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Lecture Notes in Computational Vision and Biomechanics 32

João Manuel R. S. Tavares

Nilanjan Dey
Amit Joshi Editors

Biomedical Engineering
and Computational
Intelligence
Proceedings of The World Thematic
Conference—Biomedical Engineering
and Computational Intelligence,
BIOCOM 2018
Lecture Notes in Computational Vision
and Biomechanics

Volume 32

Series Editors
João Manuel R. S. Tavares , Departamento de Engenharia Mecânica,
Faculdade de Engenharia, Universidade do Porto, Porto, Portugal
Renato Natal Jorge, Faculdade de Engenharia, Universidade do Porto, Porto,
Portugal
Research related to the analysis of living structures (Biomechanics) has been carried out
extensively in several distinct areas of science, such as, for example, mathematics, mechanical,
physics, informatics, medicine and sports. However, for its successful achievement, numerous
research topics should be considered, such as image processing and analysis, geometric and
numerical modelling, biomechanics, experimental analysis, mechanobiology and Enhanced
visualization, and their application on real cases must be developed and more investigation is
needed. Additionally, enhanced hardware solutions and less invasive devices are demanded. On
the other hand, Image Analysis (Computational Vision) aims to extract a high level of information
from static images or dynamical image sequences. An example of applications involving Image
Analysis can be found in the study of the motion of structures from image sequences, shape
reconstruction from images and medical diagnosis. As a multidisciplinary area, Computational
Vision considers techniques and methods from other disciplines, like from Artificial Intelligence,
Signal Processing, mathematics, physics and informatics. Despite the work that has been done in
this area, more robust and efficient methods of Computational Imaging are still demanded in many
application domains, such as in medicine, and their validation in real scenarios needs to be
examined urgently. Recently, these two branches of science have been increasingly seen as being
strongly connected and related, but no book series or journal has contemplated this increasingly
strong association. Hence, the main goal of this book series in Computational Vision and
Biomechanics (LNCV&B) consists in the provision of a comprehensive forum for discussion on
the current state-of-the-art in these fields by emphasizing their connection. The book series covers
(but is not limited to):

• Applications of Computational Vision and • Medical Image Analysis

Biomechanics
• Biometrics and Biomedical Pattern Analysis
• Cellular Imaging and Cellular Mechanics
• Clinical Biomechanics
• Computational Bioimaging and Visualization
• Computational Biology in Biomedical Imaging
• Development of Biomechanical Devices
• Device and Technique Development for
Biomedical Imaging
• Experimental Biomechanics
• Gait & Posture Mechanics
• Grid and High Performance Computing on
Computational Vision and Biomechanics
• Image Processing and Analysis
• Image processing and visualization in
Biofluids
• Image Understanding
• Material Models
• Mechanobiology
• Molecular Mechanics
• Multi-modal Image Systems
• Multiscale Biosensors in Biomedical Imaging
• Multiscale Devices and BioMEMS
for Biomedical Imaging
• Musculoskeletal Biomechanics
• Multiscale Analysis in Biomechanics
• Neuromuscular Biomechanics
• Numerical Methods for Living Tissues
• Numerical Simulation
• Software Development on Computational
Vision and Biomechanics
• Sport Biomechanics
• Virtual Reality in Biomechanics
• Vision Systems
• Image-based Geometric Modeling and
Mesh Generation
• Digital Geometry Algorithms for Computa-
tional Vision and Visualization

In order to match the scope of the Book Series, each book has to include contents relating, or
combining both Image Analysis and mechanics. Indexed in SCOPUS, Google Scholar and
SpringerLink.

More information about this series at http://www.springer.com/series/8910

João Manuel R. S. Tavares •

Nilanjan Dey Amit Joshi

•

Editors

Biomedical Engineering
and Computational
Intelligence
Proceedings of The World Thematic
Conference—Biomedical Engineering
and Computational Intelligence,
BIOCOM 2018

123
Editors
João Manuel R. S. Tavares Nilanjan Dey
University of Porto Techno India College of Engineering
Porto, Portugal Kolkata, India

Amit Joshi
Global Knowledge Research Foundation
Ahmedabad, Gujarat, India

ISSN 2212-9391 ISSN 2212-9413 (electronic)

Lecture Notes in Computational Vision and Biomechanics
ISBN 978-3-030-21725-9 ISBN 978-3-030-21726-6 (eBook)
https://doi.org/10.1007/978-3-030-21726-6
© Springer Nature Switzerland AG 2020
This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission
or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar
methodology now known or hereafter developed.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this
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Organizational Committees

Conference Chairs

Niko Phillips, Group Director, International Active Learning, UK

Peter H. Kent, CEO, UKEI, UK
Amira S. Ashour, Taif University, KSA, Egypt
Octavian Madalin Bunoiu, West University of Timisoara, Romania
Sheng-Lung Peng, National Dong Hwa University, Hualien, Taiwan

Technical Program Chairs

João Manuel R. S. Tavares, University of Porto, Portugal

Nilanjan Dey, Techno India College of Engineering, India
Malaya Nayak, Sr. Member and Development Team member—IEEE, UK and
Ireland Section and Chartered Fellow—BCS, UK
Vijay Singh Rathore, Professor, JECRC, Jaipur, India

