Ageing effects on knee and ankle joint angles at key events and phases of the gait cycle.

The objective of this research was to determine whether joint angles at critical gait events and during major energy generation/absorption phases of the gait cycle would reliably discriminate age-related degeneration during unobstructed walking. The gaits of 24 healthy adults (12 young and 12 elderly) were analysed using the PEAK Motus motion analysis system. The elderly participants showed significantly greater single (60.3% versus 62.3%, p < 0.01) and double ( p < 0.05) support times, reduced knee flexion (47.7° versus 43.0°, p < 0.05) and ankle plantarflexion (16.8° compared to 3.3°, p = 0.053) at toe off, reduced knee flexion during push-off and reduced ankle dorsiflexion (16.8° compared to 22.0°, p < 0.05) during the swing phase. The plantarflexing ankle joint motion during the stance to swing phase transition (A₂) for the young group (31.3°) was about twice ( p < 0.05) that of the elderly (16.9°). Reduced knee extension range of motion suggests that the elderly favoured a flexed-knee gait to assist in weight acceptance. Reduced dorsiflexion by the elderly in the swing phase implies greater risk of toe contact with obstacles. Overall, the results suggest that joint angle measures at critical events/phases in the gait cycle provide a useful indication of age-related degeneration in the control of lower limb trajectories during unobstructed walking.

Real-time measurement of radiocarpal joint angle during dart-thrower's movement

Recently, a renewed attention has been drawn into the dart-thrower's motion as the radiocarpal joint is unique to humans and this is believed to have played a pivotal role in human evolution. Considering the importance of the motion and the complexity of the wrist joint, there have been many articles discussing the kinematics behind this movement. CT scan techniques have been used in a number of these research activities. Due to limitations in the speed of the image acquisition, the positions of the wrist were recorded in static postures. To our knowledge, a data acquisition for the motion with realtime capturing has not been reported. This paper presents the use of a 3D vision-based motion capture device. Leap Motion Controller (LMC), for measuring the radiocarpal joint angles during the dart-thrower's motion in a real-time analysis. The practical capability of the LMC in measuring dart-thrower's motion was examined in a trial involving four subjects and the angles were compared to the angles acquired from an inertial measurement unit (IMU). The results confirmed the LMC can successfully be used in the application of measuring radiocarpal kinematics" of dart-thrower's motion.

An active stereo vision-based learning approach for robotic tracking, fixating and grasping control

In this paper, an active stereo vision-based learning approach is proposed for a robot to track, fixate and grasp an object in unknown environments. First, the functional mapping relationships between the joint angles of the active stereo vision system and the spatial representations of the object are derived and expressed in a three-dimensional workspace frame. Next, the self-adaptive resonance theory-based neural networks and the feedforward neural networks are used to learn the mapping relationships in a self-organized way. Then, the approach is verified by simulation using the models of an active stereo vision system which is installed in the end-effector of a robot. Finally, the simulation results confirm the effectiveness of the present approach.

On the effort of task completion for partially-failed manipulators

Adding to a previous work of the authors for task completion for partially failed manipulator, other aspects of the effort are discussed. The paper aims to investigate on the strategies of maximum effort for maintaining the availability of partially failed manipulators. The failures are assumed as the joint lock failures of the manipulators. The main objective is to facilitate the existing manipulators to continue their tasks even if a non catastrophic fault occurs into their joints. The tasks includes motion tasks and force tasks. For each group of tasks a constrained optimality problem is introduced. Then in a case study a required force profile on a desired trajectory using a 3DOF planar manipulator is indicated. Through this study the joint angles and joint torques for a healthy manipulator and a faulty manipulator are shown. It is illustrated that a failure in the second joint is tolerated on the trajectory of end-effector.

