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ANFIS to estimate damping coefficient from EMG to optimize the interaction force
2016
2016 International Conference on Microelectronics, Computing and Communications (MicroCom)
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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
2022
Biosensors
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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
2021
IEEE Transactions on Human-Machine Systems
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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
2011
Experimental Brain Research
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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
2019
International Journal of Robotics and Automation
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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
1998
Journal of Neuroscience
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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]
2021
bioRxiv
pre-print
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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
2007
2007 IEEE 10th International Conference on Rehabilitation Robotics
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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
2018
Advanced Robotics
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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
2016
IEEE Transactions on robotics
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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
2018
Computational Intelligence and Neuroscience
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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
2014
2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
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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
2020
Current Robotics Reports
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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
2022
Robotics
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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
2007
2007 IEEE 10th International Conference on Rehabilitation Robotics
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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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