Biped Locomotion


Book Description

Here for the first time in one book is a comprehensive and systematic approach to the dynamic modeling and control of biped locomotion robots. A survey is included of various approaches to the control of biped robots, and a new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is new software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given. The reader is given a deep insight into the entire area of biped locomotion. The book covers all relevant approaches to the subject and gives the most complete account to date of dynamic modeling, control and realizations of biped systems.




Motor Control


Book Description

Motor Control: Translating Research into Clinical Practice, 6th Edition, is the only text that bridges the gap between current and emerging motor control research and its application to clinical practice. Written by leading experts in the field, this classic resource prepares users to effectively assess, evaluate, and treat clients with problems related to postural control, mobility, and upper extremity function using today’s evidence-based best practices. This extensively revised 6th Edition reflects the latest advances in research and features updated images, clinical features, and case studies to ensure a confident transition to practice. Each chapter follows a consistent, straightforward format to simplify studying and reinforce understanding of normal control process issues, age-related issues, research on abnormal function, clinical applications of current research, and evidence to support treatments used in the rehabilitation of patients with motor control problems.




The Cambridge Handbook of Infant Development


Book Description

This multidisciplinary volume features many of the world's leading experts of infant development, who synthesize their research on infant learning and behaviour, while integrating perspectives across neuroscience, socio-cultural context, and policy. It offers an unparalleled overview of infant development across foundational areas such as prenatal development, brain development, epigenetics, physical growth, nutrition, cognition, language, attachment, and risk. The chapters present theoretical and empirical depth and rigor across specific domains of development, while highlighting reciprocal connections among brain, behavior, and social-cultural context. The handbook simultaneously educates, enriches, and encourages. It educates through detailed reviews of innovative methods and empirical foundations and enriches by considering the contexts of brain, culture, and policy. This cutting-edge volume establishes an agenda for future research and policy, and highlights research findings and application for advanced students, researchers, practitioners, and policy-makers with interests in understanding and promoting infant development.




ROMANSY 21 - Robot Design, Dynamics and Control


Book Description

This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2016, the 21th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2016 is the 21st event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community.




The Structuring of Organizations


Book Description

Synthesizes the empirical literature on organizationalstructuring to answer the question of how organizations structure themselves --how they resolve needed coordination and division of labor. Organizationalstructuring is defined as the sum total of the ways in which an organizationdivides and coordinates its labor into distinct tasks. Further analysis of theresearch literature is neededin order to builda conceptualframework that will fill in the significant gap left by not connecting adescription of structure to its context: how an organization actuallyfunctions. The results of the synthesis are five basic configurations (the SimpleStructure, the Machine Bureaucracy, the Professional Bureaucracy, theDivisionalized Form, and the Adhocracy) that serve as the fundamental elementsof structure in an organization. Five basic parts of the contemporaryorganization (the operating core, the strategic apex, the middle line, thetechnostructure, and the support staff), and five theories of how it functions(i.e., as a system characterized by formal authority, regulated flows, informalcommunication, work constellations, and ad hoc decision processes) aretheorized. Organizations function in complex and varying ways, due to differing flows -including flows of authority, work material, information, and decisionprocesses. These flows depend on the age, size, and environment of theorganization; additionally, technology plays a key role because of itsimportance in structuring the operating core. Finally, design parameters aredescribed - based on the above five basic parts and five theories - that areused as a means of coordination and division of labor in designingorganizational structures, in order to establish stable patterns of behavior.(CJC).




Simulating Humans


Book Description

The area of simulated human figures is an active research area in computer graphics, and Norman Badler's group at the University of Pennsylvania is one of the leaders in the field. This book summarizes the state of the art in simulating human figures, discusses many of the interesting application areas, and makes some assumptions and predictions about where the field is going.




Nonlinear Analysis for Human Movement Variability


Book Description

How Does the Body’s Motor Control System Deal with Repetition? While the presence of nonlinear dynamics can be explained and understood, it is difficult to be measured. A study of human movement variability with a focus on nonlinear dynamics, Nonlinear Analysis for Human Movement Variability, examines the characteristics of human movement within this framework, explores human movement in repetition, and explains how and why we analyze human movement data. It takes an in-depth look into the nonlinear dynamics of systems within and around us, investigates the temporal structure of variability, and discusses the properties of chaos and fractals as they relate to human movement. Providing a foundation for the use of nonlinear analysis and the study of movement variability in practice, the book describes the nonlinear dynamical features found in complex biological and physical systems, and introduces key concepts that help determine and identify patterns within the fluctuations of data that are repeated over time. It presents commonly used methods and novel approaches to movement analysis that reveal intriguing properties of the motor control system and introduce new ways of thinking about variability, adaptability, health, and motor learning. In addition, this text: Demonstrates how nonlinear measures can be used in a variety of different tasks and populations Presents a wide variety of nonlinear tools such as the Lyapunov exponent, surrogation, entropy, and fractal analysis Includes examples from research on how nonlinear analysis can be used to understand real-world applications Provides numerous case studies in postural control, gait, motor control, and motor development Nonlinear Analysis for Human Movement Variability advances the field of human movement variability research by dissecting human movement and studying the role of movement variability. The book proposes new ways to use nonlinear analysis and investigate the temporal structure of variability, and enables engineers, movement scientists, clinicians, and those in related disciplines to effectively apply nonlinear analysis in practice.




