Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Presentation of Wrist Motion Characteristics Using the Axis of Rotation
Date
2015-08-08
Author
Lahroodı, Mahmood
Konukseven, Erhan İlhan
Metadata
Show full item record
Item Usage Stats
21
views
0
downloads
Cite This
Since the motion of wrist is almost pure rotation, spherical coordinate system is a compatible reference frame for analyzing the motion of wrist. Kinematically, human wrist can be modeled by 3DOF (FE, RUD, PS) manipulator with 2DOF (FE, RUD) in universal-like joint of wrist and additional DOF (PS) which comes from forearm[1]. Dynamically, it is shown that passive wrist stiffness is dominant dynamic of wrist [1] and depends nonlinearly on the position of wrist [2]. The present study shows that similar to passive stiffness, level of wrist noise depends on the position as well. For modeling the noise of wrist, we have studied the variation of Axis Of Rotation (AOR). Behavior of AOR not only depends on noise but also the biomechanical properties of wrist [3]. The results of experiment imply that fast changes of AOR is most probably because of internal noise (in actuation and sensing) and systematic patterns produced intentionally according to the dynamic of task and wrist.
URI
https://hdl.handle.net/11511/73998
http://archive.asbweb.org/conferences/2015/abstracts/164AF--Representation%20Of%20Wrist%20Motion%20Characteristics%20Using%20The%20Axis%20Of%20Rotation--(Lahroodi).pdf
Collections
Department of Mechanical Engineering, Conference / Seminar
Suggestions
OpenMETU
Core
Investigation of haptic manipulators with linear equations of motion
Kızılbey, Aras; Soylu, Reşit; Department of Mechanical Engineering (2019)
In this thesis, linearization of the equations of motion of haptic interfaces and the effects of such linearization on haptic applications are examined. Three and six DOF configurations of the Phantom Premium™ 1.5 have been selected as the haptic manipulators to be investigated. By utilizing the generic computer code that has been developed for hybrid manipulators composed of revolute and prismatic joints, the equations of motion for the aforementioned two haptic manipulator types are derived in symbolic fo...
Flexible multibody analysis using absolute nodal coordinate formulation
Çiftçi, Muhammed Ali; Darendeliler, Haluk; İder, S. Kemal; Department of Mechanical Engineering (2014)
The motion of the planar flexible multibody system with large deformation is analyzed by using the absolute nodal coordinate formulation (ANCF). For this purpose, flexible multibody systems consisting of beams are considered. In the conventional planar ANCF beam elements, there are two nodes located at the ends. Each element has eight degrees of freedom which consist of four global coordinates and four global slopes. In this study, a planar beam element is developed with quadratic shape functions and new no...
Lienard-Wiechert potentials in even dimensions
Gurses, M; Sarıoğlu, Bahtiyar Özgür (AIP Publishing, 2003-10-01)
The motion of point charged particles is considered in an even dimensional Minkowski space-time. The potential functions corresponding to the massless scalar and the Maxwell fields are derived algorithmically. It is shown that in all even dimensions particles lose energy due to acceleration. (C) 2003 American Institute of Physics.
Investigation of the Effects of False Matches and Distribution of the Matched Keypoints on The PnP Algorithm
Demirtaş, Fatih; Gülmez, Baran; Yıldırım, İrem; Leloğlu, Uğur Murat; Yaman, Mustafa; Güneyi, Eylem Tuğçe (null; 2019-04-27)
Perspective-n-Point (PnP) problem is the estimation of the pose (location and orientation) of a calibrated camera from 3D-2D point correspondences, that is, three-dimensional coordinates of objects in a world coordinate system and corresponding pixels in two-dimensional images. PnP algorithms are used in computer vision, augmented reality, robotics, photogrammetry etc. Distribution of the points in the image and the accuracy of the 3D information are important on the accuracy of the estimated pose of the ca...
Method for suppresion of G-sensitivity of MEMS gyroscope
Azgın, Kıvanç; Akın, Tayfun (EPO, 2017)
The invention relates to provide a method for suppression of the g-sensitivity of MEMS gyroscope (1) by keeping the movable sense frame of the gyroscope stationary irrespective to the external accelerations with the aid of closed-loop feedback circuit (2)
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
M. Lahroodı and E. İ. Konukseven, “Presentation of Wrist Motion Characteristics Using the Axis of Rotation,” 2015, Accessed: 00, 2021. [Online]. Available: https://hdl.handle.net/11511/73998.