Simple geometrical analysis for mechanizing the ankle joint stretching treatment procedure of a PT using a numerical calculation
In this paper, to mechanize a human ankle joint stretching treatment that is mainly performed by a PT (Physical Therapist), the geometrical relationships among the Ankle joint, Hip joint, Sole, and pushing device rotation center are analyzed using a simple numerical calculation model, and the effect...
Saved in:
| Published in | Journal of Advanced Mechanical Design, Systems, and Manufacturing Vol. 13; no. 2; p. JAMDSM0034 |
|---|---|
| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Tokyo
The Japan Society of Mechanical Engineers
01.01.2019
Japan Science and Technology Agency |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1881-3054 1881-3054 |
| DOI | 10.1299/jamdsm.2019jamdsm0034 |
Cover
Loading…
| Abstract | In this paper, to mechanize a human ankle joint stretching treatment that is mainly performed by a PT (Physical Therapist), the geometrical relationships among the Ankle joint, Hip joint, Sole, and pushing device rotation center are analyzed using a simple numerical calculation model, and the effectiveness of the model was examined in an actual developed system. The stretching of the ankle joint is an important medical treatment that PTs perform to help their patients to recover their ability to walk and to prevent contracture. Because the ankle joint treatment requires a large amount of force (equal to the subject’s weight) and precise angle control at the same time, manual treatment by PTs has not been replaced by mechanical treatment systems. In a previous study, we developed a new mechanism of ankle joint stretching that involves fixing the length of the subject sitting chair and the device; the novel mechanism can realize comfortable stretching without pain. However, the optimum geometrical relationships among the Ankle joint, Hip joint, Sole, and pushing device rotation center have not been analyzed. In this paper, to develop the effective mechanism of the stretching treatment, the geometrical relationships were analyzed mathematically by using numerical calculation, and the effectiveness of the numerical calculation was confirmed by manufacturing a treatment device comprising two force sensors and two DC motors based on the calculation results. Numerical calculation results show that the PT’s key point of the ankle joint treatment was a position located between the Ankle joint and the pushing device rotation center. The analytical result will effectively promote the development of the mechanical systems used as ankle joint stretching treatment devices. |
|---|---|
| AbstractList | In this paper, to mechanize a human ankle joint stretching treatment that is mainly performed by a PT (Physical Therapist), the geometrical relationships among the Ankle joint, Hip joint, Sole, and pushing device rotation center are analyzed using a simple numerical calculation model, and the effectiveness of the model was examined in an actual developed system. The stretching of the ankle joint is an important medical treatment that PTs perform to help their patients to recover their ability to walk and to prevent contracture. Because the ankle joint treatment requires a large amount of force (equal to the subject’s weight) and precise angle control at the same time, manual treatment by PTs has not been replaced by mechanical treatment systems. In a previous study, we developed a new mechanism of ankle joint stretching that involves fixing the length of the subject sitting chair and the device; the novel mechanism can realize comfortable stretching without pain. However, the optimum geometrical relationships among the Ankle