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ANFIS to estimate damping coefficient from EMG to optimize the interaction force

Tanvir Anwar, Adel Al Jumaily
2016 2016 International Conference on Microelectronics, Computing and Communications (MicroCom)  
The intended action data that can be extracted from EMG signal may include the intended posture, intended torque, intended knee joint angle, intended knee joint torque and impedance parameter.  ...  The proposed model is able to estimate damping and demonstrate decent accuracy in modulating the knee joint dynamics to minimize the interaction force at the Patient Exoskeleton interaction point.  ...  These muscles will assist us estimate various knee joint dynamic parameters like joint torque, joint angle and changes in the rate of sEMG signal to estimate the stiffness, damping parameters of vitual  ... 
doi:10.1109/microcom.2016.7522589 fatcat:xhy6hpfjf5dxfowobynckkyvh4

A Differentiable Dynamic Model for Musculoskeletal Simulation and Exoskeleton Control

Chao-Hung Kuo, Jia-Wei Chen, Yi Yang, Yu-Hao Lan, Shao-Wei Lu, Ching-Fu Wang, Yu-Chun Lo, Chien-Lin Lin, Sheng-Huang Lin, Po-Chuan Chen, You-Yin Chen
2022 Biosensors  
However, the process of transforming the input of biomedical signals, such as electromyography (EMG), into the output of adjusting the torque and angle of the exoskeleton is limited by a finite time lag  ...  In conclusion, a differentiable continuous system merged with a dynamic musculoskeletal model supported the effective and accurate performance of an exoskeleton controlled by EMG signals.  ...  We also are grateful for FREE Bionics Taiwan Inc. for their technical support regarding knee exoskeletons and helpful discussion. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/bios12050312 fatcat:xx5m5hlhcvgingg3wzkcy3mwe4

A Collaborative Filtering Approach Toward Plug-and-Play Myoelectric Robot Control

Jun-ichiro Furukawa, Shinya Chiyohara, Tatsuya Teramae, Asuka Takai, Jun Morimoto
2021 IEEE Transactions on Human-Machine Systems  
features, including EMG signals, and the joint torques of other users.  ...  In this study, we show that the EMG interface used to estimate the joint torques of a user can be constructed simply by incorporating other users' data without typical calibration process.  ...  Fig. 10 shows representative examples of the nearest neighbor users and movement conditions when the joint torques of a novel subject are estimated with our approach using "EMGs only," "EMGs and joint  ... 
doi:10.1109/thms.2021.3098115 fatcat:npv7r76ecba4hexcgvw7h3pg2a

Differentiation between the contributions of shortening reaction and stretch-induced inhibition to rigidity in Parkinson's disease

Ruiping Xia, Douglas Powell, W. Zev Rymer, Nicholas Hanson, Xiang Fang, A. Joseph Threlkeld
2011 Experimental Brain Research  
Moments of shortened and stretched muscles were estimated using a biomechanical model. Slopes of the estimated torque-angle curve were calculated for shortened and stretched muscles, separately.  ...  Joint position, torque, and EMGs of selected muscles were collected during externally imposed flexion and extension motions.  ...  in part under Faculty Development Fund of School of Pharmacy and Health Professions, Creighton University, USA.  ... 
doi:10.1007/s00221-011-2594-2 pmid:21347660 pmcid:PMC3142787 fatcat:bditzflw3fh6zo5u2mri6vmvhi

A REVIEW ON HUMAN-EXOSKELETON COORDINATION TOWARDS LOWER LIMB ROBOTIC EXOSKELETON SYSTEMS

Yue Ma, Xinyu Wu, Jingang Yi, Can Wang, Chunjie Chen
2019 International Journal of Robotics and Automation  
In this paper, we examine the research regarding human-exoskeleton robot coordinated control to capture the current state-of-the-art.  ...  None, however, have focused on the coordination of control between humans and these kinds of robots.  ...  Acknowledgement The work described in this paper is partially supported by the NSFC-Shenzhen Robotics Research Center Project (U1613219), the Shenzhen Fundamental Research and Discipline Layout project  ... 
doi:10.2316/j.2019.206-0193 fatcat:6qfm7qr2zzaonkkyfxrcs33fry

Task-Dependent Viscoelasticity of Human Multijoint Arm and Its Spatial Characteristics for Interaction with Environments

Hiroaki Gomi, Rieko Osu
1998 Journal of Neuroscience  
Human arm viscoelasticity is important in stabilizing posture, movement, and in interacting with objects.  ...  During force regulation tasks we found that shoulder and elbow single-joint stiffness was each roughly proportional to the torque of its own joint, and cross-joint stiffness was correlated with elbow torque  ...  ., November 1, 1998, 18(21):8965-8978 Gomi and Osu • Arm Viscoelasticity for Interaction with Environments Gomi and Osu • Arm Viscoelasticity for Interaction with Environments J.  ... 
doi:10.1523/jneurosci.18-21-08965.1998 pmid:9787002 fatcat:bduvx2o7yveczp2lfe7friai7m

Leveraging joint mechanics simplifies the neural control of movement [article]

Daniel Ludvig, Mariah W. Whitmore, Eric J. Perreault
2021 bioRxiv   pre-print
We developed a novel approach that used continuous estimates of impedance, a quantitative description of joint mechanics, and measures of muscle activity to determine the mechanical and neural contributions  ...  Behaviors we perform every day, such as manipulating an object or walking, require precise control of interaction forces between our bodies and the environment.  ...  with reliable and forceful contact with the environment.  ... 
doi:10.1101/2021.03.02.433588 fatcat:g6omk5yfunchjnrnaxccmurvke

