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Articles 361 - 390 of 583
Full-Text Articles in Biomechanics and Biotransport
Investigating The Likelihood Of Pediatric Femur Fracture Due To Falls Through Finite Element Analysis., Keyonna Mckinsey
Investigating The Likelihood Of Pediatric Femur Fracture Due To Falls Through Finite Element Analysis., Keyonna Mckinsey
Electronic Theses and Dissertations
Bone fracture is the second most common injury of child abuse. Studies have generally reported that femur fractures are more likely due to abuse than accidental causes in cases where the child is non-ambulatory. They have also found that household falls are commonly offered as the cause of injury in cases of abuse. In this study, a finite element (FE) pediatric femur model will be developed and used to evaluate likelihood of fracture in common household fall scenarios (bed falls and feet first falls). This will provide greater biomechanical evidence as to the likelihood of femur fracture due to common …
Sex Differences In Lower Limb Biomechanics During A Single-Leg Cut With Body Borne Load, Auralea Carylon Fain
Sex Differences In Lower Limb Biomechanics During A Single-Leg Cut With Body Borne Load, Auralea Carylon Fain
Boise State University Theses and Dissertations
Introduction: Musculoskeletal injuries are ever-increasing in military personnel, particularly females. These musculoskeletal injuries are attributed to adaptations in lower limb biomechanics while performing routine military tasks, such as a single-leg cut, with the addition of body borne load. However, it is unknown if females and males exhibit similar lower limb biomechanics with the addition of body borne load during these tasks. This study sought to compare the lower limb biomechanical adaptations exhibited by females and males performing a single-leg cut with body borne load. Methods: Eleven females and 17 males had lower limb biomechanics quantified during a single-leg cut with …
Effects Of Stride Length On Lower Limb Stiffness When Running With Body Borne Load, Nick Lobb
Effects Of Stride Length On Lower Limb Stiffness When Running With Body Borne Load, Nick Lobb
Boise State University Theses and Dissertations
Introduction: During military activities, soldiers are often required to run at a fixed cadence with body borne load, but these loads purportedly increase leg stiffness, leading to increased risk of musculoskeletal injury. Yet, to date, it is unknown how altering stride length when running with body borne load affects lower limb stiffness for males and females. Purpose: To quantify leg stiffness, and lower limb joint (hip, knee and ankle) stiffness for males and females using different stride lengths to run with body borne loads of 20 kg, 25 kg, 30 kg, and 35 kg. Methods: Twenty-seven (17 males and 10 …
Integration Of A Sensory Driven Model For Hand Grasp Function In 3d Printed Prostheses, Austin T. Hetherington
Integration Of A Sensory Driven Model For Hand Grasp Function In 3d Printed Prostheses, Austin T. Hetherington
Senior Theses
My Honors Thesis was completed through the Biomedical Engineering senior design project I worked on. Our project took a mechanically operated 3D printed prosthetic hand and automated the process by which it makes a grasp. The purpose of this project was to provide an affordable, automatic prosthetic hand to those either capable and incapable of wrist flexion. The current 3D printed prosthetic models require users to bend their wrist to initiate a simple grasp. However, our design took an alternative approach by using an EMG sensor placed on the ventral side of the forearm to record muscle activity, which, upon …
Increasing Drug Delivery Efficacy Of Drug-Coated Balloons, Alexander Galan, Eric Bidinger, Franco Godoy, Shrusti Patel
Increasing Drug Delivery Efficacy Of Drug-Coated Balloons, Alexander Galan, Eric Bidinger, Franco Godoy, Shrusti Patel
Senior Theses
Peripheral artery disease (PAD), the narrowing of peripheral arteries located in areas such as the arms and legs, is a common disease that affects 12% to 20% of people over 65. Numerous therapies have been developed to treat PAD, the most recent technology being drug-coated balloons. Drug-coated balloons release drugs, such as Paclitaxel (PTX), into the arterial wall during balloon angioplasty to locally treat PAD. Current levels of drug transfer from the balloon to the vascular endothelium are at a low 10%-18%. Our Biomedical Engineering Senior Design project aims to increase drug delivery of drug-coated balloons by manipulating the clinically-controllable …
Can The Presence Of A 1/F Structure In Stride-To-Stride Variability Enable Us To Withstand Falls?, Jenny A. Kent, Andreas Skiadopoulos, Jordan Wickstrom, Nikolaos Stergiou