Program Secretary

Mihir Chauhan, Global Knowledge Research Foundation

Technical Program Committee

Hazhir Ghasemnezhad, Electronics and Communication Engineering Department,

Shiraz University of Technology, Shiraz, Iran

v
vi Organizational Committees

Andrea Goldsmith, Professor of Electrical Engineering, Stanford University,

California
Prof. Dan Boneh, Computer Science Department, Stanford University, California,
USA
Prof. Jean Michel Bruel, Departement Informatique IUT de Blagnac, Blagnac,
France
Prof. Ngai-Man Cheung, Assistant Professor, University of Technology and
Design, Singapore
Prof. Yun-Bae Kim, SungKyunKwan University, South Korea
Prof. Ting-Peng Liang, National Chengchi University Taipei, Taiwan
Prof. Sami Mnasri, IRIT Laboratory Toulouse, France
Prof. Lorne Olfman, Claremont, California, USA
Prof. Anand Paul, The School of Computer Science and Engineering, South Korea
Sanjam Garg, University of California, Los Angeles, California
Garani Georgia, University of North London, UK
Dr. Krishnamachar Prasad, Department of Electrical and Electronic Engineering,
Auckland, New Zealand
Prof. Brent Waters, University of Texas, Austin, TX, USA
Prof. Philip Yang, Price water house Coopers, Beijing, China
Mr. Jeril Kuriakose, Manipal University, Jaipur, India
Prof. R. K. Bayal, Rajasthan Technical University, Kota, Rajasthan, India
Prof. Martin Everett, University of Manchester, England
Prof. Feng Jiang, Harbin Institute of Technology, China
Prof. Prasun Sinha, Ohio State University Columbus, Columbus, OH, USA
Dr. Savita Gandhi, Professor, Gujarat University, Ahmedabad, India
Prof. Alexander christea, University of Warwick, London, UK
Dr. Aynur Unal, Standford University, USA
Prof. Ahmad Al- Khasawneh, The Hashemite University, Jordan
Dr. Bharat Singh Deora, JRNRV University, India
Prof. Xiaoyi Yu, National Laboratory of Pattern Recognition, Institute of
Automation, Chinese Academy of Sciences, Beijing, China
Prof. Gengshen Zhong, Jinan, Shandong, China
Prof. Abdul Rajak A. R., Department of Electronics and Communication
Engineering Birla Institute of Dr. Nitika Vats Doohan, Indore, India
Rajkumar Rajasekaran, Vellore Institute of Technology, India
Dr. Alpana Upadhyay, Gujarat Technological University, India
Dr. Disha Handa, Women Scientist, India
Dr. Mukesh Shrimali, Pacific University, Udaipur, India
Mrs. Meenakshi Tripathi, MNIT, Jaipur, India
Prof. S. N. Tazi, Government Engineering College, Ajmer, Rajasthan, India
Shuhong Gao, Mathematical Sciences, Clemson University, Clemson, South
Carolina
Dr. Akhilesh Sharma, Manipal University, Jaipur, India
Manoj Kumar, JIMS Engineering and Management Technical Campus, India
Cheng Guang, Southeast University, Nanjing, China
Organizational Committees vii

Venkat N. Gudivada, Weisburg Division of Engineering and Computer Science,

Marshall University Huntington, Huntington, West Virginia
Prof. Nguyen Ha, Department of Electrical and Computer Engineering, University
of Saskatchewan, Saskatchewan, Canada
Dr. Z. J. Haas, School of Electrical Engineering, Cornell University, Ithaca, New
York
Hyehyun Hong, Department of Advertising and Public Relations, Chung-Ang
University, South Korea Honggang Hu, School of Information Science and
Technology, University of Science and Technology of China, P. R. China
Fengjun Hu, Zhejiang shuren university, Zhejiang, China
Dr. Qinghua Huang, School of Electronic and Information Engineering, South
China University of Technology, China
Chiang Hung-Lung, China Medical University, Taichung, Taiwan
Kyeong Hur, Department of Computer Education, Gyeongin National University of
Education, Incheon, Korea
Sudath Indrasinghe, School of Computing and Mathematical Sciences, Liverpool
John Moores University, Liverpool, England
Ushio Inoue, Department of Information and Communication Engineering,
Engineering Tokyo Denki University, Tokyo, Japan
Dr. Stephen Intille, Associate Professor College of Computer and Information
Science and Department of Health Sciences, Northeastern University, Boston,
Massachusetts
Dr. M. T. Islam, Institute of Space Science, Universiti Kebangsaan Malaysia,
Selangor, Malaysia
Lillykutty Jacob, Professor Department of Electronics and Communication
Engineering, NIT, Calicut, Kerala, India
Anil K. Jain, Department of Computer Science and Engineering, Michigan State
University, East Lansing, Michigan
Dagmar Janacova, Tomas Bata University in Zlín, Faculty of Applied Informatics
nám. T. G, Czech Republic, Europe
Kairat Jaroenrat, Faculty of Engineering at KamphaengSaen, Kasetsart University,
Bangkok, Thailand
S. Karthikeyan, Department of Information Technology, College of Applied
Science, Sohar, Oman, Middle East
Michael Kasper, Fraunhofer Institute for Secure Information Technology, Germany
Jamal Akhtar Khan, Department of Computer Science College of Computer
Engineering and Sciences, Salman bin Abdulaziz University Kingdom of Saudi
Arabia
Kholaddi Kheir Eddine, University of constantine, Algeria
Ajay Kshemkalyani, Department of Computer Science, University of Illinois,
Chicago, IL
Madhu Kumar, Associate Professor, Computer Engineering Department, Nanyang
Technological University, Singapore
Bartel Van de Walle, University Tilburg, Tilburg, The Netherlands
viii Organizational Committees

