Timotej Kodek

An identification of body segment parameters in the upper extremity

IEEE International Conference on Industrial Technology, 2003, 2003

Objective. To show that it is possible to determine segment masses and segment centers of mass by... more

An identification technique for evaluating static body segment parameters in the upper extremity

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004

In this paper we try to present a method for identifying the static biomechanical parameters of a... more In this paper we try to present a method for identifying the static biomechanical parameters of all three upper extremity body segments. The experiment is based on coupling the hu- man arm with an industrial robot which is then used for imposing a specified sagittal plane trajectory. Joint angles and forces in the contact point are collected during this process.

An analysis of static and dynamic joint torques in elbow flexion-extension movements

Simulation Modelling Practice and Theory, 2003

The goal of this study was to quantify shoulder, elbow and wrist dynamic and static torques in th... more The goal of this study was to quantify shoulder, elbow and wrist dynamic and static torques in the elbow flexion-extension movements. The movements were supervised and produced by using an industrial robot manipulator that was capable of imposing a programmed arc trajectory at various velocities in the sagittal plane of the seated human subject. The muscles of the right arm being measured, were kept passive at all times of the experiment, to allow smooth guidance of the arm along a desired path.

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An identification technique for evaluating body segment parameters in the upper extremity from manipulator-hand contact forces and arm kinematics

Clinical Biomechanics, 2006

To show that it is possible to determine segment masses and segment centers of mass by measuring ... more To show that it is possible to determine segment masses and segment centers of mass by measuring manipulator-hand contact forces and joint angles during upper extremity movement. The method serves as a quick subject specific body segment parameter evaluation technique. Clinically we see this method as an alternative upper extremity body segment parameter evaluation study especially useful in rehabilitation treatment activities. The experiment is based on coupling the human arm with a robotic manipulator which is then used for imposing a specified sagittal plane trajectory. Joint angles and forces in the contact point serve as input to the identification procedure. For verification purposes the proposed identification procedure was first performed on a mechanical arm. Afterwards a low velocity trajectory was imposed into all joints of the human upper extremity, with very small angular deviations. Within this small angular region the arm was assumed to be represented as a linear system. The outcome of the identification procedure is an estimate of masses and center of mass coordinates for the lower arm and palm segments, their products for the upper arm and the passive moments around the measured angle of all joints in the sagittal plane. The results obtained for three particular human arms are eventually compared to the average population based literature. From the clinical point of view the study can become useful for biomechanical evaluation and for evaluating biomechanical properties of lower extremities or other body segments. This method may also provide a foundation to measuring body segment moments of inertia and joint viscoelastic parameters.

Identifying shoulder and elbow passive moments and muscle contributions during static flexion-extension movements in the sagittal plane

by Marko Munih and Timotej Kodek

IEEE/RSJ International Conference on Intelligent Robots and System, 2002

... Faculty of electrical engineering University of Ljubljana, Slovenia TrfaSka 25, IO00 Ljubljan... more

An identification of body segment parameters in the upper extremity

by Marko Munih and Timotej Kodek

IEEE International Conference on Industrial Technology, 2003, 2003

Objective. To show that it is possible to determine segment masses and segment centers of mass by... more

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An Identification Technique for Evaluating Static Body Segment Parameters in the Upper Extremity

by Marko Munih and Timotej Kodek

Ieee International Conference on Robotics and Automation 2004 Proceedings Icra 04 2004, 2004

In this paper we try to present a method for identifying the static biomechanical parameters of a... more In this paper we try to present a method for identifying the static biomechanical parameters of all three upper extremity body segments. The experiment is based on coupling the hu- man arm with an industrial robot which is then used for imposing a specified sagittal plane trajectory. Joint angles and forces in the contact point are collected during this process.

An analysis of static and dynamic joint torques in elbow flexion-extension movements

by Marko Munih and Timotej Kodek

Simulation Modelling Practice and Theory, 2003

The goal of this study was to quantify shoulder, elbow and wrist dynamic and static torques in th... more The goal of this study was to quantify shoulder, elbow and wrist dynamic and static torques in the elbow flexion-extension movements. The movements were supervised and produced by using an industrial robot manipulator that was capable of imposing a programmed arc trajectory at various velocities in the sagittal plane of the seated human subject. The muscles of the right arm being measured, were kept passive at all times of the experiment, to allow smooth guidance of the arm along a desired path.

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Estimation of hand preshaping during human grasping

Medical Engineering & Physics, 2005

A new method for evaluating hand preshaping during reaching-to-grasp movement is proposed. The me... more A new method for evaluating hand preshaping during reaching-to-grasp movement is proposed. The method makes use of all five fingers in estimation of prehension. The investigation was performed on six healthy subjects grasping three different objects at various positions and orientations. The objects were presented to the subjects by means of a robot, which also induced perturbations in both object position and orientation. Positions of markers attached to the finger-tips and dorsum of the hand were recorded by means of a 3D optical tracking system. In the data analysis, the adjacent fingertips were interconnected, thus obtaining a planar pentagon whose various characteristics were investigated and discussed. New parameters for the evaluation of finger preshaping, such as pentagon surface area, angle between the pentagon and hand normal vectors, and the angle between the pentagon and object normal vectors were introduced. The proposed pentagon approach is expected to be useful in future work when examining grasping abilities of subjects with neuromuscular disorders.

An identification technique for evaluating body segment parameters in the upper extremity from manipulator-hand contact forces and arm kinematics

by Marko Munih and Timotej Kodek

Clinical Biomechanics, 2006

Objective. To show that it is possible to determine segment masses and segment centers of mass by... more

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Quantification of shoulder and elbow passive moments in the sagittal plane using a robot

by Marko Munih and Timotej Kodek

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