joint, Hip joint, Sole, and pushing device rotation center have not been analyzed. In this paper, to develop the effective mechanism of the stretching treatment, the geometrical relationships were analyzed mathematically by using numerical calculation, and the effectiveness of the numerical calculation was confirmed by manufacturing a treatment device comprising two force sensors and two DC motors based on the calculation results. Numerical calculation results show that the PT’s key point of the ankle joint treatment was a position located between the Ankle joint and the pushing device rotation center. The analytical result will effectively promote the development of the mechanical systems used as ankle joint stretching treatment devices. |
| Author | SUGIHARA, Shin MATSUMOTO, Takeshi TODA, Hideki |
| Author_xml | – sequence: 1 fullname: TODA, Hideki organization: Dept. of Electric and Electronic Engineering, Faculty of Engineering, University of Toyama – sequence: 1 fullname: SUGIHARA, Shin organization: Dept. of Electric and Electronic Engineering, Faculty of Engineering, University of Toyama – sequence: 1 fullname: MATSUMOTO, Takeshi organization: Dept. of Electric and Electronic Engineering, Faculty of Engineering, University of Toyama |
| BookMark | eNqFUU1v1DAQtVCRaAs_AckS5y12nA9bnFDFR0UlkChna2KPdx2SeLGdQ3vip-PdtBXlwmHs0cx7b_w8Z-RkDjMS8pqzC14p9XaAyabpomJcrSljon5GTrmUfCNYU5_8lb8gZykNjLWK1fyU_P7up_2IdIthwhy9gZHCDONt8om6EOmEZgezv_PzluYdlubPAh-CnzNNOWI2u2MrIuQJS3Efg0G7RKTBUaDfbuiSDgig8zLhOqGEWUbIPswvyXMHY8JX9_c5-fHxw83l5831109Xl--vN6atVN5URhjJegAGTpgaOtsX752ywjUtQ4klWN_0UvXOdFK2jZBS1b3pamtcgZ2Tq1XXBhj0PvoJ4q0O4PWxEOJWQ8zejKg5a3rbV1Y0sisK2Fteu1p0UP4QreRF682qVbz-WjBlPYQlll9LuqrqVjWyVQfUuxVlYkgpotPG56PnHMGPZYw-rE-vO9NP11fYzT_shzf_j_dl5Q0pwxYfWQ_m7llc6Op4PGE_osrOo8ZZ_AHmwcQa |
| CitedBy_id | crossref_primary_10_1589_jpts_33_179 crossref_primary_10_1186_s40648_020_00158_1 crossref_primary_10_1299_jbse_20_00202 |
| Cites_doi | 10.1299/jsmermd.2003.75_5 10.1113/jphysiol.1985.sp015860 10.1299/jsmewes.2008.141 10.2490/jjrm1963.31.205 10.5432/jjpehss.11032 |
| ContentType | Journal Article |
| Copyright | 2019 by The Japan Society of Mechanical Engineers Copyright Japan Science and Technology Agency 2019 |
| Copyright_xml | – notice: 2019 by The Japan Society of Mechanical Engineers – notice: Copyright Japan Science and Technology Agency 2019 |
| DBID | AAYXX CITATION 7TB 8FD FR3 DOA |
| DOI | 10.1299/jamdsm.2019jamdsm0034 |
| DatabaseName | CrossRef Mechanical & Transportation Engineering Abstracts Technology Research Database Engineering Research Database Directory of Open Access Journals (DOAJ) |
| DatabaseTitle | CrossRef Technology Research Database Mechanical & Transportation Engineering Abstracts Engineering Research Database |
| DatabaseTitleList | Technology Research Database |
| Database_xml | – sequence: 1 dbid: DOA name: DOAJ Directory of Open Access Journals url: https://www.doaj.org/ sourceTypes: Open Website |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1881-3054 |
| EndPage | JAMDSM0034 |
| ExternalDocumentID | oai_doaj_org_article_105bdb2d35874bcebd14f437a881ed81 10_1299_jamdsm_2019jamdsm0034 article_jamdsm_13_2_13_2019jamdsm0034_article_char_en |
| GroupedDBID | 2WC 5GY AENEX ALMA_UNASSIGNED_HOLDINGS CS3 DU5 E3Z GROUPED_DOAJ JSF JSH KQ8 OK1 RJT RZJ TKC AAYXX CITATION 7TB 8FD FR3 |
| ID | FETCH-LOGICAL-c629t-2c3c80baa0af3c4a7db12979d3f560e8e0e80b5b89bfc7886538894bc74dcf9d3 |
| IEDL.DBID | DOA |
| ISSN | 1881-3054 |
| IngestDate | Wed Aug 27 01:30:38 EDT 2025 Sun Jun 29 16:59:27 EDT 2025 Tue Jul 01 03:39:15 EDT 2025 Thu Apr 24 22:55:23 EDT 2025 Wed Sep 03 06:31:08 EDT 2025 |
| IsDoiOpenAccess | true |