Can The Presence Of A 1/F Structure In Stride-To-Stride Variability Enable Us To Withstand Falls?, Jenny A. Kent, Andreas Skiadopoulos, Jordan Wickstrom, Nikolaos Stergiou
UNO Student Research and Creative Activity Fair
Falls are a persistent threat to longevity and quality of life, affecting 1/3 of older adults living in the community each year. There is strong evidence suggesting that a particular pattern within our walking reflects an ability to adapt to a continually changing environment. Specifically, the stride-to-stride patterns of healthy walking have a 1/f frequency spectrum. This has been observed to degrade to varying extents with aging and pathology. The aim of this study was to determine whether the presence of this structure of variability is related to an increased ability to withstand perturbations. We hypothesized that individuals who demonstrated …
Individuals With Peripheral Artery Disease Alter Spatiotemporal Gait Parameters When Walking With Pain Versus Without Pain, Todd Leutzinger, Sara A. Myers, Iraklis Pipinos
Individuals With Peripheral Artery Disease Alter Spatiotemporal Gait Parameters When Walking With Pain Versus Without Pain, Todd Leutzinger, Sara A. Myers, Iraklis Pipinos
UNO Student Research and Creative Activity Fair
This abstract compares the spatiotemporal walking parameters of individuals with peripheral artery disease at the time they first begin walking, the time when they first feel pain, and the time when they can no longer continue walking.
Eigenstrain As A Mechanical Set-Point Of Cells, Shengmao Lin, Marsha C. Lampi, Cynthia A. Reinhart-King, Gary C.P. Tsui, Jian Wang, Carl A. Nelson, Linxia Gu
Eigenstrain As A Mechanical Set-Point Of Cells, Shengmao Lin, Marsha C. Lampi, Cynthia A. Reinhart-King, Gary C.P. Tsui, Jian Wang, Carl A. Nelson, Linxia Gu
Department of Mechanical and Materials Engineering: Faculty Publications
Cell contraction regulates how cells sense their mechanical environment. We sought to identify the set-point of cell contraction, also referred to as tensional homeostasis. In this work, bovine aortic endothelial cells (BAECs), cultured on substrates with different stiffness, were characterized using traction force microscopy (TFM). Numerical models were developed to provide insights into the mechanics of cell–substrate interactions. Cell contraction was modeled as eigenstrain which could induce isometric cell contraction without external forces. The predicted traction stresses matched well with TFM measurements. Furthermore, our numerical model provided cell stress and displacement maps for inspecting the fundamental regulating mechanism of cell …
Effects Of Backpack Type On Kinematics Of The Lower Back During Walking And Jogging, Cazmon Suri
Effects Of Backpack Type On Kinematics Of The Lower Back During Walking And Jogging, Cazmon Suri
Theses and Dissertations--Biomedical Engineering
Heavy backpacks have been suggested to have a pathogenic role in experience of low back pain among children. We have conducted a repeated-measure study to investigate the backpack-induced changes in lumbo-pelvic coordination of forty gender-balanced college age students when they walked and jogged on a treadmill with two different types of backpacks: normal and ergonomically modified. The backpack-induced changes in lumbo-pelvic coordination were larger when carrying an ergonomically modified vs. a normal backpack as well as when jogging versus walking. The larger changes in lumbo-pelvic coordination when carrying an ergonomically modified backpack were likely due to kinematic restraints imposed by …
Characterizing The Effects Of High-Intensity Exercise On Balance And Gait Under Dual-Task Conditions In Parkinson’S Disease, El Iva Baron
Characterizing The Effects Of High-Intensity Exercise On Balance And Gait Under Dual-Task Conditions In Parkinson’S Disease, El Iva Baron
ETD Archive
Parkinson’s disease (PD) is a neurodegenerative disorder, characterized by four cardinal motor symptoms including bradykinesia, tremor, rigidity, and postural instability, and non-motor symptoms including cognitive impairment. Daily activities, such as walking and maintaining balance, are impacted due to impairments in motor function, and are further exacerbated with the addition of cognitive loading, or dual-tasking (DT). High-intensity exercise has demonstrated centrally-mediated improvements of PD symptoms, with additional positive effects on overall health. The goal of this project was to identify changes in dynamic balance recovery and gait function under conditions with and without increased cognitive load after a high-intensity exercise intervention …
Neuromuscular Reflex Control For Prostheses And Exoskeletons, Sandra K. Hnat
