2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)最新文献_第8页

Fusion of M-IMU and EMG signals for the control of trans-humeral prostheses M-IMU和EMG信号融合在肱骨假体控制中的应用

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523782

Clemente Lauretti, A. Davalli, R. Sacchetti, E. Guglielmelli, L. Zollo

{"title":"Fusion of M-IMU and EMG signals for the control of trans-humeral prostheses","authors":"Clemente Lauretti, A. Davalli, R. Sacchetti, E. Guglielmelli, L. Zollo","doi":"10.1109/BIOROB.2016.7523782","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523782","url":null,"abstract":"The commercially available myoelectric control strategies with surface electrodes used to drive upper limb prostheses, e.g. conventional amplitude-based control, do not allow the control of simultaneous movements in multi-Dof devices, i.e. the prostheses for trans-humeral amputees or with shoulder disarticulation. Pattern recognition applied to ElectroMyoGraphic (EMG) signals represents a valid solution to this problem although it could be efficiently applied only to high level upper limb amputees who undergo a Targeted Muscle Reinnervation surgery (TMR). This paper introduces a novel control strategy for trans-humeral prostheses that, based on the coupled use of myoelectric and magneto-inertial sensors, allows managing simultaneous movements and more physiological reaching tasks. With the proposed approach the user could operate the elbow flexion-extension, wrist prono-supination and hand opening-closing exploiting the residual stump motions combined to the myoelectric activity of two target muscles, i.e. biceps and triceps. A comparative experimental analysis has been carried out in order to compare the performance of the proposed control with the traditional myoelectric control. Eight able-bodied individuals have been recruited and were asked to perform four different tasks in a Virtual Environment (VE), using both control strategies. Control performance was assessed by means of three quantitative indices, i.e. completion time, average rotational speed and success rate. The obtained results show that the proposed control strategy can achieve higher performance than the traditional control for each task.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116732690","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: 12

Development of a human hand model for estimating joint torque using MATLAB tools 利用MATLAB工具开发估算关节扭矩的人手模型

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523724

Kasim Serbest, M. Çilli, M. Yıldız, O. Eldogan

{"title":"Development of a human hand model for estimating joint torque using MATLAB tools","authors":"Kasim Serbest, M. Çilli, M. Yıldız, O. Eldogan","doi":"10.1109/BIOROB.2016.7523724","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523724","url":null,"abstract":"Determining the joint torques of the hand is a useful design parameter for humanoid mechanism, rehabilitation robots and orthotic and prosthetic devices. In previous studies, different methods have been suggested for estimating joint torques of the hand such as mathematical models and simulation models. This paper presents a 16 DOF hand kinematic model and its simulation. Kinematic structure of an average human hand was created by SimMechanics and Simulink on MATLAB. The model was simulated by inverse dynamics method using the video record of a healthy subject (male, 29 years, 71 kg and 174 cm) and the joint torques of the index finger and wrist were calculated. The maximum torque at index finger with 0.015 Nm occurs at the MCP joint during the cylindrical grip. The maximum wrist torque was calculated as 0.225 Nm during movement of flexion/extension. Flexion/extension and abduction/adduction movements of the fingers and the wrist can be analyzed with this model changing joint rotation axis easily. This MATLAB model can be used in order to calculate the joint torques at different movements of the hand without complex equations and external devices.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115553040","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: 7

Soft assistive robot for personal care of elderly people 用于老年人个人护理的软辅助机器人

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523731

M. Manti, A. Pratesi, E. Falotico, M. Cianchetti, C. Laschi

引用次数: 59

Mechanical design of a lightweight compliant and adaptable active ankle foot orthosis 一种轻便、适应性强的主动踝足矫形器的机械设计

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523798

Marta Moltedo, T. Baček, Karen Junius, B. Vanderborght, D. Lefeber

{"title":"Mechanical design of a lightweight compliant and adaptable active ankle foot orthosis","authors":"Marta Moltedo, T. Baček, Karen Junius, B. Vanderborght, D. Lefeber","doi":"10.1109/BIOROB.2016.7523798","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523798","url":null,"abstract":"The ankle joint is the main contributor in providing support to the body, ensuring forward progression and initiating the swing of the leg during the push-off phase of walking. However, its capability can be negatively altered by neuromuscular disorders. In these cases, an active ankle-foot orthosis (AAFO) can greatly enhance the rehabilitation of the affected patients. This paper presents the mechanical design of a lightweight and compliant AAFO, which can be used for rehabilitation purposes. The actuator is bidirectional, thus it can assist the ankle during both dorsiflexion and plantarflexion. With respect to most of the existing AAFOs, the presented one is adaptable to different subjects. The connections between the ankle actuator and the user's shank and foot are designed to fit the AAFO to different users and to align the human and the robot ankle joints, without the need of building customized versions of it. The implemented ankle actuator is a MACCEPA (Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator) and it can provide a peak torque of 25Nm. Due to a careful design of the actuator components, the total weight of the AAFO is only 1.7kg.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125456786","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: 31