Sudhanshu Gonge, Marathwada Mitra Mandal’s College of Engineering,

Karvenagar, Pune, India
Prof. Murali Bhaskaran, Dhirajlal Gandhi College of Technology, Salem, Tamil
Nadu, India
Jagdish Sharma, JK Lakshmipat University, Jaipur, India
Prof. Qin Bo, Universitat Rovira i Virgili, Tarragona, Spain, Europe
Prof. Dan Boneh, Computer Science Department, Stanford, California
Prof. Fatima Boumahdi, Ouled Yaich Blida, Algeria, North Africa
Prof. Nikolaos G. Bourbakis, Department of Computer Science and Engineering,
Dayton, Ohio, Montgomery
Ms. Narimene Boustia, Boufarik, Algeria
Prof. Jonathan Clark, STRIDe Laboratory Mechanical Engineering, Tallahassee,
Florida
Prof. Thomas Cormen, Department of Computer Science Dartmouth College,
Hanover, Germany
Prof. Dennis D. Cox, Rice University, Texas, USA
Prof. Marcos Roberto da Silva Borges, Federal University of Rio de Janeiro, Brazil
Soura Dasgupta, Iowa City, Iowa, US
David Diez, Leganés, Spain, Europe
Dr. Zhang Dinghai, Gansu Agricultural University, Lanzhou, China
Dr. P. D. D. Dominic, Department of Computer and Information Science, Universiti
Teknologi Petronas, Tronoh, Perak, Malaysia
Aditya Khamparia, Lovely Professional University, Punjab, India
Prof. Gholamhossein Dastghaibyfard, College of Electrical and Computer
Engineering, Shiraz University, Shiraz, Iran
Prof. Doreen De Leon, California State University, USA
Prof. David Delahaye, Saint-Martin, Cedex, France
Prof. Andrew G. Dempster, The University of New South Wales, Australia
Prof. Alan Dennis, Kelley School of Business, Indiana University, Bloomington,
IN, USA
Prof. Jitender Singh Deogun, Department of Computer Science and Engineering,
University of Nebraska—Lincoln, Nebraska, USA
Dr. S. A. D. Dias, Department of Electronics and Telecommunication Engineering,
University of Moratuwa, Sri Lanka
Dr. Rami Alkhatib, Rafik Hariri University
Ali Al Ghouwayel, The International University Of Beirut, Lebanon
Aytug Onan, Celal Bayar University, Turkey

Advisory Committee

James E. Fowler, Mississippi State University, Mississippi, United States

Chih-Heng Ke, MIEEE, NKIT, Taiwan
Dr. Majid Ebnali-Heidari, ShareKord University, Shahrekord, Iran
Organizational Committees ix

L. Kasprzyczak, Institute of Innovative Technologies EMAG, Katowice, Poland

Zahid Khan, School of Engineering and Electronics, The University of Edinburgh,
Mayfield Road, Scotland
Jin-Woo Kim, Department of Electronics and Electrical Engineering, Korea
University, Seoul, Korea
Rajendra Kumar Bharti, Assistant Professor, Kumaon Engineering College,
Dwarahat, Uttarakhand, India
Ashok Arora, MRIU, Faridabad, India
Dr. Aynur Unal, Standford University, USA
Tarek M. Sobh, Dean, School of Engineering, University of Bridgeport, USA
Z. A. Abbasi, Department of Electronics Engineering, AMU, Aligarh, India
Manjunath Aradhya, Department of MCA, SJCE, Mysore
Mr. Prem Surana, Chairman, Deepshikha Group, Jaipur, India
Mr. Anshu Surana, Vice Chairman, Deepshikha Group, Jaipur, India
Dr. Y. C. Bhatt, MPUAT, Udaipur, India
Chih-Heng Ke, MIEEE, NKIT, Taiwan
Prof. Min Xie, Ph.D. (Quality), Fellow of IEEE
Mustafizur Rahman, Endeavour Research Fellow, Institute of High Performance
Computing, Agency for Science Technology and Research
C. Arunachalaperumal, Associate Professor, S. A. Engineering College, Chennai,
India
Chandana Unnithan, Deakin University, Melbourne, Australia
Dr. Pawan Lingras, Professor, Saint Mary’s University, Canada
Mohd Atique, Amravati, Maharashtra, India
Puneet Azad, New Delhi, India
Chandana Unnithan, Victoria University, Melbourne, Australia
Hoang Pham, Professor and Chairman, Department of Industrial and Systems
Engineering, Rutgers University, Piscataway, NJ
Dr. Rajan Patel, Sankalchand Patel College of Engineering, Visnagar, India
Dr. Hemant Purohit, George Mason University, USA
Dr. Naeem Hannoon, Universiti Teknologi Mara, Malaysia
Dr. Nagaraj Balakrishnan, Professor, Karpagam College of Engineering
Mylaripalayam, Coimbatore, India
Prashant Bansod, SGSITS, Indore
Prof. Hipollyte Muyingi, Namibia University of Science and Technology, Namibia
Dr. Nobert Jere, Namibia University of Science and Technology, Namibia
Shalini Batra, Computer Science and Engineering Department, Thapar University,
Patiala, Punjab, India
Ernest Chulantha Kulasekere, Ph.D., University of Moratuwa, Sri Lanka
Shajulin Benedict, Director, HPCCLoud Research Laboratory, St.Xaviers Catholic
College of Engineering Chunkankadai, District, Nagercoil, Tamil Nadu
Prof. Murali Bhaskaran, Dhirajlal Gandhi College of Technology, Salem, Tamil
Nadu
Pramod Parajuli, Nepal College of Information Technology, Nepal
Prof. Komal Bhatia, YMCA University, Faridabad, Haryana, India
x Organizational Committees

Brooke Fisher Liu, Department of Communication, University of Maryland,

College Park, MD, USA
Prof. S. R. Biradar, Department of Information Science and Engineering, SDM
College of Engineering and Technology, Dharwad, Karnataka
A. K. Chaturvedi, Department of Electrical Engineering, IIT Kanpur, India
Margaret Lloyd, Faculty of Education School of Curriculum, Queensland
University of Technology, Queensland
Hoi-Kwong Lo, University of Toronto, Ontario, Canada
Pradeep Chouksey, Principal TIT college, Bhopal, MP, India
Shashidhar Ram Joshi, Ph.D., Institute of Engineering, Pulchowk Campus,
Pulchowk, Nepal
Chhaya Dalela, Associate Professor, JSSATE, Noida, Uttar Pradesh, India
Jayanti Dansana, KIIT University, Bhubaneswar, Odisha, India
Kok-Lim Low, National University of Singapore, Singapore
Desmond Lobo, Computer Engineering Department, Faculty of Engineering at
KamphaengSaen, Kasetsart University, Thailand
Sergio Lopes, Industrial Electronics Department, University of Minho, Braga,
Portugal
Soura Dasgupta, Department of TCE, SRM University, Chennai, India
Dr. Apurva A. Desai, Veer Narmad South Gujarat University, Surat, India
V. Susheela Devi, Senior Scientific Officer, Department of Computer Science and
Automation Indian Institute of Science, Bangalore
Lili Liu, Automation College, Harbin Engineering University, Harbin, China
Subhadip Basu, Ph.D., Visiting Scientist, The University of Iowa, Iowa City, USA
Vijay Pal Dhaka, Jaipur National University, Jaipur, Rajasthan
Mr. Mignesh Parekh, Kamma Incoporation, Gujarat, India
Preface