| IsOpenAccess | true |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 2 |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c629t-2c3c80baa0af3c4a7db12979d3f560e8e0e80b5b89bfc7886538894bc74dcf9d3 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 |
| OpenAccessLink | https://doaj.org/article/105bdb2d35874bcebd14f437a881ed81 |
| PQID | 2246958691 |
| PQPubID | 2048464 |
| ParticipantIDs | doaj_primary_oai_doaj_org_article_105bdb2d35874bcebd14f437a881ed81 proquest_journals_2246958691 crossref_citationtrail_10_1299_jamdsm_2019jamdsm0034 crossref_primary_10_1299_jamdsm_2019jamdsm0034 jstage_primary_article_jamdsm_13_2_13_2019jamdsm0034_article_char_en |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | 2019-01-01 |
| PublicationDateYYYYMMDD | 2019-01-01 |
| PublicationDate_xml | – month: 01 year: 2019 text: 2019-01-01 day: 01 |
| PublicationDecade | 2010 |
| PublicationPlace | Tokyo |
| PublicationPlace_xml | – name: Tokyo |
| PublicationTitle | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| PublicationTitleAlternate | JAMDSM |
| PublicationYear | 2019 |
| Publisher | The Japan Society of Mechanical Engineers Japan Science and Technology Agency |
| Publisher_xml | – name: The Japan Society of Mechanical Engineers – name: Japan Science and Technology Agency |
| References | Toda Hideki, Takeuchi Shinya, Takeshi Matsumoto, Experimental Study of Ankle Joint Pushing Mechanism Concerning About the Horizontal Movement of Talus, Journal of Robotics and Mechatronics, Vol. 29, No. 2 (2017), pp. 299-305. Suzuki Syoshi, Matumoto Akihiro, Rehabilitation of knee, ankle joint with pneumatic actuator, IIP information, Intelligence and Precision Equipment Division Conference Proceedings (2005), pp. 355-358. Tsukamoto Yuudai, Wada Kenzo, Fujii Fumitake, Tamura Tomohiro, Performance of the ankle joint stretching apparatus, Welfare Engineering Symposium (2008), pp. 141-144. (in Japanese) Syuichi Kakurai, Rehabilitation system, The Japanese Journal of Rehabilitation Medicine, Vol. 31, No. 3 (1994-03-18), pp. 205-212. Onodera T., Suzuki E., Ding M., Takemura H., Mizoguchi H., Force, Stiffness and Viscous Damping Control of a Stewart-Platform-Type Ankle-Foot Rehabilitation Assist Device with Pneumatic Actuator, Journal of Robotics and Mechatronics, Vol. 25, No. 6 (2013), pp. 897-905. Hagbarth K.E. , Hagglund J.V. , Nordin M., Wallin E.U., Thixotropic Behaviour of human finger flexor muscle with accompanying changes in spindle and reflex responses to stretch, The Journal of Physiology (1985), pp. 323-342, Nov. Mansfield P. J., Neumann D. A.,Essentials of Kinesiology for the Physical Therapist Assistant 2nd Edition (2013), St. Louis, MO: Mosby Elsevier. Toda Hideki, Tanizaki Ryota, Advanced ankle contracture removal system, Japan patent JP2014-113095 (2014) Watanabe Hiroshi, Matuoka Jun,Nashimoto Satoshi, Koga Ryosei, Oomori Go,Endo Kazuo, Tanaka Masahide, Nawada Atushi, Sasaki Rieko, Study of the quadriceps muscle tension level change caused by lower limb muscle strength-training equipment for the valid duration of static stretching, Koseiren Medical Journal , Vol. 22 (2013), pp. 34-38. Hayashibara Yasuo, Hakogi Hokuto, Watanabe Kotaro, Development of rehabilitation for CPM device using a variable stiffness mechanism, Robotics and Mechatronics Conference abstracts (2003), p. 75. (in Japanese) Tanaka Eiichirou, Ikehara Tadaaki, Yusa Hirokazu, Sato Yusuke, Sakurai Tomohiro, Saegusa Shozo, Ito Kazuhisa, Yuge Louis, Walking-Assistance Apparatus as a Next-Generation Vehicle and Movable Neuro-Rehabilitation Training Appliance, Journal of Robotics and Mechatronics, Vol. 24, No. 5 (2012), pp. 851-865. Mero A., Komi P. V., Gregor R. J., Biomechanics of sprint running, A Review. Sports Medicine, Vol. 