TheThe BionicBionic ArmArm ByBy LeslieLeslie ChatawayChataway andand ChristineChristine HoneyHoney BIONICBIONIC ARMARM MechanicsMechanics ControlControl CurrentCurrent NewNew DevelopmentsDevelopments FutureFuture Directions…Directions… 2 JOINTSJOINTS // ArticulationsArticulations Classification Structure/ Examples Movement Synarthrodial Bones fused Cranial bones (immovable) together Amphiarthrodial Slight movement, Vertebrae (slightly moveable) fibrocartilage disk Tibiofibular separates bones joint Sacroiliac joint Diarthrodial Inelastic ligaments All other joints (freely moveable) cross and hold joint in body! in place SynovialSynovial Joints!Joints! Freely moveable joints Important in study of Human Kinetics Cartilage surfaces bone, reduces friction and absorbs shock Joint enclosed by articular capsule that holds synovial fluid. Six types: hinge, ball and socket, pivot, condyloid, plane and saddle. 4 SynovialSynovial JointsJoints inin thethe HumanHuman ArmArm Type Movement Example Pivot Rotation, uniaxial Radioulnar Hinge Uniaxial Elbow movement Condyloid Angular biaxial Wrist movement (metacarpophalangeal joint) Ball and Socket Triaxial Shoulder movement with great ROM ROM: Range Of Motion 5 ClassificationClassification ofof MovementMovement LinearLinear -- simplestsimplest movementmovement thatthat cancan occuroccur inin aa joint.joint. OccursOccurs inin glidinggliding synovialsynovial joints.joints. AngularAngular -- motionmotion occursoccurs betweenbetween thethe longlong bonesbones ofof thethe arm,arm, andand spinalspinal column.column. -- angleangle betweenbetween twotwo bonesbones isis increasedincreased oror decreaseddecreased 6 33 CardinalCardinal PlanesPlanes Frontal Plane 7 LinearLinear MotionMotion inin CardinalCardinal PlanesPlanes SidewardSideward motionmotion –– traveltravel alongalong xx axisaxis (movement(movement inin transversetransverse plane)plane) VerticalVertical motionmotion –– traveltravel alongalong yy axisaxis (movement(movement inin frontalfrontal plane)plane) For/AftFor/Aft motionmotion –– traveltravel alongalong Y zz axisaxis (movement(movement inin sagittalsagittal plane)plane) X Z 8 AngularAngular MovementMovement inin CardinalCardinal Planes:Planes: AngularAngular MovementMovement occursoccurs inin thethe cardinalcardinal planesplanes aboutabout anan axis.axis. Flexion/Flexion/ Abduction/Abduction/ Medial/Medial/ CircumductionCircumduction ExtensionExtension AdductionAdduction LateralLateral RotationRotation Forward and Sideward raising and Arm rotates inward Involves flexion/extension backward movement lowering of the arm in the and outward in abduction and adduction of the arm in the frontal plane about a transverse plane about performed in sequence in sagittal plane, about sagittal axis. a longitudinal axis. both sagittal and frontal a frontal axis. plane Horizontal occurs in transverse plane about a longitudinal axis. 9 UNIAXIAL:UNIAXIAL: TheThe ElbowElbow A HINGE JOINT Only movement in one plane of motion is possible. Can create a simple vector diagram to resolve the components of a force and measure the torque at the joint. Torque is the rotational force Torque = r x F = moment arm x Force 10 TheThe Elbow:Elbow: TheThe LeverLever Third Class Lever - Muscle Force falls between Resistance and Axis FORCE Contrary to first and second class levers, the force to generate an output is greater for third class levers. Tasks are made easier because the effort only moves through a smaller distance to generate work. 11 ForceForce DiagramDiagram The biceps force is broken down into a tangential and a radial force, these move and stabilize the joint respectively. 12 BIAXIAL:BIAXIAL: TheThe WristWrist AA CONDYLOIDCONDYLOID JOINTJOINT Movements of the wrist joint are flexion, extension, hyperextension, abduction, adduction and circumduction Inertia is a measure of the resistance of a body to a change in rotary motion. Inertia = mr2 13 TRIAXIAL:TRIAXIAL: TheThe ShoulderShoulder AA BALLBALL ANDAND SOCKETSOCKET JOINTJOINT Large range of motion exists for the shoulder girdle. Movements combine to create diagonal motion as well as segmental movements in the cardinal planes. 14 TheThe Shoulder:Shoulder: TheThe ForceForce DiagramDiagram forfor aa LeverLever cancan bebe extendedextended toto measuremeasure angularangular motion.motion. 