The World Thematic Conference—Biomedical Engineering and Computational

Intelligence (BIOCOM 2018) is intended to provide an international forum where
researchers, practitioners, and professionals interested in the advances in, and
applications of, biomedical engineering and computational Intelligence can
exchange the latest research, results, and ideas in these areas through presentation
and discussion.
BIOCOM 2018 provides a comprehensive and unrivalled platform for
Professionals consisting of Doctors, Engineers, Physicians, Scientists, Technicians,
Technologists, Clinicians, Nurses, Allied Health Professionals, Specialists, Medical
Industry Experts, Research Scientists and Academicians, and Technocrats. In this
forum, stakeholders meet, share, and network with the common goal of providing
the highest quality of biomedical technology, health care to patients, and compu-
tational intelligence applications to the community through a bustling exchange of
exciting ideas, experiences, and best practices among speakers and delegates.
The conference was held in London, UK, during October 30–31, 2018 Hotel
Holiday Inn London—Regent’s Park, Carburton Street, Fitzrovia, London,W1W
5EE and Organized and Supported by Global Knowledge Research Foundation,
IEEE, Active Learning and City of Oxford College, Oxford United Kingdom,
InterYIT—International Federation for Information Processing.
Research submissions in various advanced bio-engineering and technology areas
were received and after a rigorous peer-review process with the help of program
committee members and 29 external reviewers for 70 papers from 12 different
countries including UK, Argentina, Czechia, India, Lebanon, New Zealand, Italy,
Canada, Russia, France, and Egypt out of which 10 were accepted with an
acceptance ratio of 0.17.

Porto, Portugal João Manuel R. S. Tavares

Kolkata, India Nilanjan Dey
Ahmedabad, India Amit Joshi

xi
Contents

Bioinspired Approach to Inverse Kinematic Problem . . . . . . . . . . . . . . 1

Rami Alkhatib, Maher Sabbah, Mohamad O. Diab, Mohammad Taha
and Khalid Salloum
Assessment of Two Musculoskeletal Models in Children
with Crouch Gait . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Emiliano P. Ravera, Juan A. Beret, Mauricio Riveras, Marcos J. Crespo,
Aliah F. Shaheen and Paola A. Catalfamo Formento
Low-Complexity Classification Algorithm to Identify Drivers’ Stress
Using Electrodermal Activity (EDA) Measurements . . . . . . . . . . . . . . . . 25
Pamela Zontone, Antonio Affanni, Riccardo Bernardini, Alessandro Piras
and Roberto Rinaldo
3D Model of Blood Flow for Magnetohydrodynamic Study . . . . . . . . . . 35
Maher Sabbah, Houssam Salami, Jad Kozaily and Rami Alkhatib
Nonlinear Autoregressive Model Design and Optimization
Based on ANN for the Prediction of Chaotic Patterns
in EEG Time Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Lei Zhang
Using a Coupled MDOF Biodynamic Model to Study the Effect
of Curvature of Spine on Lumbar Spine Compression
Under Axial Loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
R. Naveen Raj and K. Shankar
Applied Logics to Develop Ontology Model of the Complex-Structured
Domains: Organic Chemistry and Biochemistry . . . . . . . . . . . . . . . . . . . 71
Karina A. Gulyaeva and Irina L. Artemieva

xiii
xiv Contents

Analysis of HD-sEMG Signals Using Channel Clustering

Based on Time Domain Features For Functional Assessment
with Ageing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Swati Banerjee, Loubna Imrani, Kiyoka Kinugawa, Jeremy Laforet
and Sofiane Boudaoud
Effect of Reduced Point NIR Spectroscopy on Glucose Prediction
Error in Human Blood Tissue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Jivan Parab, M. Sequeira, R. S. Gad and G. M. Naik
Data Augmentation for Signature Images in Online Verification
Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Anastasia Beresneva and Anna Epishkina
Bioinspired Approach to Inverse
Kinematic Problem
Rami Alkhatib, Maher Sabbah, Mohamad O. Diab, Mohammad Taha
and Khalid Salloum

Abstract In robotics, inverse kinematics is mapping the end-effector location and

orientation to joint angles. In this paper, the challenge behind finding a solution in
inverse kinematics is tackled through minimizing the energy introduced in joints and
the energy required by the mechanism as a whole. Studying integrated energies in the
joints found in the human arm can give a new approach in understanding and solving
inverse kinematics problem constrained by following the optimized path. Results
are based on screw motion theorem, introduced by Charles and Mozzi. Moreover,
the proposed technique and the results are exposed through simulation of three-link
redundant manipulators that resemble human arm.