13, No. 6 (1992), pp. 376-392. Nagasawa Ken, Shiraishi Sei, Muscle oxygen saturation of the expansion site and the effect on the muscle blood flow from the difference of extension time of static stretching, Physical Eduation Research, Vol. 56, No. 2 (2011), pp. 423-433. (in Japanese) Noda Yuiko, Sasaki Satoru, Iwasa Shiho, Ooura Takashi, Tate Hiroaki, Takahashi Mituhiko, Development of a simple device for the ankle dorsiflexion limitation of movement prevention, Hokkaido Social Insurance Hospital Bulletin 6 (2006), pp. 15-18. Toda Hideki, Tanizaki Ryota, Imaeda Takeshi, Ankle contracture removal system, Japan patent JP2012-153658 (2012) Toda Hideki, Matsumoto Takeshi, Tanizaki Ryota, Imaeda Takeshi, Ankle joint push- ing mechanism by stabilization of ankle position using a brace structure, Journal of Advanced Mechanical Design Systems and Manufacturing, Vol. 10, No.1 (2016), pp. 1-11. Fukui Kunihiko, Maeda Shinji, Rehabilitation of old man (2010), Igaku-syoin. (in Japanese) Matsumoto Takeshi, Toda Hideki, A Proposed Mechanism for Ankle Joint Rehabilitation Using a Brace Structure, International Conference on Ubiquitous Healthcare (u-Healthcare 2015), Osaka, pp. 136-137. Matuura Daisuke, Koga Tatuya, Takeda Gyosei, Development mechanism of ankle rehabilitation device having a joint load reduction function, 30th anniversary annual conference of the Robotics Society of Japan meeting (2012), RSJ2012. (in Japanese) Nomura K., T. Yonezawa T., Takemura H., Mizoguchi H., Development of Six-DOF Human Ankle Motion Control Device Using Stewart Platform Structure for Fall Prevention, Journal of Robotics and Mechatronics, Vol. 28, No. 5 (2016), pp. 654-663. Nagase Sumiya, Saga Nobuhiko, Suga Syunkou, Development of ankle prevention instrument using pneumatic artificial muscles, Life support medical welfare Engineering Society Joint Conference, 2D1-4 (2010), pp. 289-291. (in Japanese) Yasuno Suguru, Kamamo Takuya, Suzuki Shigeyuki,Harada Hironobu, Fundamental study and trial of the ankle joint power assist system, IEICE technical report, MBE, Bio cybernetics and ME, 103(184), 35-3 (2003). Hamada Keisuke, Sasaki Makoto, Effects of Static Stretching on Jumping Ability:from Physiological and Functional Aspects, Japanese Journal of Physical Therapy Science, Vol. 23, No.3, pp.463-467 (2008). (in Japanese) Saga Norihiko, Saito N., Nagase Jyun-ya, Ankle Rehabilitation Device to Prevent Contracture Using a Pneumatic Balloon Actuator, International Journal of Automation Technology, Vol. 5, No. 4 (2011), pp. 538-543. 11 22 12 23 13 24 14 15 16 17 18 19 1 2 3 4 5 6 7 8 9 20 10 21 |
| References_xml | – reference: Hayashibara Yasuo, Hakogi Hokuto, Watanabe Kotaro, Development of rehabilitation for CPM device using a variable stiffness mechanism, Robotics and Mechatronics Conference abstracts (2003), p. 75. (in Japanese) – reference: Nagase Sumiya, Saga Nobuhiko, Suga Syunkou, Development of ankle prevention instrument using pneumatic artificial muscles, Life support medical welfare Engineering Society Joint Conference, 2D1-4 (2010), pp. 289-291. (in Japanese) – reference: Watanabe Hiroshi, Matuoka Jun,Nashimoto Satoshi, Koga Ryosei, Oomori Go,Endo Kazuo, Tanaka Masahide, Nawada Atushi, Sasaki Rieko, Study of the quadriceps muscle tension level change caused by lower limb muscle strength-training equipment for the valid duration of static stretching, Koseiren Medical Journal , Vol. 22 (2013), pp. 34-38. – reference: Mansfield P. J., Neumann D. A.,Essentials of Kinesiology for the Physical Therapist Assistant 2nd Edition (2013), St. Louis, MO: Mosby Elsevier. – reference: Matuura Daisuke, Koga Tatuya, Takeda Gyosei, Development mechanism of ankle rehabilitation device having