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Entwicklung und Analyse walkingbasierter Ausdauertestverfahren im Rahmen der medizinischen Rehabilitation

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Book Series: Karlsruher sportwissenschaftliche Beiträge. Schriftenreihe des Instituts für Sport und Sportwissenschaft der Universität Karlsruhe (TH) ISSN: 1862748X ISBN: 9783866441712 Year: Volume: 4 Pages: 135 p. DOI: 10.5445/KSP/1000006973 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Sports Science
Added to DOAB on : 2019-07-30 20:01:57
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In der stationären medizinischen Rehabilitation ist die kardiopulmonale Leistungsfähigkeit ein entscheidender Parameter für die sozialmedizinische Begutachtung. Als Goldstandard zur Beurteilung dieses Parameters sowie zur Bestimmung optimaler Trainingspulsbereiche gelten (spiro)ergometrische Untersuchungsverfahren, die zumeist als Tretkurbelarbeit im Sitzen oder Liegen durchgeführt werden. In der diagnostischen Praxis besitzt die Fahrradergometrie als Standardmethode zur Beurteilung des aktuellen Leistungszustandes und von Leistungsfortschritten jedoch wesentliche physiologische und ökonomische Nachteile. Vor diesem Hintergrund bieten die hier vorgestellten, walkingbasierten Ausdauertestverfahren eine sinnvolle Alternative zu den bisher in der medizinischen Rehabilitation bekannten und verwendeten Belastungsverfahren.

Über den Einfluss der Fußgeometrie auf die Energieeffizienz beim zweibeinigen Gehen

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Book Series: Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie ISSN: 16143914 ISBN: 9783731508878 Year: Volume: 34 Pages: X, 292 p. DOI: 10.5445/KSP/1000089994 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:02:01
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The influence of foot geometry on energy efficiency in bipedal walking is investigated. A method for the optimization of the foot geometry of a bipedal robot is developed. It is based on a planar model with arbitrary convex foot geometry in combination with a hybrid zero dynamics based controller. Optimal gaits and foot geometries are determined. The average energy consumption can be reduced by more than 80% compared to a model with point feet.

Neuro-motor control and feed-forward models of locomotion in humans

Authors: --- --- ---
Book Series: Frontiers Research Topics ISSN: 16648714 ISBN: 9782889196142 Year: Pages: 190 DOI: 10.3389/978-2-88919-614-2 Language: English
Publisher: Frontiers Media SA
Subject: Science (General) --- Neurology
Added to DOAB on : 2016-08-16 10:34:25
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Locomotion involves many different muscles and the need of controlling several degrees of freedom. Despite the Central Nervous System can finely control the contraction of individual muscles, emerging evidences indicate that strategies for the reduction of the complexity of movement and for compensating the sensorimotor delays may be adopted. Experimental evidences in animal and lately human model led to the concept of a central pattern generator (CPG) which suggests that circuitry within the distal part of CNS, i.e. spinal cord, can generate the basic locomotor patterns, even in the absence of sensory information. Different studies pointed out the role of CPG in the control of locomotion as well as others investigated the neuroplasticity of CPG allowing for gait recovery after spinal cord lesion. Literature was also focused on muscle synergies, i.e. the combination of (locomotor) functional modules, implemented in neuronal networks of the spinal cord, generating specific motor output by imposing a specific timing structure and appropriate weightings to muscle activations. Despite the great interest that this approach generated in the last years in the Scientific Community, large areas of investigations remain available for further improvement (e.g. the influence of afferent feedback and environmental constrains) for both experimental and simulated models. However, also supraspinal structures are involved during locomotion, and it has been shown that they are responsible for initiating and modifying the features of this basic rhythm, for stabilising the upright walking, and for coordinating movements in a dynamic changing environment. Furthermore, specific damages into spinal and supraspinal structures result in specific alterations of human locomotion, as evident in subjects with brain injuries such as stroke, brain trauma, or people with cerebral palsy, in people with death of dopaminergic neurons in the substantia nigra due to Parkinson’s disease, or in subjects with cerebellar dysfunctions, such as patients with ataxia. The role of cerebellum during locomotion has been shown to be related to coordination and adaptation of movements. Cerebellum is the structure of CNS where are conceivably located the internal models, that are neural representations miming meaningful aspects of our body, such as input/output characteristics of sensorimotor system. Internal model control has been shown to be at the basis of motor strategies for compensating delays or lacks in sensorimotor feedbacks, and some aspects of locomotion need predictive internal control, especially for improving gait dynamic stability, for avoiding obstacles or when sensory feedback is altered or lacking. Furthermore, despite internal model concepts are widespread in neuroscience and neurocognitive science, neurorehabilitation paid far too little attention to the potential role of internal model control on gait recovery. Many important scientists have contributed to this Research Topic with original studies, computational studies, and review articles focused on neural circuits and internal models involved in the control of human locomotion, aiming at understanding the role played in control of locomotion of different neural circuits located at brain, cerebellum, and spinal cord levels.

