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Article
Publication date: 29 March 2023

Jianbo Yuan, Yerui Fan and Yaxiong Wu

This study aims to propose a novel lightweight tendon-driven musculoskeletal arm (LTDM-arm) robot with a flexible series–parallel mixed skeletal joint structure and modularized…

Abstract

Purpose

This study aims to propose a novel lightweight tendon-driven musculoskeletal arm (LTDM-arm) robot with a flexible series–parallel mixed skeletal joint structure and modularized artificial muscle system (MAMS). The proposed LTDM-arm exhibits human-like flexibility, safety and operational accuracy. In addition, to improve the safety and stability of the LTDM-arm, a control method is proposed to solve local artificial muscle overload accidents.

Design/methodology/approach

The proposed LTDM-arm comprises seven degrees of freedom skeletons, 15 MAMSs and various sensor systems (joint sensing, muscle tension sensing, visual sensing, etc.). It retains the morphology of a human skeleton (humerus, ulna and radius) and a simplified muscle configuration. This study proposes an input saturation control with full-state constraints to reduce local artificial muscle overload accidents caused by redundant muscle tension calculations.

Findings

3D circular trajectory experiments were conducted to verify the stability of the control method and the flexibility of the LTDM-arm. The results showed that the average error of the muscle length was approximately 0.35 mm (0.38%), which indicates that the proposed control scheme can make the output follow the target trajectory while ensuring constraint satisfaction.

Originality/value

The human arm is capable of performing compliant operations rapidly, flexibly and robustly in unstructured environments. Existing musculoskeletal arm robots lack simulations of the full morphology of the human arm and are insufficient in dexterity. However, the flexibility and safety features of the proposed LTDM-arm were consistent with that of the human arm. Therefore, this study offers a new approach for investigating the advantages of the musculoskeletal system and the concepts of muscle control.

Details

Robotic Intelligence and Automation, vol. 43 no. 2
Type: Research Article
ISSN: 2754-6969

Keywords

Abstract

Details

Leading with Presence: Fundamental Tools and Insights for Impactful, Engaging Leadership
Type: Book
ISBN: 978-1-78714-599-3

Article
Publication date: 1 January 2014

Mona Holmqvist Olander and Heléne Bergentoft

The purpose of this paper is to explore in what way gradually increasing teachers’ theory-based instruction affects the students’ learning outcomes, illustrated by the example of…

Abstract

Purpose

The purpose of this paper is to explore in what way gradually increasing teachers’ theory-based instruction affects the students’ learning outcomes, illustrated by the example of learning how to regulate body tension in the upper secondary school.

Design/methodology/approach

In total, 72 students from four classes participated in the study. The way the students were offered to understand “regulation of tension” was designed by variation theory, and the method used was learning study, an iterative process whereby the results from the first lesson are the basis for the design of the next implementation in a new group of students.

Findings

There is a significant increased learning outcome in all four lessons, but in Lesson D, where the highest increase (129 percent) was found, all students improved their results. The use of the theoretical framework had effect on the teachers to vary only the most important aspects in the instruction in the last cycle, where the features chiselled out during the study (e.g. heart rate, respiration, muscle tension) were contrasted more clearly, which had an impact on the students’ learning. Based on the theoretical framework, the teachers got more skilled at experiencing what should vary and what should be kept invariant in order to facilitate the students’ learning. In the last intervention, the teachers found one pattern of variation which was more powerful than the previous. In this one, the physical activities were kept invariant, but different responses of the sympathetic nervous system were contrasted, one at a time, to establish knowledge of different bodily responses to tension.

Originality/value

Learning study has mainly been used in subjects such as Mathematics or other theoretical issues but this paper describes in what way learning study can be used in PE. So second, the result of this study contributes to knowledge about how students’ learning outcome in PEH can increase by directing focus on an object of learning rather than actual learning activity. The object of learning in this study is to learn to regulate tenseness and the learning outcomes have been analyzed in the perspective of variation theory.

Details

International Journal for Lesson and Learning Studies, vol. 3 no. 1
Type: Research Article
ISSN: 2046-8253

Keywords

Article
Publication date: 1 December 1997

Bertrand Tondu and Pierre Lopez

Describes the McKibben muscle and its major properties. Outlines the analogy between this artificial muscle and the skeletal muscle. Describes the actuator composed of two…

1877

Abstract

Describes the McKibben muscle and its major properties. Outlines the analogy between this artificial muscle and the skeletal muscle. Describes the actuator composed of two McKibben muscles set into antagonism based on the model of the biceps‐triceps system, and explains its natural compliance in analogy with our joint litheness. Reports some control experiments developed on a two d.o.f. robot actuated by McKibben muscles which emphasize the ability of these robot‐arms to move in contact with their environment as well as moving loads of high ratio to the robot’s own weight. Also outlines control difficulties and accuracy limitations and discusses applications.

