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In this paper, a 5 DOF trans-humeral robotic prosthesis: MoBio is proposed. MoBio includes 2 DOF at wrist which is rare in other trans-humeral prostheses. Through anthropometric features MoBio prosthetic arm can achieve elbow flexion/extension, forearm supination/pronation, wrist radial/ulnar deviation, wrist flexion/extension and compound motion of thumb and index finger. An EMG based control method...
Prosthetic hand is an artificial device which replaces the missing hand of an amputee. In this research, a multi-functional prosthetic hand with self-adaptation ability is proposed. The prosthetic hand enables user to grasp different objects by performing cylindrical grasp, hook grasp, lateral pinch and tip pinch and palmar pinch. Finger mechanism of the proposed prosthesis is capable of generating...
This paper proposes a hybrid vision-based reach-to-grasp task planning method for trans-humeral prostheses exploiting both vision and electromyography (EMG) signals. The hybrid method mainly consists of 2-1/2D visual servoing module and EMG-based module. The visual servoing intends to align the object on to the center of the palm while correcting its orientation. EMG signals extracted from the remaining...
This paper proposes an automated microscopic imaging system (MIS) for TB screening. Mainly, the system consists of integrated hardware and software components for sputum smear slides feeding, controlling and carrying out microscopic and image processing functions of the system. The MIS is used to distinguish TB positive and negative cases. The hardware system and controlling mechanism of MIS are discussed...
Transradial prosthesis is an artificial wearable limb that provides the functionality and/or appearance of human wrist and hand. Over the recent years, both hardware and control systems for active transradial prosthesis show significant advancement. In that context, this paper reviews the modern transradial prostheses developed for performing activities of daily living. Focus is to provide an insight...
Prosthesis is a device extension which is used to replace a missing body part. Amputees who lost all or part of the upper limb may use a prosthesis depending on their requirement. Externally powered prosthesis holds an importance since it is capable of imitating natural limb motions. However, the way they are controlled stand way back from the natural limb. Myoelectric control systems which uses electromyographic...
This paper proposes two kinematic based task classification methods to aid control of a transhumerai prosthesis. The first method is a neural network based classifier where the angles of shoulder flexion/extension, shoulder abduction/adduction and elbow flexion/extension are considered. The angular values with their first and second derivatives are obtained to train the robotic arm for a selected...
A robotic prosthesis is a device which is used to replace a missing body part. These devices are intended to return the amputees to their pre-amputation functional status. Below knee (Transtibial) amputation is the most common amputation occurred in the lower limb. That is caused by reasons such as diseases, injury due to explosions of anti-personnel land mines and accidents. The existing prostheses...
Enhancing physical Human-Robot Interaction (pHRI) is an important design aspect in upper limb exoskeleton robots. The level of manipulation provided by an exoskeleton robot has a significant effect to perform daily tasks. This paper evaluate performance of a 6 degree of freedom (DoF) upper limb exoskeleton robot. The detailed mechanical design of the robot is presented with the novel features included...
An anthropomorphic transradial prosthetic arm is proposed in this paper. In order to generate the wrist flexion/extension and ulna/radial deviation, a novel wrist mechanism is proposed based on the parallel prismatic manipulators. It is expected to realize high speed operation, higher positional accuracy and anthropomorphic features using the proposed mechanism. The prosthetic arm consists of an under-actuated...
Exoskeleton manipulators are used for different applications in robotic field. Human motion is highly complicated and flexible; therefore obtain human like motion from exoskeleton manipulator becomes a challenge to researches in this field. This paper presents an improvement of dexterity measure as a result of adding redundancy to upper limb exoskeleton manipulator. Proposed manipulator has four degree...
Control of transhumeral prosthetic devices can effectively be performed using the predicted joint torques at the elbow. The joint torque values are generally predicted using the Electromyography (EMG) signals taken from upper arm muscles of the amputee. This paper uses a Bagnoli-16 EMG system to extract EMG signals from the biceps and triceps. The EMG signals are complex to handle mainly due to the...
Financial forecasting plays a critical role in present economic context where neural networks have become a good alternative technique over traditional methods. Vast ranges of neural models are developed to achieve better accuracy in forecasting. In addition, the ways to find out a good neural architecture is being explored by the research community. In the literature, main problems are figured out...
Robotic exoskeleton systems are one of the highly active areas in recent robotic research. These systems have been developed significantly to be used for the human power augmentation, robotic rehabilitation, human power assist, and haptic interaction in virtual reality. Unlike the robots used in industry, the robotic exoskeleton systems should be designed with special consideration since they directly...
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