Design of an assistive wrist orthosis using conductive nylon actuators 使用导电尼龙促动器的辅助手腕矫形器的设计

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523774

L. Sutton, H. Moein, Ali Rafiee, J. Madden, C. Menon

引用次数: 58

Exoshoe: A sensory system to measure foot pressure in industrial exoskeleton 外骨骼:工业外骨骼中测量足部压力的传感系统

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523605

Luis A. Mateos, J. Ortiz, Stefano Toxiri, Jorge Fernandez, J. Masood, D. Caldwell

引用次数: 15

Reduced errors in robot-aided minimally invasive surgery through online condition number optimization 通过在线条件数优化减少机器人辅助微创手术的错误

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523650

M. M. Marinho, K. Harada, N. Sugita, M. Mitsuishi

{"title":"Reduced errors in robot-aided minimally invasive surgery through online condition number optimization","authors":"M. M. Marinho, K. Harada, N. Sugita, M. Mitsuishi","doi":"10.1109/BIOROB.2016.7523650","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523650","url":null,"abstract":"The use of robots in surgery is of great research interest following the widespread adoption of da Vinci systems in surgical rooms worldwide. Research interest has grown, as such robot aid still cannot fully perform procedures requiring smaller instruments and more precise movements. In addition to added flexibility, serial-link manipulators can also provide these capabilities for surgical procedures. In surgical procedures, robot control techniques should strive for low errors along with slow joint speeds. This paper discusses control theory and conducts an analysis on the shortcomings of damped inverses and singular value decomposition inverses. The use of online local optimization of the condition number of the Jacobian to increase the dexterity of redundant serial-link manipulators with arbitrary geometries was proposed. Techniques in previous studies were compared in a simulated minimally invasive surgical task. The proposed technique utilized inner motions to autonomously reposition the manipulator in high dexterity configurations without disturbing the main task. Hence, the proposed technique decreased the remote center-of-motion error by 27% and reduced the joint velocity requirements for the same trajectory by 34%.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127477728","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

Bone recognition during the drilling process 钻孔过程中的骨骼识别

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523643

Fernando Accini, I. Díaz, J. J. Gil

引用次数: 2

Assistive front-following control of an intelligent robotic rollator based on a modified dynamic window planner 基于改进动态窗口规划器的智能滚轴机器人前端跟随辅助控制

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523689

G. Moustris, C. Tzafestas

引用次数: 7

Remaining force transferring mechanism for exoskeletal robot to operate wheelchair 外骨骼机器人操纵轮椅的剩余力传递机构

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523777

Yuta Ieki, Keishi Yonezawa, Taku Itami, N. Kato, K. Yano, Y. Kobayashi

{"title":"Remaining force transferring mechanism for exoskeletal robot to operate wheelchair","authors":"Yuta Ieki, Keishi Yonezawa, Taku Itami, N. Kato, K. Yano, Y. Kobayashi","doi":"10.1109/BIOROB.2016.7523777","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523777","url":null,"abstract":"There are estimated to be approximately 3.5 million disabled people in Japan, and about half are handicapped in the lower or upper limb. Recently, exoskeletons have been receiving attention as potential aids for such individuals. They can make up for lost body muscle, and support walking or standing-up motions. Robots can assist disabled people by providing the force needed to support motion with the power of an actuator. When used for daily living, the operator must wear the robot mechanism in order to transfer its weight from operator to robot or peripheral device (e.g., control device, battery, compressor) for operation. Thus, the robot's usage environment is limited. We consider it important that as an assistance device supports the necessary motions of daily living, it does not affect the other motions of daily living. In the case of the disabled and elderly, often the end motor functions decline (such as the limbs), but medial region muscles remain, and these are huge. In this study, we focused on these groups of muscles. We developed a mechanism to transfer the remaining force to operational force in the hand, and designed an exoskeleton robot for the developed mechanism. In addition, we developed a control system that does not affect the operator's motion, but changes the mechanism via the original actuator when the operator is not using the robot.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125133205","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: 3