44 SpatialSpatial componentscomponents ofof AngularAngular MotionMotion are:are: direction,direction, radius,radius, angleangle turnedturned through,through, arc.arc. AngularAngular MotionMotion :: ‘Amount‘Amount ofof Rotation’Rotation’ 15 ""WeWe aren'taren't doingdoing aa realreal greatgreat jobjob withwith upperupper--limblimb prostheses.prostheses. OurOur challengechallenge isis toto restorerestore functionfunction forfor peoplepeople whowho havehave sufferedsuffered limblimb loss."loss." Dr. Todd Kuiken, director of neuroengineering at the Center for Artificial Limbs at the Rehabilitation Institute of Chicago 16 ““CODMAN’SCODMAN’S PARADOX”PARADOX” AttemptingAttempting movementsmovements ofof flexion,flexion, extension,extension, abductionabduction andand adductionadduction throughthrough largelarge rangesranges ofof motionmotion isis accompaniedaccompanied byby rotationrotation ofof thethe upperupper extremityextremity (shoulder(shoulder inin thisthis case)case) aroundaround itsits longitudinallongitudinal axisaxis (z).(z). 17 WhatWhat wewe learnlearn fromfrom Codman’sCodman’s ParadoxParadox FromFrom thethe realizationrealization thatthat nonenone ofof thethe shouldershoulder movementsmovements inin thethe saggitalsaggital andand frontalfrontal planesplanes cancan bebe classifiedclassified asas onlyonly oneone typetype ofof angularangular motion.motion. ItIt isis nownow thethe goalgoal ofof thethe BiomedicalBiomedical engineerengineer toto createcreate aa prosthesisprosthesis thatthat duplicatesduplicates thethe skeletalskeletal framework,framework, andand allowsallows rotationrotation ofof thethe shouldershoulder jointjoint throughthrough hyperhyper-- movementsmovements ofof thethe upperupper andand lowerlower arm.arm. 18 NervesNerves DendritesDendrites -- cellcell bodybody -- axonaxon -- collateralscollaterals -- terminalterminal branchesbranches -- terminalterminal buttonsbuttons RefractoryRefractory periodperiod afterafter actionaction potentialpotential inin whichwhich nono otherother potentialpotential cancan bebe generatedgenerated 19 TheThe BrainBrain VisualVisual fieldfield -- prefrontalprefrontal cortexcortex -- premotorpremotor cortexcortex -- motormotor cortexcortex -- spinalspinal cordcord -- motormotor neuronsneurons -- musclesmuscles SensorySensory receptorsreceptors -- spinalspinal cordcord -- basalbasal gangliaganglia && cerebellumcerebellum -- sensorysensory cortexcortex 20 AA TetanusTetanus A twitch = a single action potential – Fast Twitch – Slow Twitch A tetanus = a series of action potentials Max force that can be exerted by a motor unit occurs during a fused tetanus 21 FatigueFatigue ResistanceResistance toto fatiguefatigue = the ability of a motor unit to withstand the decrease of the maximum force produced when a motor unit is required to produce a series of tetani FatigueFatigue IndexIndex - used to determine classification of motor unit (Type S, FR or FF) 22 TyingTying itit allall togethertogether MuscleMuscle forceforce isis alsoalso increasedincreased byby increasingincreasing thethe numbernumber ofof motormotor unitsunits involvedinvolved NeedNeed toto understandunderstand howhow andand whywhy thethe signalsignal cancan increaseincrease fromfrom thethe brainbrain NowNow focusfocus inin onon thethe brachialbrachial plexusplexus nervenerve (exits(exits C5C5--C8C8 && T1)T1) whichwhich innervatesinnervates thethe armarm andand upperupper backback 23 TheThe HumanHuman ArmArm The arm can be broken into Osteofascial compartments The arm is divided by a fascial layer that separates the muscles into an anterior and posterior compartments. The compartments contain muscles which are innervated by the same nerve and perform the same action. RADIAL NERVE: Posterior Compartment MUSCULOCUTANEOUS NERVE: Anterior Compartment MEDIAN NERVE: ULNAR NERVE: 24 RADIALRADIAL NERVE:NERVE: PosteriorPosterior CompartmentCompartment • Also known as the “Extensor Compartment”. • The muscles in this compartment are the triceps brachii, and anconeus muscle. • The Radial nerve also controls the Extensor Carpi Radialis. The deep branch of the Radial nerve controls the extensor carpi radialis brevis, and the supinator. The posterior interosseous nerve controls the extensors of the hand. 25 MUSCULOCUTANEOUSMUSCULOCUTANEOUS NERVE:NERVE: AnteriorAnterior CompartmentCompartment • Supplies the muscles in the anterior compartment, also known as the “Flexor Compartment”. The muscles in this compartment are the biceps brachii, brachialis, and the coracobrachialis. • The large Deltoid muscle is believed to have part of its body in the anterior compartment, the deltoid is the main adductor muscle. The protagonist of the deltoid muscle is the pectoralis muslces found in the chest. 26 MEDIANMEDIAN NERVE:NERVE: TheThe MedianMedian NerveNerve controlscontrols thethe PrPronatoronator TeresTeres,, palmarispalmaris longuslongus,, flexorflexor carpalcarpal radialisradialis.. TheThe UlnarUlnar NerveNerve controlscontrols flexorflexor carpalcarpal ulnarisulnaris,, flexorflexor digitorumdigitorum profundusprofundus inin thethe forearmforearm andand continuescontinues toto thethe handhand toto controlcontrol variousvarious functionsfunctions ofof thethe