Keywords Inverse kinematics · Screw motion · Robot arm

1 Introduction

Human arm has the advantage of smooth dynamic path in its configuration space
and thus can reach several orientations and positions. Such a mechanism encounters
redundancy and thus has more degree of freedoms than needed to operate, which

R. Alkhatib (B) · K. Salloum

Mechanical and Mechatronics Engineering Department, Rafik Hariri University, Mechref,
Lebanon
e-mail: khatibrh@hotmail.com
K. Salloum
e-mail: salloum.j.khaled@gmail.com
M. Sabbah · M. O. Diab · M. Taha
Electrical and Computer Engineering Department, Rafik Hariri University, Mechref, Lebanon
e-mail: sabbahmm@rhu.edu.lb
M. O. Diab
e-mail: diabmo@rhu.edu.lb
M. Taha
e-mail: tahamh@rhu.edu.lb
© Springer Nature Switzerland AG 2020 1
J. M. R. S. Tavares et al. (eds.), Biomedical Engineering and Computational Intelligence,
Lecture Notes in Computational Vision and Biomechanics 32,
https://doi.org/10.1007/978-3-030-21726-6_1
2 R. Alkhatib et al.

enrich its smooth motion in difficult areas of the workspace. Studying the relationship
between the joints of a manipulator and the position and rotation of the gripper is
part of the discipline of kinematics [1]. For instance, inverse kinematics (IK) is
essential for controlling the gripper’s location in the workspace by computing joint
variables. However, IK introduces numerous solutions which must be regularized
[2, 3]. Solutions to inverse kinematic problem (IKP) are treated through analytical
approach and the iterative approach or a combination of both techniques. The iterative
approach requires time cost and power consumption. Moreover, it does not always
achieve convergence and may get stuck in an infinite loop. On the other hand, the
analytical method requires less time and power consumption, yet it is only applied for
specific mechanisms. As a result, both techniques are not very consistent in solving
inverse kinematics problem.
A new technique will be developed by considering the arm as a system that consists
of a base made up from a shoulder, upper arm, lower arm, and the hand as the end
effector. This system requires instantaneous joint stiffness as an input parameter
in different movements and positions. Since muscles in our system are the active
components (actuators), the stiffness in the joints is driven by muscle stiffness.
The IKP is the problem in finding a set of joint variables to produce desired end-
effector position and orientation. In such a case, two situations exist. The first is when
many solutions exist for a reachable target, and the second case is when there is no
solution and the target is unreachable. In this paper, we will show how the human
arm could simplify the IKP.

2 Methodology

2.1 Screw Motion of Robot Arm

Screw motion properties will be applied to the redundant robot mechanism resembles
human arm shown in Fig. 1.
Since the end-effector joint can compensate for the orientation, the mechanism
can be simplified to a two-link planar open-chain mechanism with the ability to
control the gripper’s position in space by adjusting the first two joint variables (θ1
and θ2 ). It should be noted that two cases for zero configurations of the mechanism
are to be considered. This is because it affects the optimal set of joint parameters that
minimize energy elements of the actuators. The two cases are as follows:
• Choosing the zero position to be aligned with x-axis (X0 ) (i.e., θ1 = θ2 = 0) and
• Choosing the zero position to be aligned with y-axis (Y0 ) (i.e., θ1 = 90°, θ2 = 0).
Thus, the objective is to minimize the range of angle θ1 based on the optimal
energy trajectory that the human arm can take to reach the target. Screw equation for
the simplified mechanism is given by the product of exponentials:
Bioinspired Approach to Inverse Kinematic Problem 3

Fig. 1 Robotic arm

T0n = e[S1 ]θ1 · e[S2 ]θ2 · M (1)

Equation (1) is the homogenous transformation of the end-effector frame {n} with
respect to space frame {0}. Its derivation is based on Chasles–Mozzi theorem. In
addition, M is the transformation describing the gripper frame when the system is
at home position (i.e., case 1 or case 2). It is worth mentioning that screw motion
is grounded on a rotation (θ) about some arbitrary vector in space which is denoted
by screw axis (w) followed by a translation parallel to that axis with a distance (d).
Thus, the screw of joint is denoted by
 
w
S= ∈ R6 (2)
v
   
e[ω]θ I θ + (1 − cos θ )[ω] + (θ − sin θ )[ω]2 v
e[S]θ =
0 1

where v is the velocity vector computed as a function of a random point (q) chosen
on the axis of rotation in (3):

d
v = −[w]q + w (3)
θ

2.2 Physical Manifestation of Singularities

As the robot arm considered is a redundant mechanism, then dealing with singularities
is important. Singularities would define the configuration at which a motion is un-
4 R. Alkhatib et al.

executable or target that cannot be reached. Keeping in mind, some joint torques
could be bonded and in turn would result in unbounded torques by the gripper.
In Fig. 1, one can derive the position of the end effector as follows:

x = L 1 cos(θ1 ) + L 2 cos(θ1 + θ2 ) (4)

y = L 1 sin(θ1 ) + L 2 sin(θ1 + θ2 ) (5)

Taking the derivative of both (4) and (5) would lead to (6) in a matrix form as
follows:

w = J · θ −1 · Ẋ (6)

This equation can hold as long as no singularities exist. This can occur for any
configuration where changing the joints does not change the end-effector velocity in
any arbitrary direction. Mathematically speaking, this occurs when the determinant
of Jacobian (J) is zero. Otherwise, if the Jacobian is in full rank, thus the determinate
is different from zero, then the gripper can execute any arbitrary velocity.

2.3 Inverse Kinematic Problem

Starting from (1), the objective is to get the joint parameters in terms of the gripper’s
configuration and is derived as in (7):
 
[S1 ]θ1 + [S2 ]θ2 = Log T0n · M −1 (7)

Now applying (7) for both cases of home position of the robot arms will yield two
or more scenarios that can exist for one target position as in Fig. 2. If we analyze it
graphically, it is logical to observe that the lower solution is easy to reach from the
first zero configuration as it is closer and does not require much speed, yet it still
requires some power (on actuators) to lift the mechanism. The upper solution is easy
to reach from the second configuration because it is closer, yet we notice that weight
is in the direction of motion and thus actuators consume less power despite the first
scenario.
Even though there are two solutions for one target, however, each has a different
orientation of the hand as shown in the figure above (i.e., T0n has different rotation
matrices R but the same position vector P). Since less power is the goal, obtaining
a set of angles that minimizes energy through the study of the human arm modeling
and dynamics will be considered later on. Thus rearranging (7) will be as shown in
(8):
 
[S2 ]θ2 = Log T0n · M −1 − [S1 ]θ1 (8)
Bioinspired Approach to Inverse Kinematic Problem 5

