Inverse kinematics of a 6 DoF human upper limb using ANFIS and ANN for anticipatory actuation in ADL-based physical Neurorehabilitation

Objective: This research is focused in the creation and validation of a solution to the inverse kinematics problem for a 6 degrees of freedom human upper limb. This system is intended to work within a realtime dysfunctional motion prediction system that allows anticipatory actuation in physical Neurorehabilitation under the assisted-as-needed paradigm. For this purpose, a multilayer perceptron-based and an ANFIS-based solution to the inverse kinematics problem are evaluated. Materials and methods: Both the multilayer perceptron-based and the ANFIS-based inverse kinematics methods have been trained with three-dimensional Cartesian positions corresponding to the end-effector of healthy human upper limbs that execute two different activities of the daily life: "serving water from a jar" and "picking up a bottle". Validation of the proposed methodologies has been performed by a 10 fold cross-validation procedure. Results: Once trained, the systems are able to map 3D positions of the end-effector to the corresponding healthy biomechanical configurations. A high mean correlation coefficient and a low root mean squared error have been found for both the multilayer perceptron and ANFIS-based methods. Conclusions: The obtained results indicate that both systems effectively solve the inverse kinematics problem, but, due to its low computational load, crucial in real-time applications, along with its high performance, a multilayer perceptron-based solution, consisting in 3 input neurons, 1 hidden layer with 3 neurons and 6 output neurons has been considered the most appropriated for the target application.

Inverse kinematics of a humanoid robot with non-spherical hip: a hybrid algorithm approach

This paper describes an approach to solve the inverse kinematics problem of humanoid robots whose construction shows a small but non negligible offset at the hip which prevents any purely analytical solution to be developed. Knowing that a purely numerical solution is not feasible due to variable efficiency problems, the proposed one first neglects the offset presence in order to obtain an approximate “solution” by means of an analytical algorithm based on screw theory, and then uses it as the initial condition of a numerical refining procedure based on the Levenberg‐Marquardt algorithm. In this way, few iterations are needed for any specified attitude, making it possible to implement the algorithm for real‐time applications. As a way to show the algorithm’s implementation, one case of study is considered throughout the paper, represented by the SILO2 humanoid robot.

Use of Headed Reinforcement Bars in Contruction. A Theoretical Approach to Determine the Dimensions of Anchorage Plates and Experimental Tests on Knee Joints Subjected to a Closing Moment

In order to reduce costs and time while improving quality, durability and sustainability in structural concrete constructions, a widely used material nowadays, special care must be taken in some crucial phases of the project and execution, including the structure design and calculation, the dosage, dumping and curing of concrete: another important aspect is the proper design and execution of assembly plans and construction details. The framework, a name designating the whole reinforcement bars cage already assembled as shown in the drawings, can be made up of several components and implies higher or lower industrialization degree. The framework costs constitute about one third of the price per cubic meter placed in concrete works. The best solutions from all points of view are clearly those involving an easier processing to achieve the same goal, and consequently carrying a high degree of industrialization, meaning quality and safety in the work. This thesis aims to provide an indepth analysis of a relatively new type of anchoring by plate known as headed reinforcement bars, which can potentially replace standard or L-shaped hooks, improving the cleaning of construction details and enabling a faster, more flexible, and therefore a more economical assembly. A literature review on the topic and an overview of typical applications is provided, followed by some examples of specific applications in real projects. Since a strict theoretical formulation used to provide the design plate dimensions has not yet been put forward, an equation is proposed for the side-face blowout strength of the anchorage, based on the capacity of concrete to carry concentrated loads in cases in which no transverse reinforcement is provided. The correlation of the calculated ultimate load with experimental results available in the literature is given. Besides, the proposed formulation can be expanded to cases in which a certain development length is available: using a software for nonlinear finite element analysis oriented to the study of reinforced concrete, numerical tests on the bond-bearing interaction are performed. The thesis ends with a testing of eight corner joints subjected to a closing moment, held in the Structures Laboratory of the Polytechnic University of Madrid, aiming to check whether the design of such plates as stated is adequate for these elements and whether an element with plate-anchored reinforcement is equivalent to one with a traditional construction detail.