2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)最新文献

Insect-Inspired Body Size Learning Model on a Humanoid Robot 仿人机器人基于昆虫的体型学习模型

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-10-09 DOI: 10.1109/BIOROB.2018.8487635

P. Arena, L. Patané, Dario Sanalitro, A. Vitanza

引用次数: 3

A Conceptual High Level Controller to Walk with Active Foot Prostheses/Orthoses 使用主动足假体/矫形器行走的概念性高级控制器

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8487213

M. Eslamy, A. Schilling

引用次数: 5

Linear vs Non-Linear Mapping in a Body Machine Interface Based on Electromyographic Signals 基于肌电信号的体机接口线性与非线性映射

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8487185

C. Pierella, A. Sciacchitano, Ali Farshchiansadegh, M. Casadio, F. Mussa-Ivaldi

{"title":"Linear vs Non-Linear Mapping in a Body Machine Interface Based on Electromyographic Signals","authors":"C. Pierella, A. Sciacchitano, Ali Farshchiansadegh, M. Casadio, F. Mussa-Ivaldi","doi":"10.1109/BIOROB.2018.8487185","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487185","url":null,"abstract":"The human machine interface (HMI) refers to a paradigm in which the users interact with external devices through an interface that mediates the information exchanges between them and the device. In this work we focused on a HMI that exploits signals derived from the body to control the machine: the body machine interface (BMI). It is reasonable to assume that signals derived from body movements, electromyography activity, as well as brain activity, have a non-linear nature. This implies that linear algorithms cannot exploit all the information contained in these signals. In this work we proposed a new BMI that maps electromyographic signals into the control of a computer cursor by using a new non-linear dimensionality reduction algorithm based on autoassociative neural network. We tested the system on a group of ten healthy subjects that, controlling this cursor, performed a reaching task. We compared the result with the performance of an age and gender matched group of healthy subjects that solved the same task using a BMI based on a linear mapping. The analysis of the performance indices showed a substantial difference between the two groups. In particular, the performance of the people using the non-linear mapping were better in terms of time, accuracy and smoothness of the cursor's movement. This study opened the way to the exploitation of non-linear dimensionality reduction algorithms to pursue a new and effective clinical approach for body-machine interfaces.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125058559","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

Increased Walking Speed and Speed Control in Exoskeleton Enabled Gait 增加了外骨骼激活步态的行走速度和速度控制

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8488065

S. Dalley, C. Hartigan, C. Kandilakis, R. Farris

引用次数: 7

Accuracy Optimization of the Spike Sorting Algorithm for Classification of Neural Signals 神经信号分类尖峰排序算法的精度优化

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8487665

E. Noce, A. Ciancio, L. Zollo

引用次数: 0

A Postural Control Model to Assess the Improvement of Balance Rehabilitation in Parkinson's Disease 评估帕金森病患者平衡康复改善的姿势控制模型

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8487884

Z. Rahmati, S. Behzadipour, A. Schouten, G. Taghizadeh

{"title":"A Postural Control Model to Assess the Improvement of Balance Rehabilitation in Parkinson's Disease","authors":"Z. Rahmati, S. Behzadipour, A. Schouten, G. Taghizadeh","doi":"10.1109/BIOROB.2018.8487884","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487884","url":null,"abstract":"Studies have shown that balance and mobility in people with Parkinson's disease (PD) can improve through rehabilitation interventions. However, until now no quantitative method investigated how these patients improve their balance control. In this study, a single inverted pendulum model with PID controller was used to describe the improvement of forty PD patients after a 12-session therapy program, and to compare their balance with twenty healthy subjects. The Center of Pressure (COP) data were recorded in seven sensory conditions - on rigid and foam surface, each with eyes open and closed, and with visual disturbance; and stance on rigid surface with attached vibrator to the Achilles tendons. From COP data four Stabilogram Diffusion Function (SDF) measures were extracted. In order to find the appropriate model parameters (three control parameters and a noise gain) from the SDF measures, first model simulations were performed to tune an artificial neural network (ANN) which relates the SDF measures to the PID parameters, and second the trained ANN was used to find the suitable PID model parameters from the experimentally recorded SDF measures. Statistical analysis revealed that patients had lower control parameters and noise gain than healthy subjects; confirming reduced control ability and sensory information in PDs. Balance rehabilitation improved the patients' clinical scores, which is reflected in the increased control parameters (particularly in foam tasks), and noise gain (in tasks on rigid surface). The presented method provides a good and sensitive measure to describe functional balance and mobility in PD.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122206272","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

Induced Vibrations of Soft Robotic Manipulators for Controller Design and Stiffness Estimation 柔性机械臂的诱导振动及其控制器设计和刚度估计