a joint load reduction function, 30th anniversary annual conference of the Robotics Society of Japan meeting (2012), RSJ2012. (in Japanese) – reference: Hamada Keisuke, Sasaki Makoto, Effects of Static Stretching on Jumping Ability:from Physiological and Functional Aspects, Japanese Journal of Physical Therapy Science, Vol. 23, No.3, pp.463-467 (2008). (in Japanese) – reference: Onodera T., Suzuki E., Ding M., Takemura H., Mizoguchi H., Force, Stiffness and Viscous Damping Control of a Stewart-Platform-Type Ankle-Foot Rehabilitation Assist Device with Pneumatic Actuator, Journal of Robotics and Mechatronics, Vol. 25, No. 6 (2013), pp. 897-905. – reference: Toda Hideki, Tanizaki Ryota, Advanced ankle contracture removal system, Japan patent JP2014-113095 (2014) – reference: Syuichi Kakurai, Rehabilitation system, The Japanese Journal of Rehabilitation Medicine, Vol. 31, No. 3 (1994-03-18), pp. 205-212. – reference: Saga Norihiko, Saito N., Nagase Jyun-ya, Ankle Rehabilitation Device to Prevent Contracture Using a Pneumatic Balloon Actuator, International Journal of Automation Technology, Vol. 5, No. 4 (2011), pp. 538-543. – reference: Toda Hideki, Takeuchi Shinya, Takeshi Matsumoto, Experimental Study of Ankle Joint Pushing Mechanism Concerning About the Horizontal Movement of Talus, Journal of Robotics and Mechatronics, Vol. 29, No. 2 (2017), pp. 299-305. – reference: Matsumoto Takeshi, Toda Hideki, A Proposed Mechanism for Ankle Joint Rehabilitation Using a Brace Structure, International Conference on Ubiquitous Healthcare (u-Healthcare 2015), Osaka, pp. 136-137. – reference: Tsukamoto Yuudai, Wada Kenzo, Fujii Fumitake, Tamura Tomohiro, Performance of the ankle joint stretching apparatus, Welfare Engineering Symposium (2008), pp. 141-144. (in Japanese) – reference: Nagasawa Ken, Shiraishi Sei, Muscle oxygen saturation of the expansion site and the effect on the muscle blood flow from the difference of extension time of static stretching, Physical Eduation Research, Vol. 56, No. 2 (2011), pp. 423-433. (in Japanese) – reference: Fukui Kunihiko, Maeda Shinji, Rehabilitation of old man (2010), Igaku-syoin. (in Japanese) – reference: Nomura K., T. Yonezawa T., Takemura H., Mizoguchi H., Development of Six-DOF Human Ankle Motion Control Device Using Stewart Platform Structure for Fall Prevention, Journal of Robotics and Mechatronics, Vol. 28, No. 5 (2016), pp. 654-663. – reference: Suzuki Syoshi, Matumoto Akihiro, Rehabilitation of knee, ankle joint with pneumatic actuator, IIP information, Intelligence and Precision Equipment Division Conference Proceedings (2005), pp. 355-358. – reference: Toda Hideki, Tanizaki Ryota, Imaeda Takeshi, Ankle contracture removal system, Japan patent JP2012-153658 (2012) – reference: Toda Hideki, Matsumoto Takeshi, Tanizaki Ryota, Imaeda Takeshi, Ankle joint push- ing mechanism by stabilization of ankle position using a brace structure, Journal of Advanced Mechanical Design Systems and Manufacturing, Vol. 10, No.1 (2016), pp. 1-11. – reference: Tanaka Eiichirou, Ikehara Tadaaki, Yusa Hirokazu, Sato Yusuke, Sakurai Tomohiro, Saegusa Shozo, Ito Kazuhisa, Yuge Louis, Walking-Assistance Apparatus as a Next-Generation Vehicle and Movable Neuro-Rehabilitation Training Appliance, Journal of Robotics and Mechatronics, Vol. 24, No. 5 (2012), pp. 851-865. – reference: Hagbarth K.E. , Hagglund J.V. , Nordin M., Wallin E.U., Thixotropic Behaviour of human finger flexor muscle with accompanying changes in spindle and reflex responses to stretch, The Journal of Physiology (1985), pp. 323-342, Nov. – reference: Yasuno Suguru, Kamamo Takuya, Suzuki Shigeyuki,Harada Hironobu, Fundamental study and trial of the ankle joint power assist