Human Modeling for Bio-Inspired Robotics


Book Description

Human Modelling for Bio-inspired Robotics: Mechanical Engineering in Assistive Technologies presents the most cutting-edge research outcomes in the area of mechanical and control aspects of human functions for macro-scale (human size) applications. Intended to provide researchers both in academia and industry with key content on which to base their developments, this book is organized and written by senior experts in their fields. Human Modeling for Bio-Inspired Robotics: Mechanical Engineering in Assistive Technologies offers a system-level investigation into human mechanisms that inspire the development of assistive technologies and humanoid robotics, including topics in modelling of anatomical, musculoskeletal, neural and cognitive systems, as well as motor skills, adaptation and integration. Each chapter is written by a subject expert and discusses its background, research challenges, key outcomes, application, and future trends. This book will be especially useful for academic and industry researchers in this exciting field, as well as graduate-level students to bring them up to speed with the latest technology in mechanical design and control aspects of the area. Previous knowledge of the fundamentals of kinematics, dynamics, control, and signal processing is assumed. - Presents the most recent research outcomes in the area of mechanical and control aspects of human functions for macro-scale (human size) applications - Covers background information and fundamental concepts of human modelling - Includes modelling of anatomical, musculoskeletal, neural and cognitive systems, as well as motor skills, adaptation, integration, and safety issues - Assumes previous knowledge of the fundamentals of kinematics, dynamics, control, and signal processing




Clinical Neurophysiology


Book Description

Clinical Neurophysiology, Third Edition will continue the tradition of the previous two volumes by providing a didactic, yet accessible, presentation of electrophysiology in three sections that is of use to both the clinician and the researcher. The first section describes the analysis of electrophysiological waveforms. Section two describes the various methods and techniques of electrophysiological testing. The third section, although short in appearance, has recommendations of symptom complexes and disease entities using electroencephalography, evoked potentials, and nerve conduction studies.




Understanding Children with Cerebral Palsy


Book Description

"Cerebral Palsy (CP) represents one of the most frequent neurological disorder in the infancy and in the childhood. It includes brain injuries or developmental defects. According to the World Health Organization, it is a main problem of public health. It may include communication, intellectual, and motor disabilities with negative consequences on children inclusion in daily life and caregivers burden. Rehabilitative interventions are primarily focused on promoting self-determination and independence of individuals with CP. Postural control, gait, and motor skills are usually embedded. Additionally, one may envisage request and choice programs aimed at enhancing the child's awareness of his/her own behavior. The volume summarizes some illustrative evidence-based contributions to emphasize the effectiveness and the suitability of the adopted programs. Beside stability of upper limbs and motor performance of children with CP (chapter one), the therapeutic effects of a horse riding simulator which was compared to a traditional physiotherapy on the sitting position of children with spastic CP (chapter two), the evaluation of stability in children with different form of CP was assessed through a rehabilitative platform was implemented (chapter three). The aforementioned experimental examinations presented between-groups investigations. Furthermore, four case-report studies were included. Assistive technology-based setups were used to promote an active role, constructive engagement, and positive participation of the enrolled children with CP and intellectual disabilities. The beneficial outcomes on their quality of life were considered. Chapter four describes a microswitch-based program to enhance ambulation responses of a child with CP. Chapter five provides a detailed illustration of such program to support locomotion fluency. Chapter six illustrates a cluster-technology aimed at pursuing the dual goal of fostering an adaptive response and reducing a challenging behavior. Chapter seven refers to a computerized system focused on enabling a child with CP and intellectual delays with academic performance and communication opportunities. Whenever available, the effects on indices of happiness and/or positive participation were analyzed. Social validation procedures involving external raters were conducted. Practical features of the retained treatments were privileged. Clinical, educational, psychological, and rehabilitative implications of the findings were systematically and critically discussed. Caregivers, educators, families of children with CP, practitioners, psychologists, speech and occupational therapists, medicine or psychology students, and teachers may find some useful insights for both research and practice in daily life settings"--