In this paper we develop a set of inverse kinematics algorithms suitable for an anthropomorphic arm or leg. We use a combination of analytical and numerical methods to solve generalized inverse kinematics problems including position, orientation, and aiming constraints. Our combination of analytical and numerical methods results in faster and more reliable algorithms than conventional inverse Jacobian and optimization-based techniques. Additionally, unlike conventional numerical algorithms, our methods allow the user to interactively explore all possible solutions using an intuitive set of parameters that define the redundancy of the system.
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http://dx.doi.org/10.1006/gmod.2000.0528 | DOI Listing |
Arch Orthop Trauma Surg
January 2025
Adult Reconstruction and Joint Replacement Service, Hospital for Special Surgery, New York, USA.
Introduction: Knee alignment significantly impacts the outcome of total knee arthroplasty (TKA). Understanding patient perceptions of their knee alignment in relation to objective measurements is essential to ensure optimal surgical outcomes and to meet patients' expectations. This study reports patients' perception of pre- and postoperative knee alignment in relation to radiographic alignment measurements.
View Article and Find Full Text PDFSensors (Basel)
January 2025
College of Resource Environmental and Safety Engineering, University of South China, Hengyang 421001, China.
To solve the issue of inconvenient and dangerous manual operation during the installation and removal of the main pipe plugging plate in the steam generator in nuclear power plants, a ten-degree-of-freedom plugging robot was designed in the present study that includes a collaborative robotic arm coupled with a servo electric cylinder. By establishing a joint coordinate system for the robot model, a D-H parameter model for the plate plugging robot was established, and the forward and inverse kinematics were solved. The volume level approximate convex decomposition algorithm was used to fit the steam generator model with a convex packet, and an experimental simulation platform was constructed.
View Article and Find Full Text PDFPLoS One
January 2025
Faculty of Education and Arts, Sohar University, Sohar, Oman.
Conjugate Gradient (CG) methods are widely used for solving large-scale nonlinear systems of equations arising in various real-life applications due to their efficiency in employing vector operations. However, the global convergence analysis of CG methods remains a significant challenge. In response, this study proposes scaled versions of CG parameters based on the renowned Barzilai-Borwein approach for solving convex-constrained monotone nonlinear equations.
View Article and Find Full Text PDFArch Orthop Trauma Surg
January 2025
Division of Orthopedic Surgery, Tel-Aviv Sourasky Medical Center, Tel-Aviv, Israel.
J Orthop Surg Res
January 2025
Excellence Center for Hip & Knee Arthroplasty, Department of Orthopedic Surgery, Zuyderland Medical Center, Heerlen, The Netherlands.
Introduction: In 2020, 368 million people globally were affected by knee osteoarthritis, and prevalence is projected to increase with 74% by 2050. Relatively high rates of dissatisfactory results after total knee arthroplasty (TKA), as reported by approximately 20% of patients, may be caused by sub-optimal knee alignment and balancing. While mechanical alignment has traditionally been the goal, patient-specific alignment strategies are gaining interest.
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