2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)最新文献_第9页

Entrainment of overground human walking to mechanical perturbations at the ankle joint 人类在地面上行走对踝关节机械扰动的夹带

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523733

J. Ochoa, D. Sternad, N. Hogan

{"title":"Entrainment of overground human walking to mechanical perturbations at the ankle joint","authors":"J. Ochoa, D. Sternad, N. Hogan","doi":"10.1109/BIOROB.2016.7523733","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523733","url":null,"abstract":"Unlike upper-extremity robotic therapy, robotic therapy of lower extremities has not matched the effectiveness of human-administered approaches. We hypothesize that this may stem from inadvertent interference with natural movement control and investigated the oscillatory dynamics of human locomotion. Specifically, we assessed gait entrainment to periodic mechanical perturbations. Because the treadmills used in most studies necessarily interact with the dynamics of natural walking, we compared our experimental intervention during gait entrainment in treadmill and overground walking. Fourteen healthy subjects walked overground and on a treadmill while wearing an exoskeletal ankle robot which exerted short plantarflexion torque pulses at periods 50 ms shorter or longer than the subjects' preferred stride period. Entrainment to the periodic perturbation occurred in all conditions, however more readily in overground walking. In all cases, the stride period phase-locked with the torque pulse at `push-off' such that it assisted propulsion. This entrainment of the stride period and its sensitivity to context indicate the subtlety and adaptability of human walking. Our observations suggest new avenues for gait rehabilitation and implications for exoskeleton design and legged locomotion research.","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":"125176409","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: 4

Biomimetic composite learning for robot motion control 机器人运动控制的仿生复合学习

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523622

Yongping Pan, Tairen Sun, Haoyong Yu

{"title":"Biomimetic composite learning for robot motion control","authors":"Yongping Pan, Tairen Sun, Haoyong Yu","doi":"10.1109/BIOROB.2016.7523622","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523622","url":null,"abstract":"This paper focuses on biomimetic hybrid feedback feedforward (HFF) learning for robot motion control. Existing HFF robot motion control approaches have a major problem that accurate estimation of the robotic dynamics, which is crucial for mimicking biological control, is not taken into account. In this study, a composite learning technique is presented to achieve fast and accurate estimation of the robotic dynamics in robot motion control without a stringent persistent-excitation (PE) condition. The control architecture includes a proportional-derivative (PD) controller acting as a feedback servo machine and an estimation model acting as a feedforward predictive machine. In the composite learning, a time-interval integral of a filtered regressor is utilized to construct a prediction error, and both the prediction error and a filtered tracking error are used to update parametric estimates. Semiglobal exponential stability of the closed-loop system is rigorously established under an interval-excitation (IE) condition which is much weaker than the PE condition. Simulation results have been provided to demonstrate effectiveness and superiority of the proposed approach.","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":"131482949","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: 2

Knowledge Discovery strategy over patient performance data towards the extraction of hemiparesis-inherent features: A case study 针对偏瘫固有特征提取的患者表现数据的知识发现策略:一个案例研究

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523711

C. B. Moretti, Ricardo C. Joaquim, Thais T. Terranova, L. Battistella, S. Mazzoleni, G. Caurin

引用次数: 2

Dynamic Hybrid Position Force Control using Virtual Internal Model to realize a cutting task by a snake-like robot 基于虚拟内模的动态混合位置力控制实现蛇形机器人的切割任务

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523614

Shunsuke Nansai, M. R. Elara, M. Iwase

{"title":"Dynamic Hybrid Position Force Control using Virtual Internal Model to realize a cutting task by a snake-like robot","authors":"Shunsuke Nansai, M. R. Elara, M. Iwase","doi":"10.1109/BIOROB.2016.7523614","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523614","url":null,"abstract":"A real snake has simple figure like a string, and has highly adaptability corresponding to the environments/tasks. A snake-like robot mimics such highly adaptability of the real snake, is expected as an adaptable robot corresponding to the environments/tasks. Many literatures have reported with respect to locomotion controls of the snake-like robot, but haven't reported studies for applications. However, enhancement of the applications is required in real scenes of which the snake-like robot is expected to work. This paper reports to design the force controller to realize the cutting task by the snake-like robot, as a leading example of the force control in the real scenes. Since the force control in the feed direction and the servo control in its normal direction are required in order to realize the cutting task, the Dynamic Hybrid Position/Force Control System is designed. The Virtual Internal Model based on the impedance model is utilized as the force control method. The Model Following Servo Control System utilizing the Virtual Internal Model based on the impedance model is designed, and the Dynamic Hybrid Position/Force Control System is realized. Effectiveness of the designed control system is verified through a numerical simulation.","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":"130469287","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

Development of a soft robotic shoulder assistive device for shoulder abduction 肩外展软性机器人肩辅助装置的研制