Active-Impedance Control of a Lower-Limb Assistive Exoskeleton

Gabriel Aguirre-Ollinger, J. Edward Colgate, Michael A. Peshkin, Ambarish Goswami
2007 2007 IEEE 10th International Conference on Rehabilitation Robotics  
The proposed method is an alternative to myoelectrical exoskeleton control, which is based on estimating muscle torques from electromyographical (EMG) activity.  ...  We aim to use active impedance control to attain such effects as increasing the user's average speed of motion, and improving their acceleration capabilities in order to compensate for perturbations from  ...  Figure 7 shows plots of the EMG activity, u EMG , and the knee joint angle, θ m , for two successive motions.  ... 
doi:10.1109/icorr.2007.4428426 fatcat:wz6gpt5vergwpbwd6ipw35jrpe

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

Qing Miao, Mingming Zhang, Jinghui Cao, Sheng Q. Xie
2018 Advanced Robotics  
The authors also thank Southern University of Science and Technology (China), and University of Auckland (New Zealand).  ...  Acknowledgement This work was carried out with financial support from Wuhan University of Technology, China.  ...  In contrast, while admittance control may result in contact instability with stiff environments, it provides better performance when interacting with soft environments [95] .  ... 
doi:10.1080/01691864.2018.1546617 fatcat:4ixwhu67ubghtkdhxnxt5jn3vu

Estimation of Human Hip and Knee Multi-Joint Dynamics Using the LOPES Gait Trainer

Bram Koopman, Edwin H. F. van Asseldonk, Herman van der Kooij
2016 IEEE Transactions on robotics  
In this study, we present and evaluate a novel method to estimate multi-joint leg impedance, using a robotic gait training device.  ...  Multi-joint impedance was estimated nonparametrically and was subsequently modeled in terms of inertia and (inter)joint stiffness and damping.  ...  Haarman for her assistance in collecting the data.  ... 
doi:10.1109/tro.2016.2572695 fatcat:6mq6jdfn25duxmjjibhlxkkhja

Control of a Robot Arm Using Decoded Joint Angles from Electrocorticograms in Primate

Duk Shin, Hiroyuki Kambara, Natsue Yoshimura, Yasuharu Koike
2018 Computational Intelligence and Neuroscience  
We used sparse linear regression to find the best fit between band-passed ECoGs and electromyograms (EMG) or joint angles.  ...  We suggest a neuromuscular interface to control robot using decoded muscle activities and joint angles.  ...  Since stiffness, viscosity, and force change with our muscle activation in order to interact with environments, decoding muscle activities, as well as joint angles, are important components for realizing  ... 
doi:10.1155/2018/2580165 pmid:30420874 pmcid:PMC6211210 dblp:journals/cin/ShinKYK18 fatcat:e73ekponanebbdgrnqhg5yizra

An EMG-based force prediction and control approach for robot-assisted lower limb rehabilitation

Wei Meng, Bo Ding, Zude Zhou, Quan Liu, Qingsong Ai
2014 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)  
The application of EMG for estimating the joint torque or muscle strength forces can be found in many works.  ...  Loconsole et al. proposed a method to estimate the joint torque of the exoskeleton using an artificial neural network trained by EMG signals, and used the model for an active exoskeleton to provide slow  ... 
doi:10.1109/smc.2014.6974250 dblp:conf/smc/MengDZLA14 fatcat:f6hhxkm2svg7xeslmw5wlepqge

Human-Robot Interaction in Rehabilitation and Assistance: a Review

Abolfazl Mohebbi
2020 Current Robotics Reports  
Summary A review of recent research and development efforts on human-robot interaction in assistive and rehabilitation robotics is presented in this paper.  ...  Such robots can be used in various day-to-day scenarios or to support motor functionality, training, and rehabilitation.  ...  Gui et al. presented an adaptive method to estimate active joint torque using EMG signals for a lower limb exoskeleton with two degrees of freedom.  ... 
doi:10.1007/s43154-020-00015-4 fatcat:t6vkv6iic5apxcvt7qvlqwoxjq

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  
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.  ...  This paper develops a mid-level controller providing assist-as-needed (AAN) policies in a hierarchical control setting using two novel methods: model-based and fuzzy logic rule.  ...  On-board joint angle sensor and EMG sensor, as well as vision-based sensors, will be used to estimate the human joint torque or intention [2, 73, 74] .  ... 
doi:10.3390/robotics11010020 fatcat:jf2y5b6e2nhixoxs6k4ip64bme

Decomposition-Based Control for a Powered Knee and Ankle Transfemoral Prosthesis

Huseyin Atakan Varol, Michael Goldfarb
2007 2007 IEEE 10th International Conference on Rehabilitation Robotics  
The ability of the approach to reconstruct the required joint torques is demonstrated in simulation on measured biomechanics data.  ...  This paper describes an active passive torque decomposition procedure for use in controlling a fully powered transfemoral prosthesis.  ...  Clare Milner at the Biomechanics and Sports Medicine Laboratory of the University of Tennessee at Knoxville for her assistance with the biomechanics experiments.  ... 
doi:10.1109/icorr.2007.4428514 fatcat:zoufjoctfrh2jn3ull47b6pgfm
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