Neuromuscular control and running economy is preserved in elite international triathletes after cycling

Running is the most important discipline for Olympic triathlon success. However, cycling impairs running muscle recruitment and performance in some highly trained triathletes; though it is not known if this occurs in elite international triathletes. The purpose of this study was to investigate the effect of cycling in two different protocols on running economy and neuromuscular control in elite international triathletes. Muscle recruitment and sagittal plane joint angles of the left lower extremity and running economy were compared between control (no preceding cycle) and transition (preceded by cycling) runs for two different cycle protocols (20-minute low-intensity and 50-minute high-intensity cycles) in seven elite international triathletes. Muscle recruitment and joint angles were not different between control and transition runs for either cycle protocols. Running economy was also not different between control and transition runs for the ow-intensity (62.4 ^ 4.5 vs. 62.1 ^ 4.0 ml/min/kg, p . 0.05) and high-intensity (63.4 ^ 3.5 vs. 63.3 ^ 4.3 ml/min/kg, p . 0.05) cycle protocols. The results of this study demonstrate that both low- and high-intensity cycles do not adversely influence neuromuscular control and running economy in elite international triathletes.

A novel bio-kinematic encoder for human exercise representation and decomposition - Part 2 : Robustness and Optimisation

Bio-kinematic characterisations of human exercises constitute dealing with parameters such as velocity, acceleration, joint angles, etc. A majority of these are measured directly from various sensors ranging from RGB cameras to inertial sensors. However, due to certain limitations associated with these sensors, such as inherent noise, filters are required to be implemented to subjugate the effect from the noise. When the two-component (trajectory shape and dynamics) bio-kinematic encoding model is being established to represent an exercise, reducing the effect from noise embedded in raw data will be important since the underlying model can be quite sensitive to noise. In this paper, we examine and compare some commonly used filters, namely least-square Gaussian filter, Savitzky-Golay filter and optimal Kalman filter, with four groups of real data collected from Microsoft Kinectc , and assert that Savitzky- Golay filter is the best one when establishing an underlying model for human exercise representation.

A non-contact measurement system for the range of motion of the hand

An accurate and standardised tool to measure the active range of motion (ROM) of the hand is essential to any progressive assessment scenario in hand therapy practice. Goniometers are widely used in clinical settings for measuring the ROM of the hand. However, such measurements have limitations with regard to inter-rater and intra-rater reliability and involve direct physical contact with the hand, possibly increasing the risk of transmitting infections. The system proposed in this paper is the first non-contact measurement system utilising Intel Perceptual Technology and a Senz3D Camera for measuring phalangeal joint angles. To enhance the accuracy of the system, we developed a new approach to achieve the total active movement without measuring three joint angles individually. An equation between the actual spacial position and measurement value of the proximal inter-phalangeal joint was established through the measurement values of the total active movement, so that its actual position can be inferred. Verified by computer simulations, experimental results demonstrated a significant improvement in the calculation of the total active movement and successfully recovered the actual position of the proximal inter-phalangeal joint angles. A trial that was conducted to examine the clinical applicability of the system involving 40 healthy subjects confirmed the practicability and consistency in the proposed system. The time efficiency conveyed a stronger argument for this system to replace the current practice of using goniometers.

Deducing the reachable space from fingertip positions

The reachable space of the hand has received significant interests in the past from relevant medical researchers and health professionals. The reachable space was often computed from the joint angles acquired from a motion capture system such as gloves or markers attached to each bone of the finger. However, the contact between the hand and device can cause difficulties particularly for hand with injuries, burns or experiencing certain dermatological conditions. This paper introduces an approach to find the reachable space of the hand in a non-contact measurement form utilizing the Leap Motion Controller. The approach is based on the analysis of each position in the motion path of the fingertip acquired by the Leap Motion Controller. For each position of the fingertip, the inverse kinematic problem was solved under the physiological multiple constraints of the human hand to find a set of all possible configurations of three finger joints. Subsequently, all the sets are unified to form a set of all possible configurations specific for that motion. Finally, a reachable space is computed from the configuration corresponding to the complete extension and the complete flexion of the finger joint angles in this set.

Functional range of movement of the hand : declination angles to reachable space

 The measurement of the range of hand joint movement is an essential part of clinical practice and rehabilitation. Current methods use three finger joint declination angles of the metacarpophalangeal, proximal interphalangeal and distal interphalangeal joints. In this paper we propose an alternate form of measurement for the finger movement. Using the notion of reachable space instead of declination angles has significant advantages. Firstly, it provides a visual and quantifiable method that therapists, insurance companies and patients can easily use to understand the functional capabilities of the hand. Secondly, it eliminates the redundant declination angle constraints. Finally, reachable space, defined by a set of reachable fingertip positions, can be measured and constructed by using a modern camera such as Creative Senz3D or built-in hand gesture sensors such as the Leap Motion Controller. Use of cameras or optical-type sensors for this purpose have considerable benefits such as eliminating and minimal involvement of therapist errors, non-contact measurement in addition to valuable time saving for the clinician. A comparison between using declination angles and reachable space were made based on Hume's experiment on functional range of movement to prove the efficiency of this new approach.