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8488130

T. G. Thuruthel, M. Manti, E. Falotico, M. Cianchetti, C. Laschi

引用次数: 6

Initial Investigation of a Self-Adjusting Wrist Control System to Maintain Prosthesis Terminal Device Orientation Relative to the Ground Reference Frame 维持假体终端装置相对于地面参考系方向的自调节手腕控制系统的初步研究

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8487932

Dylan J. A. Brenneis, M. R. Dawson, Glyn Murgatroyd, J. Carey, P. Pilarski

{"title":"Initial Investigation of a Self-Adjusting Wrist Control System to Maintain Prosthesis Terminal Device Orientation Relative to the Ground Reference Frame","authors":"Dylan J. A. Brenneis, M. R. Dawson, Glyn Murgatroyd, J. Carey, P. Pilarski","doi":"10.1109/BIOROB.2018.8487932","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487932","url":null,"abstract":"Lack of adequate wrist control in prostheses forces people with upper limb amputations to use compensatory movements that eventually result in overuse injuries. This is partly because conventional control of myoelectric wrists involves switching between directly controlling the wrist and fixing the wrist relative to the forearm. We propose that by implementing a wrist that is able to maintain the hand's orientation relative to the ground reference frame, here termed a self-adjusting wrist, users may see benefits in terms of both compensatory movements and ease of control. In this design study, we describe a simple initial implementation of a self-adjusting wrist. We then introduce and compare five control methods for the system. These methods were tested with six able-bodied participants who used a desk-mounted robotic arm to perform an object transfer and manipulation task. Quantitative and qualitative analyses coupled with user feedback suggest that a self-adjusting wrist may reduce task completion time and number of control interactions, and increase user satisfaction compared to conventional switching-based control. Our results indicate that use of a momentary switch to toggle a robotic hand's orientation between being fixed to the ground reference frame and being either fixed to the forearm reference frame or employing direct wrist control may be the best choice for a self-adjusting wrist. More broadly, by considering a wrist that automatically and continually orients itself to the user and their environment, this work contributes insight about how prostheses and other assistive robotic technology may intelligently adapt in real time to support the daily-life tasks faced by their users.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129021435","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

A Mechanical Descriptor of Human Locomotion and its Application to Multi-Contact Walking in Humanoids 人体运动的机械描述符及其在仿人机器人多接触行走中的应用

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8488125

F. Bailly, Justin Carpentier, B. Pinet, P. Souéres, B. Watier

{"title":"A Mechanical Descriptor of Human Locomotion and its Application to Multi-Contact Walking in Humanoids","authors":"F. Bailly, Justin Carpentier, B. Pinet, P. Souéres, B. Watier","doi":"10.1109/BIOROB.2018.8488125","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8488125","url":null,"abstract":"This work aims at experimentally identifying a new mechanical descriptor of human locomotion and demonstrating that it can be exploited for the generation of multi-contact motions for humanoids. For this purpose, an experimental setup was built on which five different experiments were carried out by 15 human volunteers. Experimental results show that the distance between the center of mass and the so-called central axis of the external contact wrench significantly varies as a function of locomotion phases and environmental constraints. This finding is combined with a theoretical reasoning in mechanics in order to exhibit how this distance is linked to the whole body's angular acceleration and thus constitutes an interesting parameter to control. Finally, we illustrate the relevance of this result for humanoid robot motion generation by embedding the minimization of the distance between the center of mass and the central axis of the external contact wrench in an optimal control formulation in order to generate multi-contact locomotion in simulation.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129248604","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: 8

The Difference Threshold of Ankle-Foot Prosthesis Stiffness for Persons with Transtibial Amputation 胫骨截肢患者踝足假体刚度差异阈值的研究

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI: 10.1109/BIOROB.2018.8488075

Max K. Shepherd, Alejandro F. Azocar, M. Major, Elliott J. Rouse

{"title":"The Difference Threshold of Ankle-Foot Prosthesis Stiffness for Persons with Transtibial Amputation","authors":"Max K. Shepherd, Alejandro F. Azocar, M. Major, Elliott J. Rouse","doi":"10.1109/BIOROB.2018.8488075","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8488075","url":null,"abstract":"Most prosthetic feet behave like springs, and their stiffness affects many important facets of amputee gait. Despite the importance of prosthesis stiffness, the ability of amputees to sense stiffness changes-that is, distinguish between more or less stiff feet-is unknown. This perceptual resolution has implications for the methodology and overall significance of selecting the optimal foot stiffness during prescription. In this experiment, we used a custom, variable-stiffness ankle prosthesis to make small adjustments to stiffness in between steps, and below-knee amputees were asked to identify whether the ankle became more or less stiff. We determined that the average difference threshold of stiffness was 8%, meaning that subjects could correctly identify an 8% change in stiffness 75% of the time. This high sensitivity underscores the importance of optimizing prosthesis stiffness on an individual basis, and suggests a shift is needed in the characterization of commercial feet and the use of stiffness variation during the prescription process.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130567018","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