle was more significant than that of the negative sliding direction. The appropriate advancement speed of the harvester was also obtained. The RecurDyn and EDEM coupling simulation was conducted. The simulation results verified the theoretical analysis. In the simulation, the Chuanxiong-soil residue was effectively conveyed. The field tests were conducted to verify the theoretical analysis. The harvester was tested in the field with crank rotational speeds of 0 r/min, 120 r/min, and 240 r/min, and advancement speeds of 0.5 m/s, 1 m/s, 1.5 m/s, and 2 m/s. The results showed that there was no congestion in the screen during the working process when the rotational speed of the crank was 240 r/min, and the advancement speed of the harvester was no faster than 1.5 m/s. When the crank rotational speed was 240 r/min, and the advancement speeds were 0.5 m/s, 1 m/s, and 1.5 m/s, the weights of Chuanxiong and soil on the screen after the test were 71.5 kg, 84.7 kg, and 105.7 kg, respectively. The field tests verified the conveyance performance of the vibrating screen. This study can provide a theoretical reference for designing the crankshaft rocker vibrating mechanism for the rhizome harvesting machine. [ABSTRACT FROM AUTHOR]

This paper presents an efficient inverse kinematics solution for redundant robotic arms. The proposed method combines the principles of continuation methods, improves the instability of the computation time by increasing the convergence of the kinematics function, and improves the efficiency of traditional numerical methods. The effectiveness and efficient performance of the method are demonstrated through comparative experiments. The computational speed of the method is twice as fast as the Newton–Raphson method under joint limit constraints and equal solution accuracy. [ABSTRACT FROM AUTHOR]

Origami exhibits the remarkable ability to transform into diverse shapes, including quadrilaterals, triangles, and more complex polygons. This unique property has inspired the integration of origami principles into engineering design, particularly in the development of foldable mechanisms. In the field of robotics, when combined with actuators, these foldable mechanisms are referred to as active origami. Origami-based mechanisms play a pivotal role as versatile end effectors or grippers, enabling them to accurately trace desired trajectories. The performance of these mechanisms heavily relies on their specific fold patterns. To shed light on their capabilities, this study focuses on five representative structures using spherical mechanisms: oriceps, Miura ori, MACIOR, and two hexagonal structures. To assess their potential, a comparative analysis is conducted, evaluating their kinematic and scaling performances. The analysis employs the "scaling factor" as a metric, which quantifies the mechanical advantage of these mechanisms. This metric aids in the selection of appropriate structures for various applications. [ABSTRACT FROM AUTHOR]

Soft robotic manipulators consisting of serially stacked segments combine actuation and structure in an integrated design. This design can be miniaturised while providing suitable actuation for potential applications that may include endoluminal surgery and inspections in confined environments. The control of these robots, however, remains challenging, due to the difficulty in accurately modelling the robots, in coping with their redundancies, and in solving their full inverse kinematics. In this work, we explore a hybrid approach to control serial soft robotic manipulators that combines machine learning (ML) to estimate the inverse kinematics with closed-loop control to compensate for the remaining errors. For the ML part, we compare various approaches, including both kernel-based learning and more general neural networks. We validate the selected ML model experimentally. For the closed-loop control part, we first explore Jacobian formulations using both synthetic models and numerical approximations from experimental data. We then implement integral control actions using both these Jacobians, and evaluate them experimentally. In an experimental validation, we demonstrate that the hybrid control approach achieves setpoint regulation in a robot with six inputs and four outputs. [ABSTRACT FROM AUTHOR]

Background: During city running or marathon races, shifts in level ground and up-and-down slopes are regularly encountered, resulting in changes in lower limb biomechanics. The longitudinal bending stiffness of the running shoe affects the running performance. Purpose: This research aimed to investigate the biomechanical changes in the lower limbs when transitioning from level ground to an uphill slope under different longitudinal bending stiffness (LBS) levels in running shoes. Methods: Fifteen male amateur runners were recruited and tested while wearing three different LBS running shoes. The participants were asked to pass the force platform with their right foot at a speed of 3.3 m/s ± 0.2. Kinematics data and GRFs were collected synchronously. Each participant completed and recorded ten successful experiments per pair of shoes. Results: The range of motion in the sagittal of the knee joint was reduced with the increase in the longitudinal bending stiffness. Positive work was increased in the sagittal plane of the ankle joint and reduced in the keen joint. The negative work of the knee joint increased in the sagittal plane. The positive work of the metatarsophalangeal joint in the sagittal plane increased. Conclusion: Transitioning from running on a level surface to running uphill, while wearing running shoes with high LBS, could lead to improved efficiency in lower limb function. However, the higher LBS of running shoes increases the energy absorption of the knee joint, potentially increasing the risk of knee injuries. Thus, amateurs should choose running shoes with optimal stiffness when running. [ABSTRACT FROM AUTHOR]