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523758

Rainier F. Natividad, C. Yeow

{"title":"Development of a soft robotic shoulder assistive device for shoulder abduction","authors":"Rainier F. Natividad, C. Yeow","doi":"10.1109/BIOROB.2016.7523758","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523758","url":null,"abstract":"Cerebral Palsy (CP) is a perpetual disease that a patient endures throughout their entire lifetime. Motor impairment, that is a common symptom, must be permanently managed by the patient; however, evidence suggests that repetitive task practice (RTP) can help patients improve their motor skills. An initial version of a wearable, soft robotic, shoulder exosuit has been developed that may be used for RTP. The device is centered around an inflatable, fabric beam that facilitates abduction of the shoulder joint. The use of an inflatable beam has allowed the device to be extremely lightweight while still being able to deliver a considerable amount of bending moment. The actuator is initially in its deflated state; inflation of the actuator straightens it, applying a bending moment to the brachium that abducts the limb. Two overlapping sheets of fabric were hermetically sealed by applying localized heat at the edges. Actuators were then anchored to the shoulder and inserted to a sleeve attached to the brachium. Position control was achieved by applying varying magnitudes of pressure. Preliminary testing exhibited successful abduction on a mannequin and a healthy subject.","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":"123341696","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: 30

Towards more efficient robotic gait training: A novel controller to modulate movement errors 迈向更有效的机器人步态训练:一种调节运动误差的新型控制器

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523738

Simon Rudt, Marco Moos, Solange Seppey, R. Riener, L. Marchal-Crespo

{"title":"Towards more efficient robotic gait training: A novel controller to modulate movement errors","authors":"Simon Rudt, Marco Moos, Solange Seppey, R. Riener, L. Marchal-Crespo","doi":"10.1109/BIOROB.2016.7523738","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523738","url":null,"abstract":"Robot-aided gait training has been presented as a promising technique to improve rehabilitation in patients with neurological lesions. Although robotic guidance is often used to reduce performance errors while practicing, there is currently little evidence that robotic guidance is more beneficial for human motor learning than unassisted practice. Research on motor learning has emphasized that movement errors drive motor adaptation. Thereby, robotic algorithms that augment errors rather than decrease them have a great potential to provoke better motor learning. In this paper, we present a novel control algorithm that modulates movement errors by limiting dangerous and discouraging large errors with haptic guidance, while augmenting awareness of task relevant errors by means of error amplification. We also designed a controller that applies random disturbance torques that can work on top of the error-modulating controller. The controllers were evaluated using robotic testing. The error-modulating controller resulted in larger errors due to error amplification, but limited the maximum deviation from the desired pattern, thanks to haptic guidance. Adding random disturbance torques increased gait variability. The combination of the random disturbance and error-modulating controllers increased the kinematic errors and gait variability, while limited large errors, providing an excellent framework to enhance motor learning.","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":"129482911","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: 11

Algorithms of control by thought in robotics: Active and passive BMIs based on prior knowledge 机器人思想控制算法:基于先验知识的主动和被动bmi

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523627

Kathia Chenane, Y. Touati, L. Boubchir, B. Daachi, A. A. Chérif

{"title":"Algorithms of control by thought in robotics: Active and passive BMIs based on prior knowledge","authors":"Kathia Chenane, Y. Touati, L. Boubchir, B. Daachi, A. A. Chérif","doi":"10.1109/BIOROB.2016.7523627","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523627","url":null,"abstract":"One of the objectives of the control using the human thought is to make useful robotic systems for persons with high dependency (quadriplegics, paraplegics, etc.). When the human subject is not able to move his limbs, upper or lower, he is no longer able to perform basic and necessary tasks in his daily life. Recently, robotic systems have reached a very advanced level. For example, humanoid robots have become able to walk, recognize and carry objects simultaneously. On the other hand, wearable robots or exoskeletons can help dependent human subject to move and perform tasks previously difficult to imagine. Of course, all these robotic systems cannot perform these tasks except if they are fitted with advanced control schemes. To make these robotic systems, having already some intelligence, more useful, many researchers have studied the problem of controllers based on the user thought. The real challenge is to translate/classify correctly the thought of the user into robotic actions. When the brain activities are not correctly classified or the action thought by the user is not quite performed, it is important to discover it at time. This allows us to update the classifier/controller parameters in order to interpret more precisely the brain activities concerning the following action. This paper deals with looking for relevant prior knowledge that can anticipate any classification error. Thereafter, we propose some reflections regarding the control of robots by passive thought. Our analysis and results are based on the brain machine interface (BMI) using the Steady State Visual Evoked Potentials technique (SSVEP).","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":"114629792","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

Exploiting the importance of vowelized sounds in speech comprehension: An application for assisting speechless people 利用元音在语音理解中的重要性:一种帮助无语者的应用

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523759

S. Pedro, Paulo Menezes

引用次数: 0

An adaptive, color based lane detection of a wearable jogging navigation system for visually impaired on less structured paths 一种可穿戴慢跑导航系统的自适应、基于颜色的车道检测，供视障人士在结构较差的路径上使用

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523715

Christina Ramer, T. Lichtenegger, J. Sessner, M. Landgraf, J. Franke

引用次数: 9

Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery 用于机器人辅助微创手术的微型串联机械臂多自由度缆索驱动机构设计

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523598

Antonia Tzemanaki, L. Fracczak, D. Gillatt, A. Koupparis, C. Melhuish, R. Persad, E. Rowe, A. Pipe, S. Dogramadzi

引用次数: 13