SpasticitySpasticity () is a feature of altered skeletal muscle performance with a combination of paralysis, increased tendon reflex activity, and hypertonia. It is also colloquially referred to as an unusual "tightness", stiffness, or "pull" of muscles. Clinically, spasticity results from the loss of inhibition of motor neurons, causing excessive velocity-dependent muscle contraction. This ultimately leads to hyperreflexia, an exaggerated deep tendon reflex. Spasticity is often treated with the drug baclofen, which acts as an agonist at GABA receptors, which are inhibitory.
Inverse kinematicsIn computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.
Spinal cord injuryA spinal cord injury (SCI) is damage to the spinal cord that causes temporary or permanent changes in its function. Symptoms may include loss of muscle function, sensation, or autonomic function in the parts of the body served by the spinal cord below the level of the injury. Injury can occur at any level of the spinal cord and can be complete, with a total loss of sensation and muscle function at lower sacral segments, or incomplete, meaning some nervous signals are able to travel past the injured area of the cord up to the Sacral S4-5 spinal cord segments.
Spastic diplegiaSpastic diplegia is a form of cerebral palsy (CP) that is a chronic neuromuscular condition of hypertonia and spasticity—manifested as an especially high and constant "tightness" or "stiffness"—in the muscles of the lower extremities of the human body, usually those of the legs, hips and pelvis. Doctor William John Little's first recorded encounter with cerebral palsy is reported to have been among children who displayed signs of spastic diplegia.
Robot kinematicsIn robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.
Spastic quadriplegiaSpastic quadriplegia, also known as spastic tetraplegia, is a subset of spastic cerebral palsy that affects all four limbs (both arms and legs). Compared to quadriplegia, spastic tetraplegia is defined by spasticity of the limbs as opposed to strict paralysis. It is distinguishable from other forms of cerebral palsy in that those afflicted with the condition display stiff, jerky movements stemming from hypertonia of the muscles.
Spinal cord injury researchSpinal cord injury research seeks new ways to cure or treat spinal cord injury in order to lessen the debilitating effects of the injury in the short or long term. There is no cure for SCI, and current treatments are mostly focused on spinal cord injury rehabilitation and management of the secondary effects of the condition. Two major areas of research include neuroprotection, ways to prevent damage to cells caused by biological processes that take place in the body after the injury, and neuroregeneration, regrowing or replacing damaged neural circuits.
KinematicsKinematics is a subfield of physics, developed in classical mechanics, that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause them to move. Kinematics, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system.
Spastic cerebral palsySpastic cerebral palsy is the type of cerebral palsy characterized by spasticity or high muscle tone often resulting in stiff, jerky movements. Cases of spastic CP are further classified according to the part or parts of the body that are most affected. Such classifications include spastic diplegia, spastic hemiplegia, spastic quadriplegia, and in cases of single limb involvement, spastic monoplegia. Spastic cerebral palsy affects the motor cortex of the brain, a specific portion of the cerebral cortex responsible for the planning and completion of voluntary movement.
Forward kinematicsIn robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.