Fig. 2 Two scenarios of

robotic arm

Table 1 IKP in for case 1 θ1 (r ad) θ2 (case 1) θ2 (case 2)

and case 2
−3.1416 3.6652 0.3527 2.0944 Inf
−2.1416 2.6652 0.3527 1.0944 Inf
−1.1416 1.6652 0.3527 0.0944 Inf
−0.1416 0.6652 0.3527 −0.9056 Inf
0.8584 −0.3348 0.3527 −1.9056 Inf
1.8584 −1.3348 0.3527 −2.9056 Inf
2.8584 −2.3348 0.3527 −3.9056 Inf

For example, lets us take L1 = 29 cm and L2 = 23 cm. Then the results are as
follows:
⎡ ⎤ ⎡ ⎤
0 −1 0 0 0 −1 0 29
 ⎢0 0 0 −29 ⎥ ⎢1 0 0 0 ⎥
S2case1 =⎢
⎣0
⎥ S2 =⎢ ⎥ (9)
0 0 0 ⎦ case2 ⎣0 0 0 0 ⎦
0 0 0 0 0 0 0 0

Now taking an arbitrary:

◦
T0n (Rotation ar ound z-axis by 30 and the position coordinates (2, 4, 0).

Then solving the IKP for θ1 ranging from –π to π and solving for θ2 will give
Table 2 in both cases as shown in Table 1, Figs. 4, and 5.
6 R. Alkhatib et al.

Fig. 3 IKP for case 1

2.4 Analysis

Drawing the mechanisms as in Figs. 3 and 4, it clearly appears that the position of
the target is changed at each incrimination of θ1 with respect to the given orientation
α = 30° from the two cases of home position. This means that achieving a specific
orientation requires only one set of target’s position coordinates. In addition, mul-
tiple configurations with discrete incrimination of θ1 are shown in the figures. For
instance, the orientation will result in several numbers of solutions given that the
target coordinates are also specified. For illustration, Fig. 5 shows different postures.
However, choosing another target coordinates to be (0, 20, 0) will yield an infinite
number of solutions as in Table 2.
The solutions are obtained using (7). One example is shown below:

φ = π − θ2 ⇒ θ2 = π − φ
P x 2 + P y 2 = L12 + L22 − 2L1 · L2 · cos φ
⇒ φ = cos−1 (L12 + L22 − P x 2 − P y 2 /2 · L1 · L2)

α = θ1 + θ2 (Orientation)
Bioinspired Approach to Inverse Kinematic Problem 7

Fig. 4 IKP for case 1

Fig. 5 Different configurations for case 1

8 R. Alkhatib et al.

Table 2 Several solutions Target θ1 Orientation θ2

with a given target
(0, 20, 0) 9.0761° 151.6907° 142.6146°
14.8057° 155.8189° 141.0132°
20.5352° 160.1065° 139.5173°
26.2648° 164.5925° 138.3277°
31.9944° 169.3281° 137.3337°
37.724° 174.3826° 136.6587°
Many Many Many
solutions exist solutions exist solutions exist

Using sine law:

sin φ/(P x 2 + P y 2) = (sin β/L2) = (sin γ /L1) ⇒ β = sin−1 (L2 · sin φ/(P x 2 + P y 2 ))

sin(β + θ1 ) = P y/(P x 2 + P y 2 ) ⇒ θ1 + β = sin−1 (P y/P x 2 + P y 2 )

⇒ θ1 = sin−1 (P y/P x 2 + P y 2 ) − β

To finally obtain the orientation free from θ1 and θ2

⇒ α = π − φ + sin−1 (P y/P x 2 + P y 2 ) − β
Now solve for θ1 and θ2 :

[S1 ]θ1 + [S2 ]θ2 = Log(T0n ) + Log(M −1 ) ⇒

[S1 ]θ1 + [S2 ]θ2 = Log(T0n · M −1 ) ⇒
⎡ ⎤ ⎡ ⎤ ⎡ ⎤
0 −θ1 0 0 0 −θ2 0 0 0 −1.6287 0 −0.1617
⎢ θ1 0 0 0 ⎥ ⎢ θ2 0 0 −29θ2 ⎥ ⎢ 1.6287 0 0 −35.5781 ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥⇒
⎣ 0 0 0 0⎦ + ⎣ 0 0 0 0 ⎦ = ⎣ 0 0 0 0 ⎦
0 0 00 0 0 0 0 0 0 0 0

−θ1 − θ2 = −1.6287
⇒ θ1 + θ2 = 1.6287
θ1 + θ2 = 1.6287
− 29θ2 = −35.5781 ⇒ θ2 = 1.2268 rad ⇒ θ1 = 0.4019 rad

2.5 Musculoskeletal Model of Human Arm

The human body in general and human arm in particular is a musculoskeletal system.
It mainly consists of skeleton, skeletal muscles, and joints [4]. Knowing that, skeletal
muscle is attached to the bones by the use of tendon.
Bioinspired Approach to Inverse Kinematic Problem 9

Table 3 Chosen parameter Parameter Value Note

values
m1 2 kg Upper arm mass
m2 1.1 kg Lower arm mass
m3 0.4 kg Hand mass
I1 0.021 kg m2 Upper arm inertia
I2 0.007 kg m2 Lower arm inertia
L1 0.29 m Upper arm length
L2 0.23 m Lower arm length
L1c 0.14 m Center to shoulder
L2c 0.11 m Center to shoulder

Table 4 Biomechanical Torque provider Length (cm) Moment (N·m.)

outcomes
1 16.2 92
2 17.3 77
3 27.9 67
4 13.4 46

Table 5 Energies consumed Group Analytical Musculoskeletal Mean value (J)

energy (J) energy (J)
A1 17.662 14.764 16.213
B1 6.816 3.537 5.1765
C1 22.934 24.594 23.764
D1 6.939 14.505 10.722
A2 28.792 14.429 21.611
B2 20.980 5.875 13.427
C2 19.982 14.67 17.326
D2 23.751 26.34 25.045

The properties of skeletal muscle can be summarized by its excitability, con-

tractility, extensibility, elasticity, and viscoelasticity which determine its mechanical
power. For our model, we will take the parameter shown in Table 3 into account [5].
So it becomes possible to convert this system into a mechanical system. Then
computing the power for different targets as in Fig. 1 [6] in addition to net energy
[4, 6] will yield results in Tables 4 and 5, respectively.
10 R. Alkhatib et al.

