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3. Emulation of the dynamic effects of human torso during a walking gait

Author

Mohamed, B., Gravez, F., and Ouezdou, F.B.

Subjects
Engineering design -- Research, Engineering and manufacturing industries, Science and technology
Abstract

A human being model is very complex and full reproduction of its kinematic structure is a difficult task. The main objective of this paper is to identify a minimal mechanism of the human upper part able to replace it during the walk. A virtual mannequin was built and dynamic simulations are carried out. A dynamic equivalence based on approach is used to identify this mechanism. Simulation results proved that a four dofs mechanism is necessary and sufficient to reproduce human upper part dynamic effects during walking gait. Simplicity of design and control led us to adopt an RPPP mechanism. Future work concerns a full design of the RPPP mechanism. Mounted on a ROBIAN biped locomotion system, dynamic walk experiments are demonstrated. [DOI: 10.1115/1.1778184] more...

Published
2004

4. Kinematic Synthesis of Manipulators Using a Distributed Optimization Method

Author

Ouezdou, F.B., Regnier, S., and Mavroidis, C.

Subjects
Mechanical engineering -- Research, Kinematics -- Analysis, Dimensions -- Analysis, Engineering and manufacturing industries, Science and technology
Abstract

In this paper, the rigid body guidance problem of general 6 degree of freedom manipulators is studied. A new method, called Distributed Optimization Method (DOM), is used to determine the dimensional parameters of general manipulators that are able to reach a finite number of given six degree of freedom position and orientation tasks. It is shown that the global multi-variable optimization problem of kinematic synthesis can be solved as a sequence of local, one variable, optimization problems. The new method allows the possibility to include additional criteria in the manipulator kinematic synthesis such as joint limits, range of dimensional parameters, obstacles avoidance, isotropy and number of configurations to reach a specific end-effector task. Two examples are given to illustrate the validity of the method. more...

Published
1999

7. Modeling and simulation of tendon transfer for pinch task

Author

Ben Sghaier, Amani, Romdhane, L., Ouezdou, F.B., Association Française de Mécanique, and Service irevues, irevues

Subjects
body regions, Transfert tendineux, modèle biomécanique, [PHYS.MECA]Physics [physics]/Mechanics [physics], [PHYS.MECA] Physics [physics]/Mechanics [physics], musculoskeletal system, force musculaire
Abstract

Colloque avec actes et comité de lecture. Internationale.; International audience; This work displayed the maximum magnitude of the fingertip force required to secure objects following paralysis, rupture of extrinsic index extensors and following tendons transfers to assist clinicians in setting realistic expectations for rehabilitating strength of pinch. The optimal combination of tendon tensions that maximize fingertip force was predicted in case of the healthy, the pathological and the reconstructed index finger via a tendon transfer. We used a three-dimensional static biomechanical model based on finger anatomy and numerical optimization technique. The outcomes of the flexor carpi ulnaris (FCU) transfer to extensor communis (EDC), used to restore extension in the index finger, were simulated. more...

Published
2007