Optimierung der Energieeffizienz zweibeiniger Roboter durch elastische Kopplungen

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Book Series: Schriftenreihe des Instituts für Technische Mechanik, Karlsruher Institut für Technologie ISSN: 16143914 ISBN: 9783731502562 Year: Volume: 24 Pages: XV, 166 p. DOI: 10.5445/KSP/1000042846 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-30 20:01:57
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This work investigates the optimization of bipedal robots’ energy efficiency by using elastic couplings. The regarded robots are modeled as underactuated systems and controlled by input-output linearization. To investigate the influence of elastic couplings on energy efficiency as well as stability and robustness the movements of the robots as well as their elastic couplings are simultaneously optimized using numerical algorithms.

Human Mobility, Spatiotemporal Context, and Environmental Health: Recent Advances in Approaches and Methods

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ISBN: 9783039211838 / 9783039211845 Year: Pages: 382 DOI: 10.3390/books978-3-03921-184-5 Language: eng
Publisher: MDPI - Multidisciplinary Digital Publishing Institute
Subject: Medicine (General)
Added to DOAB on : 2019-08-28 11:21:27
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Environmental health researchers have long used concepts like the neighborhood effect to assessing people’s exposure to environmental influences and the associated health impact. However, these are static notions that ignore people’s daily mobility at various spatial and temporal scales (e.g., daily travel, migratory movements, and movements over the life course) and the influence of neighborhood contexts outside their residential neighborhoods. Recent studies have started to incorporate human mobility, non-residential neighborhoods, and the temporality of exposures through collecting and using data from GPS, accelerometers, mobile phones, various types of sensors, and social media. Innovative approaches and methods have been developed. This Special Issue aims to showcase studies that use new approaches, methods, and data to examine the role of human mobility and non-residential contexts on human health behaviors and outcomes. It includes 21 articles that cover a wide range of topics, including individual exposure to air pollution, exposure and access to green spaces, spatial access to healthcare services, environmental influences on physical activity, food environmental and diet behavior, exposure to noise and its impact on mental health, and broader methodological issues such as the uncertain geographic context problem (UGCoP) and the neighborhood effect averaging problem (NEAP). This collection will be a valuable reference for scholars and students interested in recent advances in the concepts and methods in environmental health and health geography.

