Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics最新文献_第2页

Feasibility of Two Different EMG-Based Pattern Recognition Control Paradigms to Control a Robot After Stroke - Case Study. 两种不同的基于肌电图的模式识别控制模式在机器人中风后控制中的可行性-案例研究。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2020-11-01 Epub Date: 2020-10-15 DOI: 10.1109/biorob49111.2020.9224395

Joseph V Kopke, Michael D Ellis, Levi J Hargrove

{"title":"Feasibility of Two Different EMG-Based Pattern Recognition Control Paradigms to Control a Robot After Stroke - Case Study.","authors":"Joseph V Kopke, Michael D Ellis, Levi J Hargrove","doi":"10.1109/biorob49111.2020.9224395","DOIUrl":"https://doi.org/10.1109/biorob49111.2020.9224395","url":null,"abstract":"Stroke often results in chronic motor impairment of the upper-extremity yet neither traditional- nor robotics-based therapy has been able to affect this in a profound way. Supporting the weak affected shoulder against gravity improves reaching distance and minimizes abnormal co-contraction of the elbow, wrist, and fingers after stroke. However, it is necessary to assess the feasibility and efficacy of real-time controllers for this population as technology advances and a wearable shoulder device comes closer to reality. The aim of this study is to test two EMG-based controllers in this regard. A linear discriminant analysis based classifier was trained using extracted time domain and auto-regressive features from electromyographic data acquired during muscle effort required to move a load equivalent to 50 and 100% limb weight (abduction) and 150 and 200% limb weight (adduction). While rigidly connected to a custom lab-based robot, the participant was required to complete a series of lift and reach tasks under two different control paradigms: position-based control and force-based control. The participant successfully controlled the robot under both paradigms as indicated by first moving the robot arm into the proper vertical window and then reaching out as far as possible while remaining within the vertical window. This case study begins to assess the feasibility of using electromyographic data to classify the intended shoulder movement of a participant with stroke during a functional lift and reach type task. Next steps will assess how this type of support affects reaching function.","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":" ","pages":"833-838"},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/biorob49111.2020.9224395","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"25547077","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Predicting Individualized Joint Kinematics over a Continuous Range of Slopes and Speeds. 在斜率和速度连续范围内预测个体化关节运动学。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2020-11-01 Epub Date: 2020-10-15 DOI: 10.1109/biorob49111.2020.9224413

Emma Reznick, Kyle Embry, Robert D Gregg

{"title":"Predicting Individualized Joint Kinematics over a Continuous Range of Slopes and Speeds.","authors":"Emma Reznick, Kyle Embry, Robert D Gregg","doi":"10.1109/biorob49111.2020.9224413","DOIUrl":"https://doi.org/10.1109/biorob49111.2020.9224413","url":null,"abstract":"Individuality in clinical gait analysis is often quantified by an individual's kinematic deviation from the norm, but it is unclear how these deviations generalize across different walking speeds and ground slopes. Understanding individuality across tasks has important implications in the tuning of prosthetic legs, where clinicians have limited time and resources to personalize the kinematic motion of the leg to therapeutically enhance the wearer's gait. This study seeks to determine an efficient way to predictively model an individual's kinematics over a continuous range of slopes and speeds given only one personalized task at level ground. We were able to predict the kinematics of able-bodied individuals at a wide variety of conditions that were not specifically tuned. Applied to 10 human subjects, the individualization method reduced the RMSE between the model and subject's kinematics over all tasks by an average of 2% (max 52%) at the ankle, 27% (max 59%) at the knee, and 45% (max 83%) at the hip. Our results indicate that knowing how an individual subject differs from the average subject at level ground alone is enough information to improve kinematic predictions across all tasks. This research offers a new method for personalizing robotic prosthetic legs over a variety of tasks without the need of an engineer, which could make these complex devices more clinically viable.","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":" ","pages":"666-672"},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/biorob49111.2020.9224413","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"38548400","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 14

Control and Physical Intelligence 控制与身体智能

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2019-01-01 DOI: 10.1016/B978-0-12-812939-5.00005-7

Marko B. Popovic, K. Lamkin-Kennard, M. P. Bowers

引用次数: 0

Copyright 版权

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2019-01-01 DOI: 10.1016/b978-0-12-812939-5.09996-1

引用次数: 0

Bioinspired Robotics

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2019-01-01 DOI: 10.1016/b978-0-12-812939-5.00017-3

Krishnanand N. Kaipa, C. Onal, V. Jovanovic, A. Djuric, Ming Luo, M. P. Bowers, Marko B. Popovic

引用次数: 0

Exoskeletons, Exomusculatures, Exosuits: Dynamic Modeling and Simulation 外骨骼，外骨骼，外骨骼:动态建模和仿真

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2019-01-01 DOI: 10.1016/B978-0-12-812939-5.00011-2

Y. Arslan, D. Karabulut, Faruk Ortes, Marko B. Popovic

引用次数: 4

Biomechanics and Biomechatronics in Sports, Exercise, and Entertainment 运动、锻炼和娱乐中的生物力学和生物机电学

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2019-01-01 DOI: 10.1016/B978-0-12-812939-5.00016-1

K. Troy, Kimberly Tetreault, A. Goodworth, Songbai Ji, Marko B. Popovic

引用次数: 1

Solutions and Hints for Selected Problems 选定问题的解决方案和提示

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2019-01-01 DOI: 10.1016/B978-0-12-812939-5.00020-3

Marko B. Popovic, K. Lamkin-Kennard, M. Johnson, A. Goodworth

引用次数: 0

Biomechatronics: A New Dawn 生物机械电子学:新的黎明

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2019-01-01 DOI: 10.1016/B978-0-12-812939-5.00018-5

Minas Liarokapis, K. Lamkin-Kennard, Marko B. Popovic

引用次数: 0

Molecular and Cellular Level—Applications in Biotechnology and Medicine Addressing Molecular and Cellular Level 分子和细胞水平:生物技术和医学在分子和细胞水平上的应用

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2019-01-01 DOI: 10.1016/b978-0-12-812939-5.00008-2

K. Lamkin-Kennard, Marko B. Popovic

引用次数: 2