Neuromuscular Reflex Control For Prostheses And Exoskeletons, Sandra K. Hnat
ETD Archive
Recent powered lower-limb prosthetic and orthotic (P/O) devices aim to restore legged mobility for persons with an amputation or spinal cord injury. Though various control strategies have been proposed for these devices, specifically finite-state impedance controllers, natural gait mechanics are not usually achieved. The goal of this project was to invent a biologically-inspired controller for powered P/O devices. We hypothesize that a more muscle-like actuation system, including spinal reflexes and vestibular feedback, can achieve able-bodied walking and also respond to outside perturbations. The outputs of the Virtual Muscle Reflex (VMR) controller are joint torque commands, sent to the electric motors …
Feasibility Of Using An Equilibrium Point Strategy To Control Reaching Movements Of Paralyzed Arms With Functional Electrical Stimulation, Matthew Huffman
Feasibility Of Using An Equilibrium Point Strategy To Control Reaching Movements Of Paralyzed Arms With Functional Electrical Stimulation, Matthew Huffman
ETD Archive
Functional electrical stimulation (FES) is a technology capable of improving the quality of life for those with the loss of limb movement related to spinal cord injuries. Individuals with high-level tetraplegia, in particular, have lost all movement capabilities below the neck. FES has shown promise in bypassing spinal cord damage by sending electrical impulses directly to a nerve or muscle to trigger a desired function. Despite advancements in FES, full-arm reaching motions have not been achieved, leaving patients unable to perform fundamental tasks such as eating and grooming. To overcome the inability in current FES models to achieve multi-joint coordination, …
Predictive Simulations Of Gait And Their Application In Prosthesis Design, Anne D. Koelewijin
Predictive Simulations Of Gait And Their Application In Prosthesis Design, Anne D. Koelewijin
ETD Archive
Predictive simulations predict human gait by solving a trajectory optimization problem by minimizing energy expenditure. These simulations could predict the effect of a prosthesis on gait before its use. This dissertation has four aims, to show the application of predictive simulations in prosthesis design and to improve the quality of predictive simulations. Aim 1 was to explain joint moment asymmetry in the knee and hip in gait of persons with a transtibial amputation (TTA gait). Predictive simulations showed that an asymmetric gait required less effort. However, a small effort increase yielded a gait with increased joint moment symmetry and reduced …
Can A Comprehensive Transition Plan To Barefoot Running Be The Solution To The Injury Epidemic In American Endurance Runners?, Michael A. Scarlett
Can A Comprehensive Transition Plan To Barefoot Running Be The Solution To The Injury Epidemic In American Endurance Runners?, Michael A. Scarlett
CMC Senior Theses
Fossils belonging to the genus Homo, dating as far back as two million years ago, exhibit uniquely efficient features suggesting that early humans had evolved to become exceptional endurance runners. Although they did not have the cushion or stability-control features provided in our modern day running shoes, our early human ancestors experienced far less of the running-related injuries we experience today. The injury rate has been estimated as high as 90% annually for Americans training for a marathon and as high as 79% annually for all American endurance runners. There is an injury epidemic in conventionally shod populations that …
Asymmetric Patterns Of Small Molecule Transport After Nanosecond And Microsecond Electropermeabilization, Esin B. Sözer, C. Florencia Pocetti, P. Thomas Vernier
Asymmetric Patterns Of Small Molecule Transport After Nanosecond And Microsecond Electropermeabilization, Esin B. Sözer, C. Florencia Pocetti, P. Thomas Vernier
Bioelectrics Publications
Imaging of fluorescent small molecule transport into electropermeabilized cells reveals polarized patterns of entry, which must reflect in some way the mechanisms of the migration of these molecules across the compromised membrane barrier. In some reports, transport occurs primarily across the areas of the membrane nearest the positive electrode (anode), but in others cathode-facing entry dominates. Here we compare YO-PRO-1, propidium, and calcein uptake into U-937 cells after nanosecond (6 ns) and microsecond (220 µs) electric pulse exposures. Each of the three dyes exhibits a different pattern. Calcein shows no preference for anode- or cathode-facing entry that is detectable with …
Mimicking Blood Rheology For More Accurate Modeling In Benchtop Research, Lindsey Webb
