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Reviewing high-level control techniques on robot-assisted upper-limb rehabilitation

Qing Miao, Mingming Zhang, Jinghui Cao, Sheng Q. Xie
2018 Advanced Robotics  
Elbow exoskeleton [85]**** Elbow An EMG-angle model was constructed for pattern recognition, i.e. using EMGs to predict elbow joint angle.  ...  linked to impedance control parameters, **** representing others, such as EMG-angle models) MIT- MANUS [13]* Shoulder Elbow Wrist Speed, time or EMG signals to initiate robot assistance for  ... 
doi:10.1080/01691864.2018.1546617 fatcat:4ixwhu67ubghtkdhxnxt5jn3vu

Oscillator-based assistance of cyclical movements: model-based and model-free approaches

Renaud Ronsse, Tommaso Lenzi, Nicola Vitiello, Bram Koopman, Edwin van Asseldonk, Stefano Marco Maria De Rossi, Jesse van den Kieboom, Herman van der Kooij, Maria Chiara Carrozza, Auke Jan Ijspeert
2011 Medical and Biological Engineering and Computing  
Here we present two experiments that we recently conducted to validate our approach: a simple sinusoidal movement of the elbow, that we designed as a proof-of-concept, and a walking experiment.  ...  Owing to the intrinsic periodicity of daily life movements involving the lower-limbs, we postulate that our approach holds promise for the design of innovative rehabilitation and assistance protocols for  ...  This was a model-based approach, in the sense that an inverse dynamic model of the assisted joint was used to retrieve and amplify the torque provided by the participant.  ... 
doi:10.1007/s11517-011-0816-1 pmid:21881902 fatcat:enuqexhbinakbkgzzolzs3qrfe

Patterns of hypermetria and terminal cocontraction during point-to-point movements demonstrate independent action of trajectory and postural controllers

Robert A. Scheidt, Claude Ghez, Supriya Asnani
2011 Journal of Neurophysiology  
, a frequent assumption of learning models  ...  Instructed increases in elbow CoA began mid-reach, thus increasing elbow impedance and reducing transient oscillations present in low CoA movments. Flexor EMG alone increased at movement onset.  ...  We quantified whether a learned rotation transfers from one task to the other. Within each task, we found that learning was confined to the movement feature used to drive adaptation.  ... 
doi:10.1152/jn.00763.2010 pmid:21849613 pmcid:PMC3214114 fatcat:54kwv23tsjfmnbuxwvszjiwam4

Model-based estimation of muscle forces exerted during movements

Ahmet Erdemir, Scott McLean, Walter Herzog, Antonie J. van den Bogert
2007 Clinical Biomechanics  
Static optimization methods to transform joint torques into estimates of individual muscle forces using musculoskeletal models, have been known for several decades.  ...  The current state of the art in clinical movement analysis is that resultant joint torques can be reliably estimated from motion data and external forces (inverse dynamic analysis).  ...  Explored learning fast elbow flexions.  ... 
doi:10.1016/j.clinbiomech.2006.09.005 pmid:17070969 fatcat:kujwkmt34jdobhzi5rdms4odqa

Development of an IoT-Based Solution Incorporating Biofeedback and Fuzzy Logic Control for Elbow Rehabilitation

Yassine Bouteraa, Ismail Ben Abdallah, Atef Ibrahim, Tariq Ahamed Ahanger
2020 Applied Sciences  
In this context, we have developed a remote controlled intelligent robot for elbow rehabilitation.  ...  A fusion of sensors incorporating an electromyography (EMG) signal, feedback from the current sensor and feedback from the position encoder provides the fuzzy controller with the data needed to estimate  ...  The funders had no role in the design of the study; the collection, analyses or interpretation of data; the writing of the manuscript, or the decision to publish the results.  ... 
doi:10.3390/app10217793 fatcat:xfpza73sdjhrbhqdfbh5wb5cpa

Applied Exoskeleton Technology: A Comprehensive Review of Physical and Cognitive Human-Robot-Interfac [article]

Farhad Nazari, Navid Mohajer, Darius Nahavandi, Abbas Khosravi, Saeid Nahavandi
2022 arXiv   pre-print
Various approaches to this strategy will be reviewed, and a model for intent prediction will be proposed.  ...  This model is utilised to predict the gate phase from a single Electromyography (EMG) channel input.  ...  On the other hand, model-free approaches use machine learning techniques to learn the relationship between the input and the desired output known as "black box" or "unknown".  ... 
arXiv:2111.12860v6 fatcat:h7y6crlveffalg3vxrdclubvim

Design of a 4-DOF grounded exoskeletal robot for shoulder and elbow rehabilitation

Fatih Karadeniz, Özgür Ege Aydoğan, Emin Abdullah Kazancı, Erhan Akdogan
2020 Sustainable Engineering and Innovation, ISSN 2712-0562  
The system can be used for rehabilitation on the shoulder and elbow. A PID controller for position-controlled exercises were developed.  ...  According to the test results, the developed system can perform passive exercise and can be used for other therapeutic exercises as well.  ...  Also, EMG based advanced machine learning algorithms are used for motion detection and decoding movement direction. Xu et al.  ... 
doi:10.37868/sei.v2i1.106 fatcat:bwzuicqkcbgcnibpzcxqwxws2y