Traditional motion analysis systems are impractical for widespread screening of non-contact anterior cruciate ligament (ACL) injury risk. The Kinect V2 has been identified as a portable and reliable alternative but was replaced by the Azure Kinect. We hypothesize that the Azure Kinect will assess drop vertical jump (DVJ) parameters associated with ACL injury risk with similar accuracy to its predecessor, the Kinect V2. Sixty-nine participants performed DVJs while being recorded by both the Azure Kinect and the Kinect V2 simultaneously. Our software analyzed the data to identify initial coronal, peak coronal, and peak sagittal knee angles. Agreement between the two systems was evaluated using the intraclass correlation coefficient (ICC). There was poor agreement between the Azure Kinect and the Kinect V2 for initial and peak coronal angles (ICC values ranging from 0.135 to 0.446), and moderate agreement for peak sagittal angles (ICC = 0.608, 0.655 for left and right knees, respectively). At this point in time, the Azure Kinect system is not a reliable successor to the Kinect V2 system for assessment of initial coronal, peak coronal, and peak sagittal angles during a DVJ, despite demonstrating superior tracking of continuous knee angles. Alternative motion analysis systems should be explored. [ABSTRACT FROM AUTHOR]

The development of machine tools in the last twenty years includes, among other things, the application of mechanisms with a non-linear kinematic structure as the mechanical basis of machines. This results in significant improvements in kinematic characteristics and problems related to non-linear dependencies of the accuracy of the drive elements and the realization of movement in the machine's external coordinates. The paper presents an approach to machine tool calibration based on the original O-X glide mechanism based on the ISO 230-4 standard with the mono- and bi-directional compensation of systematic errors and adaptation to the specifics of the mechanism's kinematics. A machine tool prototype was designed and built for the research presented in the paper. The obtained results indicate the possibility of applying the existing recommendations and standards for testing the accuracy of machine tools with the need to correct the methodology by using linear and non-linear kinematic structures in machine tools. [ABSTRACT FROM AUTHOR]

This study aimed to investigate the reliability, validity, and sensitivity of spatiotemporal parameters, during sprint skating, of bandy players. Thirty-two well-trained male bandy players (age: 17.8 ± 1.2 years; height: 1.80 ± 0.06 m; body mass: 75.7 ± 1.2 kg) participated in this study. They performed two 80 m linear skating sprints. To calculate the velocities and obtain glide-by-glide spatiotemporal variables, nine timing gates and two skate-mounted inertial measurement units (IMUs) were synchronized and used. The spatiotemporal variables at each step included the glide time, glide length, double support time, double support length, step length, and step frequency. All the spatiotemporal variables were analyzed separately: averaged over 80 m, during the acceleration, and the maximal steady-state phases. The relative and absolute reliability of the spatiotemporal parameters were good (ICC > 0.70; CV < 10%), except for the step frequency during the steady-state phase. The spatiotemporal parameters showed "good" to "satisfactory" sensitivity during the acceleration phase and whole sprint, and "marginal" sensitivity during the steady-state phase. Content validity was confirmed by a low percentage of the shared variance (17.9–34.3%) between the spatiotemporal parameters obtained during the acceleration and steady-state phases. A "stepwise" regression significantly predicted the steady-state skating velocity from the spatiotemporal metrics obtained during the acceleration [F(5,26) = 8.34, p < 0.001, adj. R2 = 0.62] and steady-state phases [F(5,26) = 13.6, p < 0.01, R2 = 0.67]. Only the step frequency obtained in the acceleration phase significantly predicted the maximal skating velocity (p < 0.01), while the glide length and step frequency derived during the steady-state phase significantly added to the prediction (p < 0.01). In conclusion, the spatiotemporal parameters, obtained by two skate-mounted IMUs, were shown to be reliable and sensitive measures of sprint skating, and they could be used to provide independent information for the different skating phases. The maximal skating velocity could be predicted from the spatiotemporal parameters, with longer gliding and more frequent steps as the most significant determinants. [ABSTRACT FROM AUTHOR]

Sprinting plays a significant role in determining the results of road cycling races worldwide. However, currently, there is a lack of systematic research into the kinematics of sprint cycling, especially in an outdoor, environmentally valid setting. This study aimed to describe selected joint kinematics during a cycling sprint outdoors. Three participants were recorded sprinting over 60 meters in both standing and seated sprinting positions on an outdoor course with a baseline condition of seated cycling at 20 km/h. The participants were recorded using array-based inertial measurement units to collect joint excursions of the upper and lower limbs including the trunk. A high-rate GPS unit was used to record velocity during each recorded condition. Kinematic data were analyzed in a similar fashion to running gait, where multiple pedal strokes were identified, delineated, and averaged to form a representative (average ± SD) waveform. Participants maintained stable kinematics in most joints studied during the baseline condition, but variations in ranges of movement were recorded during seated and standing sprinting. Discernable patterns started to emerge for several kinematic profiles during standing sprinting. Alternate sprinting strategies emerged between participants and bilateral asymmetries were also recorded in the individuals tested. This approach to studying road cycling holds substantial potential for researchers wishing to explore this sport. [ABSTRACT FROM AUTHOR]