Agudelo-Varela, Ó.; Vargas-Riaño, J.; Valera, Á. Turmell-Meter: A Device for Estimating the Subtalar and Talocrural Axes of the Human Ankle Joint by Applying the Product of Exponentials Formula. Bioengineering2022, 9, 199.
Agudelo-Varela, Ó.; Vargas-Riaño, J.; Valera, Á. Turmell-Meter: A Device for Estimating the Subtalar and Talocrural Axes of the Human Ankle Joint by Applying the Product of Exponentials Formula. Bioengineering 2022, 9, 199.
Agudelo-Varela, Ó.; Vargas-Riaño, J.; Valera, Á. Turmell-Meter: A Device for Estimating the Subtalar and Talocrural Axes of the Human Ankle Joint by Applying the Product of Exponentials Formula. Bioengineering2022, 9, 199.
Agudelo-Varela, Ó.; Vargas-Riaño, J.; Valera, Á. Turmell-Meter: A Device for Estimating the Subtalar and Talocrural Axes of the Human Ankle Joint by Applying the Product of Exponentials Formula. Bioengineering 2022, 9, 199.
Abstract
The human ankle is a complex joint, most commonly represented as talocrural and subtalar axes. It is difficult to locate and take in vivo measurements of the ankle joint. There are no instruments for patients lying on a bed or the floor; that can be used in outdoor or remote sites. We have developed a "Turmell-meter" to address these issues. We started with the study of ankle anatomy and anthropometry, then we used the product of exponentials’ formula to visualize the movements. Furthermore, we built a prototype using human proportions and statistics. For pose estimation, we used a trilateration method by applying tetrahedral geometry. Additionally, we computed the axis direction by fitting 3D circles, plotting the manifold and chart as an ankle joint model. We presented the results of simulations, a prototype comprising 45 parts, specifically designed draw-wire sensors, and electronics. Finally, we tested the device by capturing positions and fitting them into the bi-axial ankle model as a Riemannian manifold. The Turmell-meter is intended to be a hardware platform for human ankle joint axis estimation, it is adjustable and has an easy setup. The proposed model has the properties of a chart in a geometric manifold, we provided the details
Keywords
anthropometry; biomechanics; coordinate measuring machines; in vivo; kinematics; mechanical sensors; sensor arrays; human ankle model, operational amplifiers; pose estimation; position measurement; rehabilitation robotics; biomedical informatics; product of exponentials formula; Riemmanian manifolds
Subject
Engineering, Bioengineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