Mimicking Blood Rheology For More Accurate Modeling In Benchtop Research, Lindsey Webb
Honors Undergraduate Theses
To confirm computer simulations and Computational Fluid Dynamics (CFD) analysis, benchtop experiments are needed with a fluid that mimics blood and its viscoelastic properties. Blood is challenging to use as a working fluid in a laboratory setting because of health and safety concerns. Therefore, a blood analogue is necessary to perform benchtop experiments. Viscosity is an important property of fluids for modeling and experiments. Blood is a shear thinning fluid, so it has a decreasing viscosity with higher shear rates. This project seeks to create a blood mimicking fluid for benchtop laboratory use. Numerous fluids with different combinations of water, …
Thermoresponsive, Redox-Polymerized Cellulosic Hydrogels Undergo In Situ Gelation And Restore Intervertebral Disc Biomechanics Post Discectomy, Devika Varma, H. A. Lin, R. G. Long, G. T. Gold, A. C. Hecht, J. C. Iadridis, Steven B. Nicoll
Thermoresponsive, Redox-Polymerized Cellulosic Hydrogels Undergo In Situ Gelation And Restore Intervertebral Disc Biomechanics Post Discectomy, Devika Varma, H. A. Lin, R. G. Long, G. T. Gold, A. C. Hecht, J. C. Iadridis, Steven B. Nicoll
Publications and Research
Back and neck pain are commonly associated with intervertebral disc (IVD) degeneration. Structural augmentation of diseased nucleus pulposus (NP) tissue with biomaterials could restore degeneration-related IVD height loss and degraded biomechanical behaviors; however, effective NP replacement biomaterials are not commercially available. This study developed a novel, crosslinked, dual-polymer network (DPN) hydrogel comprised of methacrylated carboxymethylcellulose (CMC) and methylcellulose (MC), and used in vitro, in situ and in vivo testing to assess its efficacy as an injectable, in situ gelling, biocompatible material that matches native NP properties and restores IVD biomechanical behaviors. Thermogelling MC was required to enable consistent and timely …
Design And Analysis Of A 3d-Printed, Thermoplastic Elastomer (Tpe) Spring Element For Use In Corrective Hand Orthotics, Kevin Thomas Richardson
Design And Analysis Of A 3d-Printed, Thermoplastic Elastomer (Tpe) Spring Element For Use In Corrective Hand Orthotics, Kevin Thomas Richardson
Theses and Dissertations--Mechanical and Aerospace Engineering
This thesis proposes an algorithm that determine the geometry of 3D-printed, custom-designed spring element bands made of thermoplastic elastomer (TPE) for use in a wearable orthotic device to aid in the physical therapy of a human hand exhibiting spasticity after stroke. Each finger of the hand is modeled as a mechanical system consisting of a triple-rod pendulum with nonlinear stiffness at each joint and forces applied at the attachment point of each flexor muscle. The system is assumed quasi-static, which leads to a torque balance between the flexor tendons in the hand, joint stiffness and the design force applied to …
Transport Of Charged Small Molecules After Electropermeabilization - Drift And Diffusion, Esin B. Sözer, C. Florencia Pocetti, P. Thomas Vernier
Transport Of Charged Small Molecules After Electropermeabilization - Drift And Diffusion, Esin B. Sözer, C. Florencia Pocetti, P. Thomas Vernier
Bioelectrics Publications
Background: Applications of electric-field-induced permeabilization of cells range from cancer therapy to wastewater treatment. A unified understanding of the underlying mechanisms of membrane electropermeabilization, however, has not been achieved. Protocols are empirical, and models are descriptive rather than predictive, which hampers the optimization and expansion of electroporation-based technologies. A common feature of existing models is the assumption that the permeabilized membrane is passive, and that transport through it is entirely diffusive. To demonstrate the necessity to go beyond that assumption, we present here a quantitative analysis of the post-permeabilization transport of three small molecules commonly used in electroporation research-YO-PRO-1, propidium, …
The Effect Of Tackling Training On Head Accelerations In Youth American Football, Eric Schussler, Richard J. Jagacinski, Susan E. White, Ajit M. Chaudhari, John A. Buford, James A. Onate
The Effect Of Tackling Training On Head Accelerations In Youth American Football, Eric Schussler, Richard J. Jagacinski, Susan E. White, Ajit M. Chaudhari, John A. Buford, James A. Onate
Rehabilitation Sciences Faculty Publications
Background: Many organizations have introduced frameworks to reduce the incidence of football related concussions through proper equipment fitting, coach education, and alteration of tackling technique.