Keywords

obesity --- built environment --- activity space --- regression analysis --- UGCoP --- foodscape exposure --- activity space --- commuting route --- space-time kernel density estimation --- time-weighted exposure --- Beijing --- cycling for transportation --- bike paths --- train stations --- subway stations --- adults --- Brazil --- fuel consumption --- emissions estimation --- GPS trace --- big data --- air pollution exposure --- human mobility --- mobile phone data --- dynamic assessment --- GIS --- GPS --- activity space --- environmental exposure --- the uncertain geographic context problem --- noise pollution --- mental disorders --- built environment --- multilevel model --- China --- PM concentrations --- crop residue burning --- correlation analysis --- interannual and seasonal variations --- China --- the neighborhood effect averaging problem (NEAP) --- human mobility --- environmental exposure --- the uncertain geographic context problem --- UGCoP --- car ownership --- car use --- built environment --- spatial autocorrelation --- multilevel Bayesian model --- geographical accessibility --- Healthcare services --- GIS --- E2SFCA --- CHAS --- Singapore --- environmental health --- food environment --- environmental context cube --- environmental context exposure index --- the uncertain geographic context problem (UGCoP) --- GPS --- GIS --- healthcare accessibility --- catchment areas --- access probability --- taxi GPS trajectories --- E2SFCA --- greenspace exposure --- health --- human mobility --- physical activity --- structural equation modeling --- Guangzhou --- healthcare accessibility --- population demand --- geographic impedance --- the elderly --- urban planning --- 3SFCA --- real-time traffic --- crowdedness --- well-being experience --- long-distance walking --- collective leisure activity --- walking event --- urban leisure --- missing data --- spatial data --- imputation --- geographic imputation --- activity space --- ecological momentary assessment --- EMA --- walking --- active travel --- ageing --- physical environment --- personal projects --- activity space --- Public Participatory GIS (PPGIS) --- spatial accessibility --- multimodal network --- primary healthcare --- China --- 2009 influenza A(H1N1) pandemic --- transport modes --- rail travel --- spatial spread --- quantile regression --- green space --- road traffic accidents --- cognitive aging --- activity space --- life-course perspectives --- environmental exposures

Mechanism Design for Robotics

Authors: ---
ISBN: 9783039210589 / 9783039210596 Year: Pages: 212 DOI: 10.3390/books978-3-03921-059-6 Language: eng
Publisher: MDPI - Multidisciplinary Digital Publishing Institute
Subject: Technology (General) --- General and Civil Engineering
Added to DOAB on : 2019-06-26 08:44:06
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MEDER 2018, the IFToMM International Symposium on Mechanism Design for Robotics, was the fourth event in a series that was started in 2010 as a specific conference activity on mechanisms for robots. The aim of the MEDER Symposium is to bring researchers, industry professionals, and students together from a broad range of disciplines dealing with mechanisms for robots, in an intimate, collegial, and stimulating environment. In the 2018 MEDER event, we received significant attention regarding this initiative, as can be seen by the fact that the Proceedings contain contributions by authors from all around the world.The Proceedings of the MEDER 2018 Symposium have been published within the Springer book series on MMS, and the book contains 52 papers that have been selected after review for oral presentation. These papers cover several aspects of the wide field of robotics dealing with mechanism aspects in theory, design, numerical evaluations, and applications.This Special Issue of Robotics (https://www.mdpi.com/journal/robotics/special_issues/MDR) has been obtained as a result of a second review process and selection, but all the papers that have been accepted for MEDER 2018 are of very good quality with interesting contents that are suitable for journal publication, and the selection process has been difficult.

Keywords

hexapod walking robot --- 3-UPU parallel mechanism --- kinematics --- stability --- gait planning --- shape changing --- rolling --- robot --- cylindrical --- elliptical --- velocity control --- economic locomotion --- actuation burden --- inadvertent braking --- humanoid robots --- parallel mechanisms --- cable-driven robots --- robotic legs --- painting robot --- collaborative robot --- image processing --- non-photorealistic rendering --- artistic rendering --- robot wrists --- spherical parallel mechanism --- orientational mechanisms --- computer-aided design --- workspace analysis --- iCub --- shape memory alloy --- compliant mechanism --- SMA actuator --- pneumatic artificial muscle --- McKibben muscle --- haptic glove --- hand exoskeleton --- teleoperation --- force reflection --- human-machine interaction --- robot kinematics --- robot singularity --- singularity analysis --- robot control --- mobile manipulation --- human-robot-interaction --- learning by demonstration --- compliance control --- trajectory planning --- energy efficiency --- redundancy --- robotic cell --- kinematic redundancy --- cable-driven parallel robots --- fail-safe operation --- exercising device --- cobot --- V2SOM --- safety mechanism --- safe physical human–robot interaction --- pHRI --- variable stiffness actuator --- VSA --- collaborative robots --- humanoid robotic hands --- underactuated fingers --- graphical user interface --- grasp stability --- safe physical human–robot interaction (pHRI) --- variable stiffness actuator (VSA) --- collaborative robots --- robot-assisted Doppler sonography --- n/a

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