Details

Industrial Robot: An International Journal, vol. 24 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Abstract

Details

Executive Burnout
Type: Book
ISBN: 978-1-78635-285-9

Abstract

Details

Leading with Presence: Fundamental Tools and Insights for Impactful, Engaging Leadership
Type: Book
ISBN: 978-1-78714-599-3

Article
Publication date: 3 May 2010

Ryuma Niiyama and Yasuo Kuniyoshi

The purpose of this paper is to focus on an engineering application of the vertebrate musculoskeletal system. The musculoskeletal system has unique mechanisms such as bi‐articular…

Abstract

Purpose

The purpose of this paper is to focus on an engineering application of the vertebrate musculoskeletal system. The musculoskeletal system has unique mechanisms such as bi‐articular muscle, antagonistic muscle pairs and muscle‐tendon elasticity. The “artificial musculoskeletal system” is achieved through the use of the pneumatic artificial muscles. The study provides a novel method to describe the force property of the articulated mechanism driven by muscle actuator and a transmission.

Design/methodology/approach

A musculoskeletal system consists of multiple bodies connected together with rotational joints and driven by mono‐ and bi‐articular actuators. The paper analyzes properties of the musculoskeletal system with statically calculated omni‐directional output forces. A set of experiments has been performed to demonstrate the physical ability of the musculoskeletal robot.

Findings

A method to design a musculoskeletal system is proposed based on an analysis of the profile of convex polygon of maximum output forces. The result shows that the well‐designed musculoskeletal system enables the legged robot to jump 0.6 m high and land softly from 1.0 m drop off.

Originality/value

The paper provides a design principle for a musculoskeletal robot. The musculoskeletal system is the bio‐inspired mechanism for all multi‐degrees‐of‐freedom articulated devices, and has the advantages of optimized actuator configuration and force control.

Details

Industrial Robot: An International Journal, vol. 37 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 1 January 1987

Richard S. DeFrank and Cary L. Cooper

A framework for understanding the different types of stress management interventions and their possible outcomes is provided. The various empirical investigations into worksite…

3983

Abstract

A framework for understanding the different types of stress management interventions and their possible outcomes is provided. The various empirical investigations into worksite stress management interventions are then reviewed within the context of this paradigm. Questions are raised about the efficacy of these interventions in terms of individual and/or organisational outcomes, and where future programmes and research should be undertaken.

Details

Journal of Managerial Psychology, vol. 2 no. 1
Type: Research Article
ISSN: 0268-3946

Keywords

Article
Publication date: 8 December 2017

Riaan Stopforth and Andrew Mangezi

A contactless electromyography (EMG) electrodes design and development for prosthetics, particularly the Touch Hand 3, was the main objective of this paper. The correlation…

Abstract

Purpose

A contactless electromyography (EMG) electrodes design and development for prosthetics, particularly the Touch Hand 3, was the main objective of this paper. The correlation between EMG electrodes and patch antenna are described, with the problem relating to the dimensions of the covidien electrodes. The purpose of this paper is to improve the signal strength of the EMG electrodes and having them to not be in contact with the skin to cause irritation in the person.

Design/methodology/approach

A combination of the contact covidien electrodes and aluminium foil was used to develop electrodes that were in a similar configuration than a Yagi antenna. Different layers of patch elements were designed, developed and implemented.

Findings

Different layers of Yagi-patch electrodes are tested with different volunteers and compared with the average signal strengths obtained from the covidien electrodes. An improvement in signal strength with the Yagi-patch electrodes has been found.

Practical implications

The purpose of the work was to design, develop and test EMG electrodes that are cost-effective, reusable and able to improve the signal strengths that are recorded, for better functionality of prosthetic devices.

Originality/value

The integration of EMG and antennae theory to implement a Yagi-patch EMG electrode to improve on signal reception. The electrodes have the properties of being cheap, easy available, can eliminate direct contact and avoiding patches on the skin. Comparison of different layered electrodes with the contactless electrodes close to the skin. Comparison of the different electrodes on a silicone sleeve, which are commonly worn by amputees, placed between the skin and the prosthetic’s socket. Testing the Yagi-patch electrodes with an application with the prosthetic Touch Hand, to allow for the control of a system such as the Touch Hand.

Details

Sensor Review, vol. 38 no. 2
Type: Research Article
ISSN: 0260-2288

Keywords

Article
Publication date: 22 February 2022

Lacey M. Johnson, Kelly E. Elsegood and Francesca Browne

This study aims to gauge the usefulness of a Recovery College relaxation course for both staff and service users within a secure mental health setting.

Abstract

Purpose

This study aims to gauge the usefulness of a Recovery College relaxation course for both staff and service users within a secure mental health setting.

Design/methodology/approach

The course compromised of seven stand alone sessions, each teaching a different relaxation skill. Pre- and Post questionnaires were administered comprising of two closed and one open ended questions.

Findings

Participants (n = 49) reported an average decrease of 32% in pre- and post-session tension. Ninety-two percent of evaluative responses endorsed sessions as “worthwhile” and 92% endorsed the relaxation skills as “useful in the future”. Participants described the workshops as “enjoyable” and “relaxing”.

Practical implications

In the spirit of Recovery Colleges, the course offers the opportunity for individuals with lived experience to participate in the production and delivery of interventions. Improving both staff and service user well-being is cost-effective and may help to normalise and de-stigmatise difficulties with stress and anxiety.

Originality/value

To the best of the authors’ knowledge, this appears to be the first evaluation of a co-produced and co-delivered relaxation course for both staff and service users within inpatient mental health settings. This paper presents a preliminary evaluation of a novel intervention to improve staff and service user well-being.

Details

The Journal of Mental Health Training, Education and Practice, vol. 17 no. 5
Type: Research Article
ISSN: 1755-6228

Keywords

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