system, IEICE technical report, MBE, Bio cybernetics and ME, 103(184), 35-3 (2003). – reference: Mero A., Komi P. V., Gregor R. J., Biomechanics of sprint running, A Review. Sports Medicine, Vol. 13, No. 6 (1992), pp. 376-392. – reference: Noda Yuiko, Sasaki Satoru, Iwasa Shiho, Ooura Takashi, Tate Hiroaki, Takahashi Mituhiko, Development of a simple device for the ankle dorsiflexion limitation of movement prevention, Hokkaido Social Insurance Hospital Bulletin 6 (2006), pp. 15-18. – ident: 17 – ident: 3 – ident: 18 – ident: 5 – ident: 1 – ident: 4 doi: 10.1299/jsmermd.2003.75_5 – ident: 12 – ident: 11 – ident: 10 – ident: 19 – ident: 13 – ident: 14 – ident: 15 – ident: 2 doi: 10.1113/jphysiol.1985.sp015860 – ident: 22 doi: 10.1299/jsmewes.2008.141 – ident: 24 – ident: 6 – ident: 7 – ident: 8 – ident: 16 doi: 10.2490/jjrm1963.31.205 – ident: 21 – ident: 20 – ident: 9 doi: 10.5432/jjpehss.11032 – ident: 23 |
| SSID | ssj0069041 |
| Score | 2.1278815 |
| Snippet | In this paper, to mechanize a human ankle joint stretching treatment that is mainly performed by a PT (Physical Therapist), the geometrical relationships among... |
| SourceID | doaj proquest crossref jstage |
| SourceType | Open Website Aggregation Database Enrichment Source Index Database Publisher |
| StartPage | JAMDSM0034 |
| SubjectTerms | Ankle Ankle joint contracture removal Ankle joint pushing mechanism D C motors Electric motors Health services Mathematical models Mechanical systems Numerical calculation Pain Physical Therapist(PT) Pushing Rehabilitation system Rotation Stretching System effectiveness |
| Title | Simple geometrical analysis for mechanizing the ankle joint stretching treatment procedure of a PT using a numerical calculation |
| URI | https://www.jstage.jst.go.jp/article/jamdsm/13/2/13_2019jamdsm0034/_article/-char/en https://www.proquest.com/docview/2246958691 https://doaj.org/article/105bdb2d35874bcebd14f437a881ed81 |
| Volume | 13 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| ispartofPNX | Journal of Advanced Mechanical Design, Systems, and Manufacturing, 2019, Vol.13(2), pp.JAMDSM0034-JAMDSM0034 |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrV1Lb9QwELZQT3BAPMVCQXPgGrR2nMQ-8qoqkBCIVurN8nO1VZtFbfbCqT-9M7Y36opDLxwSRYkdWzP2PJKZbxh7z1Vcaid545xMjdSKN8rixmtdGjq7jEmEHG3xoz8-ld_OurM7pb4oJqzAAxfC4a7uXHAitJ0apPPRBS6TbAerFI8hJ10L1Hk7Z6rIYHT5JK_5OihvCWMoXFPeOdflkmBZ9jRRBuxHLXSONtnqX8Gctc3RE_a4monwsUzvKXsQx2fs0R3wwOfs5veakH1hFTeXVBYLiQ22QowAmqJwGSmrd_0XWwOaeUDV2SOcb9bjBJQiMuUwSphDzSErs7C9irBJYOHnCVBU_Aovx235sXMBePha8esFOz36evL5uKn1FBrfCz01wrdeLZ21S5taL-0QHFJn0KFNaPdE5FrEx51T2iWPrnGPwlBpJPogg0_Y7CU7GDdjfMUgoV0VEx88uViC99ZqPwinJCo7J5JeMLmjrfEVbJxqXlwYcjqQJabwweyzZME-zN3-FLSN-zp8IsbNjQksO9_AJWTqEjL3LaEF-1LYPr9m17OOyVsj8mlv7LkV5cehkFmww92iMVUQXBvC69Od6jV__T-m-oY9pEmUb0CH7GC62sa3aBVN7l3eAHj-_kvdAnYVEnE |
| linkProvider | Directory of Open Access Journals |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Simple+geometrical+analysis+for+mechanizing+the+ankle+joint+stretching+treatment+procedure+of+a+PT+using+a+numerical+calculation&rft.jtitle=Journal+of+advanced+mechanical+design%2C+systems%2C+and+manufacturing&rft.au=Hideki+TODA&rft.au=Takeshi+MATSUMOTO&rft.au=Shin+SUGIHARA&rft.date=2019-01-01&rft.pub=The+Japan+Society+of+Mechanical+Engineers&rft.eissn=1881-3054&rft.volume=13&rft.issue=2&rft.spage=JAMDSM0034&rft.epage=JAMDSM0034&rft_id=info:doi/10.1299%2Fjamdsm.2019jamdsm0034&rft.externalDBID=DOA&rft.externalDocID=oai_doaj_org_article_105bdb2d35874bcebd14f437a881ed81 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1881-3054&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1881-3054&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1881-3054&client=summon |