Purpose: The purpose of this study was to examine the effects of training in a vertical, head up tackling style on the number of head accelerations experienced while tackling in a controlled laboratory situation. The authors hypothesized that training in a head up tackling technique would reduce the severity of head acceleration experienced by participants.
Design: Controlled Laboratory Study.
Methods: Twenty-four participants (11.5 ± 0.6 years old, 60.5 ± 2.2 in, 110 ± 18.4 lbs.) …
Wearable Hearing Accessory Technology, Tyler Cindea, Jaime Alcorn, Brooke Draper, Kyle Glascott, Ben Hanna, Robert Thoerner
Wearable Hearing Accessory Technology, Tyler Cindea, Jaime Alcorn, Brooke Draper, Kyle Glascott, Ben Hanna, Robert Thoerner
Williams Honors College, Honors Research Projects
We set out in August 2017 to develop an active noise suppressing device that would be usable both in military and civilian activities. Due to constraints in knowledge and time, we decided our best course of action was to divide the project into two equal projects with the hope to be able to combine them into a single project at the end of the allotted time. This consisted of an active noise suppression device and a passive noise suppression device. The passive device would have no electronic components and the active device would be pure circuitry with no housing. This …
Cementless Tibial Base Micromotion During Activities Of Daily Living, Hayden Wilson
Cementless Tibial Base Micromotion During Activities Of Daily Living, Hayden Wilson
Electronic Theses and Dissertations
Initial stability of cementless total knee replacement (TKR) components is directly related to long-term fixation and success, as excess motion hinders bony ingrowth. To assess implant stability, there is a need for more physiologically accurate loading conditions, incorporating forces and displacements in all 6 degrees-of-freedom found in the knee joint, as well as understanding the impact of femoral flexion on conformity of tibiofemoral articulation. Understanding how different activities of daily living generate tibial micromotion yields insight into surgical technique considerations, and rehabilitation strategies post-operatively. ASTM F3141-15, which specifies knee flexion, Internal-External moment, Medial-Lateral, Anterior-Posterior and Superior-Inferior forces during gait and …
Predictive Modeling Of Hip Dislocation: Assessment Of Surgical And Patient Factors To Reduce The Occurrence Of Hip Instability And Adverse Clinical Outcomes, Daniel N. Huff
Electronic Theses and Dissertations
Instability and dislocation remain leading indications for revision of primary Total Hip Arthroplasty (THA). Many studies have addressed the links between implant design and propensity for dislocation, however a comprehensive review of the ability of modern THA constructs to protect against joint instability is needed.
Accordingly, the objective of this study is to provide objective data about THA risks to be considered in the treatment algorithm to protect against adverse joint loading conditions and joint instability. Adverse loading conditions were assessed in a population of activities of daily living using data from telemetric hip implant representation in an FE simulation …
Computational Modeling Of Transcatheter Aortic Valves, Mostafa Abbasi
Computational Modeling Of Transcatheter Aortic Valves, Mostafa Abbasi
Electronic Theses and Dissertations
Transcatheter aortic valve replacement (TAVR) is an established therapy alternative to surgical valve replacement in high-risk and intermediate-risk patients with severe aortic stenosis. Currently, although TAVR is an alternative and less-invasive treatment for high-risk and intermediate-risk patients, surgical aortic valves replacement (SAVR) was still considered as the gold standard for low-risk patients. TAVR could potentially be applied to lower-risk younger patients if the indications can be safely expanded to the patients and transcatheter aortic valve (TAV) long-term durability can match with that of surgical bioprostheses. In contrast to surgical aortic valves (SAVs), there have been limited clinical data on the …
Usa Boccia Ball Ramp For Athletes With Quadriplegia, Alissa A. Koukourikos, Matthew Lee, Nathan Bernards
Usa Boccia Ball Ramp For Athletes With Quadriplegia, Alissa A. Koukourikos, Matthew Lee, Nathan Bernards
Mechanical Engineering