3 Discussion

From any position of the manipulator, we can see that that joint 1 (actuator 1) carries
more load than joint 2 (actuator 2) since it is responsible for lifting and carrying
torque from the weight of two bars (Mass = 3.1 kg), despite the second actuator
which is only responsible for lifting and carrying torque of one bar (Mass = 1.1 kg).
Through observation and analysis, one would be able to say that the first joint is
dominant when we are concerned in the energy that the system is consuming as in [7,
8]. Moreover, a trajectory ranging from right to left (i.e., θ1 is increasing) consumes
the mechanism more energy than of a trajectory ranging from left to right (i.e., θ1
is decreasing). When θ1 reaches 90° and plus, the weight will start acting with the
motion of the actuator and system start requiring less energy to proceed to its final
position. Adding to this, the major factor that encloses and approves the reduced
energy configuration is time. The shortness of the path that the manipulator takes
from a certain zero configuration judges the ability of the mechanism to take the
optimum solution or not. Based on this, the following recommendations are gained:
• Target 1: The optimum solution is at θ1 = 14.8° if the trajectory starts from the
first home position, while the optimum solution is at θ1 = 95.02° if it starts from
second home position.
• Target 2: The optimum solution is at θ1 = 30.3° from first home position, while
the optimum solution is at θ1 = 83.5° from second home position.
• Target 3: The optimum solution is at θ1 = 77.8° from first home position, while
the optimum solution is at θ1 = 93.34° from second home position.
• Target 4: The optimum solution is at θ1 = 9.07° from first home position, while
the optimum solution is at θ1 = 90° from second home position.

4 Conclusion

Transforming forward kinematics problem of the screw motion methodology into

inverse kinematics gives good results in identifying all reachable solutions that this
system can have. Working with exponential and logarithmic matrices has made it
smooth when dealing with arithmetic and mathematical operations. While concerned
in finding the optimum solution, understanding the motion of human arm was the
key due to its similarities to the two-link manipulator (excluding the ground base).
Transforming the work of the arm into a mechanical and musculoskeletal model
helped in calculating the energies that the system exerts while taking different tra-
jectories for reaching different targets. Moreover, the base joint is dominant when
we are concerned in the energy that the system is exerting, and increasing trajectory
consumes the system more energy than of a decreasing trajectory.
Bioinspired Approach to Inverse Kinematic Problem 11

References

1. Craig JJ. Introduction to robotics mechanics and control, 3rd edn. Pearson Prentice Hall, Upper
Saddle River
2. Hutchinson S, Vidyasagar M, Spong MW Robot modeling and control. John Wiley & Sons, Inc
3. Park FC, Lynch K (2012) Introduction to robotics
4. Winter DA (2009) Biomechanical and motor control of human movement. Wiley, New Jersey
5. Perry JC, Manning N, Burns, Blake S, Hannaford B, Rosen J (2005) The human arm kinematics
and dynamics. In: The 12th international conference on advanced robotics, Seattle WA, July
2005
6. Hansen MR, Rasmussen J, Zhou L, Bai 1 S (2011) Modeling of human arm energy expenditure
for predicting energy optimal trajectories. Denmark
7. Zhu Y, Wright W, Manocha D Conformational analysis of molecular chains using nano-
kinematics 89. North Carolina
8. Zhu Y, Wright W, Manocha D Conformational analysis of molecular chains using nano-
kinematics 90. North Carolina
Assessment of Two Musculoskeletal
Models in Children with Crouch Gait

Emiliano P. Ravera, Juan A. Beret, Mauricio Riveras, Marcos J. Crespo,

Aliah F. Shaheen and Paola A. Catalfamo Formento

Abstract Musculoskeletal modelling could be a potential tool in diagnosis and

treatment design. In particular, in children with cerebral palsy, it is thought that
gait modelling and simulation could contribute to improve clinical decisions. Nev-
ertheless, the models used to simulate crouch gait are not as accurate as necessary
to bring the results into the clinic. In this study, two models proposed in the liter-
ature are compared. The results showed differences in joints moments and in the
static optimization process possibly caused by differences in estimations of anthro-
pometric segment inertial values and the use of different cost functions, respectively.
However, both models provided good agreement with the recorded EMG data.

Keywords Musculoskeletal model · Clinical gait analysis · Crouch

1 Introduction

Modelling of the neuromusculoskeletal system (NMS) have been reported as promis-

ing techniques for diagnosis and treatment planning of children with cerebral palsy
(CP), but are yet to be applied in large scale in clinical practice [8]. Several factors
such as spasticity, muscle weakness, bone deformations and neurological alterations

E. P. Ravera (B) · M. Riveras · P. A. Catalfamo Formento

Group of Analysis, Modeling, Processing and Clinician Implementation of
Biomechanical Signals and Systems, Bioengineering and Bioinformatics Institute,
CONICET-UNER, Oro Verde, Argentina
e-mail: eravera@ingenieria.uner.edu.ar
E. P. Ravera · J. A. Beret · M. Riveras · P. A. Catalfamo Formento
Human Movement Research Laboratory (LIMH), School of Engineering, National University of
Entre Ríos (UNER), Oro Verde, Argentina
M. J. Crespo
Laboratorio de análisis de marcha y movimiento (LAMM) y Tecnología en rehabilitación, Clínica
de tecnología asistiva (TA), FLENI, Buenos Aires, Argentina
A. F. Shaheen
Department of Life Science, Brunel University London, London, UK
© Springer Nature Switzerland AG 2020 13
J. M. R. S. Tavares et al. (eds.), Biomedical Engineering and Computational Intelligence,
Lecture Notes in Computational Vision and Biomechanics 32,
https://doi.org/10.1007/978-3-030-21726-6_2
14 E. P. Ravera et al.

