Daniela Tarniţă

Experimental Characterization of Human Walking on Stairs Applied to Humanoid Dynamics

The paper presents a comparison between an experimental study of flexion-extension movement in human leg joints and numerical simulations on a virtual mannequin computed in ADAMS virtual environment. Using Biometrics data acquisition system based on electrogoniometers, data were collected for each of three joints of right and left legs during experimental climbing and descending on stairs. The mean flexion-extension cycles for legs joints were obtained. This obtained experimental data series were introduced as input in the joints of the virtual mannequin and a walking simulation was performed in ADAMS environment software. The variation of joints forces and torques during walking obtained by virtual simulation could be used in future work in order to obtain stress and displacements maps in bones and joints by applying the finite element method.

About an Experimental Approach Used to Determine the Kinematics of the Human Finger Movement

Nowadays the robotic or prosthetic artificial hands strive to achieve a high degree of anthropomorphism, a concept which expresses the capability of a robotic end-effector to mimic the human hand, partly or totally, as far as shape, size, consistency, and general aspect (including color, temperature, and so on). This paper proposes a new experimental approach regarding the kinematics of the human finger movement. By using video capture of a particular finger movement and dedicated video processing software we have determined the laws of variation for the main joints in the human finger. Therefore, the experimental method presented in detail in this paper is useful to corroborate the kinematic parameters (displacements, velocities and accelerations, linear or rotary) of an artificial robotic finger movement with those of the human finger movement.

Mechanical Design and Control Issues of a Dexterous Robotic Hand

The design and control problems involved in the development process of robotic grippers have been active research topics in the last three decades. In this paper it is presented a new developed dexterous robotic hand whose mechanical structure is based on a biomechatronic approach. The control system for this artificial hand relies on modern software and hardware components which allow precise positioning of the fingers.

Exteroceptive Sensor System of a New Developed Artificial Hand

In this paper we present a novel approach regarding the exteroceptive sensor system of a new developed artificial hand. Force and proximity (distance) sensors are the main components of the exteroceptive sensor system of the new artificial hand. Modern control algorithms are conceived in relation to the signals received from these sensors.

Actuation Systems of Active Orthoses Used for Gait Rehabilitation

In this paper three types of actuation systems of active orthoses used for human gait rehabilitation are presented. This paper analyzes different lower-limb active orthoses used for gait rehabilitation function of actuation system.

Influences of Speed and Treadmill Inclination on the Local Dynamic Stability of Human Knee Joint

In this paper finite-time Lyapunov exponents (LE) were estimated to quantify the local dynamic stability from the experimental time series of the flexion-extension angle of single subject knee joints, walking over-ground and on plane and inclined treadmill with different speeds and inclinations.

Development of a Three-Dimensional Finite Element Knee Prosthesis Model

This paper presents the three-dimensional geometric modeling of the knee prosthesis components using the latest generation of CAD-CAE applications as DesignModeler and SpaceClaim under Ansys Workbench software package. The mesh generation and the contact conditions are presented. The parameterized virtual models of the knee prosthesis allow different changes in shape or dimensions which can lead to the optimization of the implant and of the biomechanics of the prosthetic knee.

Wavelet Analysis of Humans with Osteoarthritis

In this research proposal we want to develop from kinematic data, measures using thewavelets theory to characterize normal and osteoarthritis knee locomotion. The kinematic data of theradio-carpal flexion-extension angles were analyzed using the wavelet transform. The experimentaldata was acquired with a complex goniometer system. The detail energy for the level 5 is an importantfactor to characterize the osteoarthritis patients and normal subjects.

The 3D Virtual Model of a Classical Hip Joint Prosthesis

In this paper were presented the main steps for defining a virtual prosthetic hip. The elements of the classic hip prosthesis were generated, one by one, using direct measurement method. These elements were included in the biomechanical hip system. The entire model was divided in finite elements. Starting from this 3D model, the goal of the research is to determine new geometries and optimized solutions for an innovative hip prosthesis.