In this report, the design process in creating an assistive device for Boccia Classification 3 (BC3) players is outlined. The initial research steps, including research into the rules of the game, capabilities of the players, and existing products is documented to show where ideas for the product stemmed from. This transitions into requirements that the sponsor requested, and preliminary designs and ideas for the product. Finally, this report explains the details of the final design, which has been analyzed for safety, ease of use, and ability to function under different conditions. The processes of manufacturing and testing will also be …
Intrinsic Regulators Of Actomyosin Contractility Engendering Pulsatile Behaviors, Qilin Yu, Jing Li, Taeyoon Kim
Intrinsic Regulators Of Actomyosin Contractility Engendering Pulsatile Behaviors, Qilin Yu, Jing Li, Taeyoon Kim
The Summer Undergraduate Research Fellowship (SURF) Symposium
Actomyosin contractility regulates various biological processes including cell migration, muscle contraction, and tissue morphogenesis. Cell cortex underlying a membrane, which is a representative actomyosin network in eukaryote cells, exhibits dynamic contractile behaviors. Interestingly, the cell cortex shows reversible aggregation of actin and myosin called pulsatile contraction in diverse cellular phenomena, such as embryogenesis and tissue morphogenesis. While contractile behaviors have been studied in several in vitro experiments and computational studies, none of them demonstrated the pulsatile contraction of actomyosin networks observed in vivo. Here, we used an agent-based computational model based on Brownian dynamics to identify factors facilitating the pulsatile …
Bacterial Motility And Its Role In Biofilm Formation, Clayton J. Culp, Arezoo M. Ardekani, Adib Ahmadzadegan
Bacterial Motility And Its Role In Biofilm Formation, Clayton J. Culp, Arezoo M. Ardekani, Adib Ahmadzadegan
The Summer Undergraduate Research Fellowship (SURF) Symposium
Bacterial biofilms are known to cause millions of dollars in damage in the medical industry per year via infection of central venous catheters, urinary catheters, and mechanical heart valves. Unfortunately, there are some characteristics of biofilm formation that are yet to be fully understood. Recently much work has been done to investigate the motility characteristics of bacteria with hopes of better understanding the phenomena of biofilm formation. Still, one of the least understood stages is bacterial attachment or adhesion, a process designed to anchor bacteria in an advantageous environment. Providing a better understanding of bacterial motility near solid interfaces will …
Stretch Control Of Adipocyte Insulin Signaling, Tasneem Bouzid
Stretch Control Of Adipocyte Insulin Signaling, Tasneem Bouzid
Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research
Obesity and related metabolic disorders have reached global epidemic proportions in recent decades. Excess and hypertrophic adipose tissue has been implicated in the development of various pathological diseases and disorders including Type-2 diabetes mellitus (Type-2 DM). In addition to serving as energy storage for the body, evidence also suggests that adipose tissue behaves as an endocrine organ capable of secreting bioactive cytokines known as adipokines, which mediate insulin signaling pathways in various tissues. Physical exercise has been demonstrated to positively affect insulin signaling activities potentially through increasing the secretion of insulin sensitizing adipokines and/or decreasing the secretion of pro-inflammatory insulin …
Biomechanical Testing Of An Exercise For Strengthening The Proximal Femur., Alyssa Osbourne
Biomechanical Testing Of An Exercise For Strengthening The Proximal Femur., Alyssa Osbourne
Electronic Theses and Dissertations
Based on the principles of cutting edge bone remodeling research, a unique therapeutic exercise device was designed specifically to improve bone quality at the most critical location of the proximal femur prone to fracture: the superior-lateral femoral neck where the fracture first initiates during a fall. The exercise/device is intended to work by inducing enough strain in the bone to stimulate the body’s natural bone remodeling mechanisms to increase bone density in the proximal femur and consequently prevent a fracture from arising if a fall to the side does occur.
In order to test the proposed exercise, experiments simulating the …
Human Biomechanics Ii Course Project, Abdelaziz Mohammad
Human Biomechanics Ii Course Project, Abdelaziz Mohammad
Best Integrated Writing
Mohammad tested Human Arm Module PASCO ME-6807A, in order to determine some of the biomechanical characteristics, such as force, tension, instantaneous angular velocity, and acceleration vs. angular position required for various movements and arm positions in space.