should be taken into account in musculoskeletal modelling to achieve an appropriate

treatment that could improve gait patterns [7].
Previous studies of patients with crouch gait had the objective of estimating mus-
cular behaviour through the evaluation of muscle length and velocity of shortening
[1, 3]. However, few studies have presented muscle forces evaluation during patho-
logical walking. In particular, studies have focused on muscle weakness in patients
with crouch gait and its effects on walking [14].
In order to analyse crouch gait, musculoskeletal models have some limitations to
represent the bone alignment, muscle patches and muscle tissue behaviour. However,
the main limitation of these approaches are that they do not include the central nervous
system as control system of the models. So, more research is necessary to ensure
that model estimation are accurate and that they provide information that is clinically
relevant [7]. With these ideas in mind, the purpose of this study was the evaluation of
the use of two musculoskeletal models based on two different modelling techniques
in crouch gait, to improve the understanding of the behaviour of the models. The
first musculoskeletal model was proposed by Delp et al. [5], which is based on
forward dynamic and static optimization, and the second musculoskeletal model
was proposed by Ravera et al. [12], which is based on inverse dynamics, static
optimization and simulations of electromyographic signals.

2 Method

2.1 Participants and Data Collected

The data used in this study was taken from the Gait and Movement Laboratory at
FLENI Institute for Neurological Research (Escobar, Argentina). These data were
collected from ten participants with CP that walked on level ground without walk-
ing aids and self-selected walking speed (Table 1). Every participant presents crouch
gait (≥25◦ of knee flexion in mid-stance), has diagnosis of symmetric Spastic Diple-
gia, has neither botulinum toxin treatment nor orthopaedic surgery within the last 6
months and has Gross Motor Function Classification System (GMFCS) levels I, II
or III. Gait Deviation Index (GDI) was used for the overall evaluation of walking.
The institution’s Research Ethics Committee approved this study. The protocol was
explained to each subject, and the participants or their caregivers provided written
informed consent.
The motion capture system included an 8-camera Elite 2002 BTS System (BTS
Bioengineering, Italy), two Kistler 9281E instrumented force plates (Kistler Group,
Switzerland) and an electromyography device Teleemg (BTS Bioengineering, Italy).
Twenty-two retro-reflective skin markers were placed following the protocol pro-
posed by Davis et al. [2] and the SENIAM recommendations [17] were followed for
the acquisition of surface electromyography signals for the rectus femoris, medial
hamstrings, anterior tibialis and gastrocnemius. Force data from the plates as well
Table 1 Description of participants and general functional characteristics of gait patterns

Subj. Gender Age Mass Leg length Velocity (m/s) Cadence Stance phase GMFCS GDI
(years) (Kg) (m) (non-dimensional)a (steps/min) (%) (Right/Left)
1 F 11 40 0.74 0.57 (0.212) 103 64 III 62.12/67.61
2 F 23 52 0.77 0.89 (0.324) 110 64 II 75.39/71.46
3 F 12 36 0.81 0.69 (0.245) 106 65 II 67.45/71.55
4 F 14 42 0.80 1.17 (0.418) 130 56 I 71.99/78.79
5 M 13 46 0.83 1.39 (0.487) 124 60 II 72.85/68.10
6 M 8 28 0.64 0.64 (0.256) 107 59 II 64.21/69.04
7 M 8 25 0.62 1.15 (0.467) 136 58 II 71.27/71.54
8 M 14 34 0.81 1.17 (0.415) 134 60 II 68.80/68.98
9 M 12 41 0.77 0.99 (0.360) 121 62 II 60.45/62.78
10 M 19 79 0.99 1.06 (0.340) 110 60 I 66.39/72.51
Mean – 13.4 42.3 0.778 0.972 (0.352) 118.1 60.8 - 68.09/70.23
Assessment of Two Musculoskeletal Models in Children with Crouch Gait

SD – 4.6 0.103 0.103 0.269 (0.095) 12.4 2.9 – 4.88/4.13


a Speeds are reported in m/s and non-dimensional units (actual speed normalized by gL
Leg ) [9]
15
16 E. P. Ravera et al.

as 3D marker trajectories were captured at 100 Hz while electromyography signals

were sampled at 2000 Hz. Post-processing of the EMG signals consisted of fully
rectified and then low-pass filtered at 6 Hz using a one-order bi-directionally digital
Butterworth filter. Also, the EMG data was then normalized by its dynamic maximum
value.

2.2 Musculoskeletal Modelling

A comparative analysis between the two musculoskeletal models was performed. The
main modelling features analysed for each model are described below. In particular,
the Hill-type muscle-tendon units model proposed by Zajac [20] is used by both
musculoskeletal models.
Musculoskeletal Model 1 The first musculoskeletal model, proposed by Delp et
al. [5], is available in OpenSim and consists of 10 segments, 7 joints, 19 degrees
of freedom (Dofs) and 92 musculotendon actuators to represent 76 muscles in the
lower extremities and torso [4].
Inverse kinematics and inverse dynamics, from the experimental marker trajec-
tories and ground reaction forces were used to calculate joint angles and moments.
The residual reduction algorithm (RRA) was used to minimize the non-physiological
forces and moments applied at the pelvis by making small changes to measurements
that may contain an experimental error.
The computed muscle control algorithm (CMC) [18] was used to estimate the
muscle forces. The cost function (1), that represent the central nervous system, was
the sum of squared muscle activations:


76
J1 = (am (t))2 , (1)
m=1

where am (t) is the steady-state activation of muscle m. Additional boundary con-

ditions were included to adjust the feasible region of the search space according
to electromyographic data recorded during walking (see Fig. 1). Finally, CMC was
re-executed to find optimal muscle forces patterns that follow both the kinematics
and the electromyographic behaviours of patients.

% Gait Cycle % Gait Cycle % Gait Cycle % Gait Cycle

Fig. 1 Additional restrictions included in the CMC algorithm within model 1

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