2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)最新文献_第2页

FPGA implementation of a FA-1 mechanoreceptor model for efficient representation of tactile features 一种FA-1机械感受器模型的FPGA实现，用于有效表征触觉特征

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523631

Wang Wei Lee, C. Yeow, Hongliang Ren, S. Kukreja, N. Thakor

{"title":"FPGA implementation of a FA-1 mechanoreceptor model for efficient representation of tactile features","authors":"Wang Wei Lee, C. Yeow, Hongliang Ren, S. Kukreja, N. Thakor","doi":"10.1109/BIOROB.2016.7523631","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523631","url":null,"abstract":"Spatiotemporal spike patterns from a population of mechanoreceptors provide a concise representation of tactile stimuli that facilitates rapid sensory processing in the brain. Efficient models of mechanoreceptors are needed for the adoption of spike-based processing for robotic tactile sensing applications. This paper presents a biomimetic model of the fast-adapting type 1 (FA-1) mechanoreceptor, implemented on a field-programmable-gate-array (FPGA). The simplicity of this model enables its realization on large arrays of sensing elements while operating with sub-millisecond temporal precision required to capture deformation patterns. We illustrate this capability by interfacing with a 4096 element tactile sensor array with a 5.2 kHz sampling rate. Through physical experiments, we demonstrate the discrimination of force magnitude and local curvature during transient mechanical contact, using spike patterns obtained from the model. The approach has the potential to deliver responsive full-body tactile sensing in robotic and prosthetic applications.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126853497","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Improving the retention of motor skills after reward-based reinforcement by incorporating haptic guidance and error augmentation 通过结合触觉引导和误差增强来改善基于奖励的强化后运动技能的保留

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523735

Dylan P. Losey, Laura H. Blumenschein, M. O'Malley

{"title":"Improving the retention of motor skills after reward-based reinforcement by incorporating haptic guidance and error augmentation","authors":"Dylan P. Losey, Laura H. Blumenschein, M. O'Malley","doi":"10.1109/BIOROB.2016.7523735","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523735","url":null,"abstract":"There has been significant research aimed at leveraging programmable robotic devices to provide haptic assistance or augmentation to a human user so that new motor skills can be trained efficiently and retained long after training has concluded. The success of these approaches has been varied, and retention of skill is typically not significantly better for groups exposed to these controllers during training. These findings point to a need to incorporate a more complete understanding of human motor learning principles when designing haptic interactions with the trainee. Reward-based reinforcement has been studied for its role in improving retention of skills. Haptic guidance, which assists a user to complete a task, and error augmentation, which exaggerates error in order to enhance feedback to the user, have been shown to be beneficial for training depending on the task difficulty, subject ability, and task type. In this paper, we combine the presentation of reward-based reinforcement with these robotic controllers to evaluate their impact on retention of motor skill in a visual rotation task with tunable difficulty using either fixed or moving targets. We found that with the reward-based feedback paradigm, both haptic guidance and error augmentation led to better retention of the desired visuomotor offset during a simple task, while during a more complex task, only subjects trained with haptic guidance demonstrated performance superior to those trained without a controller.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122311512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Surface tilt perception with a biomimetic tactile sensor 表面倾斜感知与仿生触觉传感器

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523748

Zhe Su, S. Schaal, G. Loeb

引用次数: 8

Electromyography based joint angle estimation and control of a robotic leg 基于肌电图的机器人腿关节角度估计与控制

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523619

Ulrik Mamikoglu, G. Andrikopoulos, G. Nikolakopoulos, Ulrik Roijezon, Mascha Pauelsen, T. Gustafsson

引用次数: 5

Embodied movement strategies for development of a core-located actuation walker 核心定位驱动步行器的具身运动策略研究

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523618

Umer Huzaifa, Crispin Bernier, Zachary Calhoun, Gerald Heddy, Colleen Kohout, Brett Libowitz, Anne Moenning, Jason Ye, Catherine Maguire, A. LaViers

引用次数: 11

Learning inverse kinematic solutions of redundant manipulators using multiple internal models 利用多内模型学习冗余机械手的运动学逆解

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523824

Hari Teja Kalidindi, S. Shah

引用次数: 1

Design and control of the A-Arm: An active planar arm support for adults with Duchenne muscular dystrophy a型手臂的设计和控制:一种用于成人杜氏肌营养不良的主动平面手臂支撑

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523801

Paul T. C. Straathof, J. Lobo-Prat, F. Schilder, Peter N. Kooren, M. Paalman, A. Stienen, B. Koopman

{"title":"Design and control of the A-Arm: An active planar arm support for adults with Duchenne muscular dystrophy","authors":"Paul T. C. Straathof, J. Lobo-Prat, F. Schilder, Peter N. Kooren, M. Paalman, A. Stienen, B. Koopman","doi":"10.1109/BIOROB.2016.7523801","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523801","url":null,"abstract":"Adults with Duchenne muscular dystrophy (DMD), due to their severe muscular weakness, cannot benefit from passive arm supports that only compensate for the weight of their arms. Active arm supports can potentially enable adults with DMD to perform activities of daily living, improving their independence, and increasing their participation in social activities. In this paper we present the A-Arm, an inconspicuous and simple planar active arm support for adults with DMD that can be controlled with force- or EMG-based interfaces. The A-Arm is intended to replace the arm rest of the wheelchair and assist during table top tasks such as computer, tablet, or smartphone use, writing and drawing, and the use of the wheelchair's joystick. In the force-based control interface we have implemented active compensation of the joint-stiffness forces using a measurement-based method to obtain an estimation of the voluntary forces of the user. A pilot evaluation with an adult with DMD (24 years-old, Brooke 5) has shown that the A-Arm was able to increase the functional workspace of the arm (from 100 cm2 to 190-200 cm2). We found that while force-based control was experienced by the participant as more fatiguing than EMG-based control, the movements with EMG-based control were less accurate. These preliminary results give promising perspectives for the use of simple active arm supports to increase the independence of people with DMD.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129420402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Optimal impedance control for robot-aided rehabilitation of walking based on estimation of patient behavior 基于患者行为估计的机器人辅助步行康复最优阻抗控制

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523765

W. D. Santos, A. Siqueira

引用次数: 12

Torque characteristics of shoulder and elbow joints of assistive robotic arms handling an object 辅助机械臂处理物体时肩关节和肘关节的扭矩特性

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523819

Byoung-Ho Kim

引用次数: 3

A multi-sensor multi-rate algorithm for motor rehabilitation with Augmented Reality devices 基于增强现实设备的多传感器多速率运动康复算法

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523718

F. D’Ippolito, M. Massaro

引用次数: 3