Rehabilitative and assistive wearable mechatronic upper-limb devices: A review

Tyler Desplenter, Yue Zhou, Brandon PR Edmonds, Myles Lidka, Allison Goldman, Ana Luisa Trejos
2020 Journal of Rehabilitation and Assistive Technologies Engineering  
These devices provide the ability to assist without tethering the user to a specific location.  ...  The objective of this research is to perform a review of the existing wearable assistive devices that are used to assist with musculoskeletal and neurological disorders affecting the upper limb.  ...  One limitation of machine learning controllers is the amount of data that are required to train the models. In order to derive an optimized model, many subjects and data sets are needed.  ... 
doi:10.1177/2055668320917870 pmid:32435505 pmcid:PMC7223206 fatcat:2b54yksi4jhlpas4xy2q7jzn5a

Development of a Multi-DOF Electromyography Prosthetic System Using the Adaptive Joint Mechanism

A. Hernandez Arieta, R. Katoh, H. Yokoi, Y. Wenwei
2006 Applied Bionics and Biomechanics  
This mechanism includes mechanical torque–velocity converters and a mechanism to assist the proximal joint torque by distal actuators. The other subject is the recognition of the EMG signal.  ...  For the discrimination of many patterns and nonlinear properties of the EMG signal, we propose a controller based on a simple pattern recognition information process.  ...  Because of these difficulties, the On-Line Learning Method is applied to detect the EMG signal pattern suitable for the motion of hand or body.  ... 
doi:10.1155/2006/741851 fatcat:skirppnfybhe3gyn6q63oui3hi

A Comprehensive Review of Myoelectric Prosthesis Control [article]

Mohammad Reza Mohebbian, Marjan Nosouhi, Farzaneh Fazilati, Zahra Nasr Esfahani, Golnaz Amiri, Negar Malekifar, Fatemeh Yusefi, Mohsen Rastegari, Hamid Reza Marateb
2021 arXiv   pre-print
Moreover, the proposed algorithms must be usually tuned after each don and doff, which is not comfortable for the users.  ...  Prosthetic hands can be used to support upper-body amputees.  ...  Data Availability Statement: Data supporting the reported results can be found at PubMed ( and Cochrane Library (  ... 
arXiv:2112.13192v1 fatcat:oc6kfbcrerduxfselt7izd2lp4

A Regression-Based Framework for Quantitative Assessment of Muscle Spasticity Using Combined EMG and Inertial Data From Wearable Sensors

Xu Zhang, Xiao Tang, Xiaofei Zhu, Xiaoping Gao, Xiang Chen, Xun Chen
2019 Frontiers in Neuroscience  
The EMG and inertial data were recorded from each subject when a series of passive elbow stretches with different stretch velocities were conducted.  ...  In the proposed framework, both lambda model and kinematic model were constructed from the recorded data, and biomarkers were extracted respectively from the two models to describe the neurogenic component  ...  Meanwhile, all data were recorded by the system, transferred and restored to a portable computer via a USB cable for further analysis.  ... 
doi:10.3389/fnins.2019.00398 pmid:31130834 pmcid:PMC6509177 fatcat:y2kx3pzcvffvxj5shxp75lq47q

Development of a multi-DOF electromyography prosthetic system using the adaptive joint mechanism

A. Hernandez Arieta, R. Katoh, H. Yokoi, Y. Wenwei
2006 Applied Bionics and Biomechanics  
This mechanism includes mechanical torque-velocity converters and a mechanism to assist the proximal joint torque by distal actuators. The other subject is the recognition of the EMG signal.  ...  For the bionic signals, the elec-33 tromyography (EMG) signal can be used to control these 34 mechanical products, which reflect the muscles motion, 35 and can be acquired from the body surface.  ...  the amputee, the operator can include 208 a new data set of training for the Supervision Unit.  ... 
doi:10.1533/abbi.2005.0060 fatcat:hdtqjtgptzahrcwejd65ueui5u

Model-Based Mid-Level Regulation for Assist-As-Needed Hierarchical Control of Wearable Robots: A Computational Study of Human-Robot Adaptation

Ali Nasr, Arash Hashemi, John McPhee
2022 Robotics  
In the long-term experience, the simulation shows no oscillation when the CNS NMPC learns the robot model and modifies its weights to simulate realistic human behavior.  ...  The goal of AAN is to provide the required extra torque because of the robot's dynamics and external load compared to the human limb free movement.  ...  However, the EMG-torque relation is not proportional, and, hence, using this approach makes an uncomfortable motion for the wearer.  ... 
doi:10.3390/robotics11010020 fatcat:jf2y5b6e2nhixoxs6k4ip64bme

The Cybernetic Rehabilitation Aid: Preliminary Results for Wrist and Elbow Motions in Healthy Subjects

E. Akdogan, K. Shima, H. Kataoka, M. Hasegawa, A. Otsuka, T. Tsuji
2012 IEEE transactions on neural systems and rehabilitation engineering  
In order to evaluate motor skills, EMG signals measured from a patient are analyzed using a log-linearized Gaussian mixture network that can classify motion patterns and compute the degree of similarity  ...  between the patient's measured EMG patterns and the desired pattern provided by the therapist.  ...  ACKNOWLEDGMENT The authors would like to thank T.  ... 
doi:10.1109/tnsre.2012.2198496 pmid:22695359 fatcat:xzxdlepzvzf3thmqupatskvuiy

A Review on Design of Upper Limb Exoskeletons

Muhammad Ahsan Gull, Shaoping Bai, Thomas Bak
2020 Robotics  
The technology promises to improve the upper-limb functionalities required for performing activities of daily living.  ...  In addition, a brief overview of the control modalities for upper-limb exoskeletons is also presented in this paper. A discussion on the future directions of research is included.  ...  For this purpose, several approaches have been reviewed in Reference [21] to model the shoulder joint.  ... 
doi:10.3390/robotics9010016 fatcat:5iiax7tq6rgszcnaqsadfssszm
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