An examination of the joint venture market entry option in China : a case study of an Australian company's international marketing experience in China

There is a widely held view in the literature that foreign companies looking to invest in the China market should opt for joint ventures rather than wholly foreign-owned enterprises for many reasons, ranging from a smaller capital commitment to utilising the market knowledge of local Chinese partners. This paper examines this issue in the light of the experience of the Foster's Brewing Group which established three joint ventures in China only to reject this form of market entry option within a few years. The paper looks at some of the reasons behind Foster's rejection of the joint venture option and proposes some key guidelines that foreign companies should follow if they are to successfully establish joint ventures in China.

The role of human resource management (HRM) in Australian-Malaysian joint ventures

This article examines human resource management (HRM) for successful Australian-Malaysian joint ventures (JVs), on the basis of survey data and case studies. The findings suggest that each phase of JV development had its own pattern of HR practices. Three phases of development were distinguished - initiation, transitional, and maturational. The first phase involved selecting, recruiting and training a skilled workforce and formulating rudimentary human resource policies. Cultural differences were most marked in this phase. The second phase, after three years of operation, involved evolution of human resource policies better suited to local conditions, and more polycentric management staffing. The final phase, after six years of operation, saw the development of a distinctive human resources system, and the minimisation of cultural differences as an operational issue. In this phase there was also a move to more geocentric management staffing.

Joint space-time trellis decoding and channel estimation in correlated fading channels

This letter addresses the issue of joint space-time trellis decoding and channel estimation in time-varying fading channels that are spatially and temporally correlated. A recursive space-time receiver which incorporates per-survivor processing (PSP) and Kalman filtering into the Viterbi algorithm is proposed. This approach generalizes existing work to the correlated fading channel case. The channel time-evolution is modeled by a multichannel autoregressive process, and a bank of Kalman filters is used to track the channel variations. Computer simulation results show that a performance close to the maximum likelihood receiver with perfect channel state information (CSI) can be obtained. The effects of the spatial correlation on the performance of a receiver that assumes independent fading channels are examined.

Personality and responses to appetitive and aversive stimuli: the joint influence of behavioural approach and behavioural inhibition systems

Gray’s reinforcement sensitivity theory (RST) posits two separable neurological systems involved in the regulation of personality and behaviour. The behavioural approach and inhibition systems facilitate the expression of appetitive (impulsive-sensation seeking traits) and aversive motivation (anxiety traits), respectively. Inconsistent findings regarding associations between measures of personality and behavioural responses to appetitive and aversive stimuli has led to a modification of RST including the notion that, rather than separable as first hypothesised, the two systems jointly influence behaviour. The current study was designed to investigate this proposal with an additional focus on the role of reinforcement expectancies. Seventy-eight participants completed two questionnaire measures of BIS/BAS activity (EPQ-R, SPSRQ) and two behavioural measures (Q-TASK, Card Arranging Reward Responsivity Objective Task). Findings were in general consistent with the original separable systems approach, however they also showed that aversive responses were highest in high BAS/high BIS individuals, thus suggesting an interactive account of BIS/BAS processes. Further, stronger positive correlations between self-report BAS traits and behavioural reward responsiveness were found for participants who perceived the task as more rewarding than initially expected. Discussion focuses on the role of reward expectancies and on the issue regarding separable vs. joint BIS/BAS systems.

Precision missile guidance for systems intercepting at small attack angles : a H‡ tracking approach

This paper uses the H1 tracking ideas in the missile guidance problem. The controller performs as a Precision guidance controller for small desired attack angles although theoretically the formulas are valid (when intercepting a maneuvering target in a precision guidance point of view) only for the case of head on collision. The controller essentially navigates the missile in a unique relative arc that is de ned by the missile and target location and the desired attack angle.