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There are wide verities of possible human movements that involve a range from the gait for the lifting of a load by a factory worker to the performance of a superior athlete. Output of the movement can be described by a large number of kinematic variables like knee joint angle, torque. This paper proposes a system that contains a non-parametric model with EMG signal of two muscles is used as input...
There are wide verities of human movement possible that involves a range from the gait of the physically handicapped, the lifting of a load by a factory worker to the performance of a superior athlete. Output of the movement can be described by a large number of kinematic variables. Modeling each case with a muscle model is difficult. Intended action data can also be extracted from surface Electromyography...
although Lower Limb Robotic Rehabilitation device exhibit a great prospect in the rehabilitation of impaired limb, yet it has not been widely applied to clinical rehabilitation due to lack of identification of the system that can build a relationship relating knee joint dynamics to EMG signal. As a result, the insufficient bidirectional information interaction between exoskeleton and patient, the...
although Lower Limb Robotic Rehabilitation device exhibit a great prospect in the rehabilitation of impaired limb, yet it has not been widely applied to clinical rehabilitation. This is mostly due to the insufficient bidirectional information interaction between exoskeleton and patient. In the shared control at the interaction point, it is very important that the deficiency of impaired lower limb...
Electromyography (EMG) signal includes information of intended torque, angle and impedance parameters of the knee joint dynamics. In this paper, Generalized Regression Neural Network (GRNN) and Extreme Learning Machine (ELM) have been used in trying to estimate torque and corresponding angle about knee joint. Mean Frequency (MNF), Median Frequency (MDF), Mean Power (MNP), Total Power (TTP), Power...
Drop Foot (FD) is the inability to raising the foot due to the weakness of paralysis dorsiflexion muscle, this disability is caused by stroke. Recognize FD of the patient and provide a treatment as they needed is an important requirement for rehabilitation. One of the recognize techniques for FD event is based on using the surface electromyography (sEMG) signal. Utilizing sEMG signal can help to provide...
Although Lower Limb Robotic Rehabilitation device exhibit a great prospect in the rehabilitation of impaired limb, yet it has not been widely applied to clinical rehabilitation of the patient with impairment. This is mostly due to insufficient bidirectional information interaction between exoskeleton and patient. The intended action data that can be extracted from surface electromyography (sEMG) signal...
Although Lower Limb Robotic Rehabilitation device exhibit a great prospect in the rehabilitation of impaired limb, yet it has not been widely applied to clinical rehabilitation. This is mostly due to the insufficient bidirectional information interaction between exoskeleton and patient. In the shared control at the interaction point, it is very important that the deficiency of impaired lower limb...
Capturing of the intended action of the patient and provide assistance as needed is required in the robotic rehabilitation device. The intended action data that can be extracted from surface Electromyography (sEMG) signal may include the intended posture, intended torque, intended knee joint angle and intended desired impedance of the patient. Utilizing such data to drive robotic assistive device...
One of the main objectives of a successful lower limb robotic rehabilitation device is to obtain a smooth human machine interaction in different phase of gait cycle. The new concept in robotics rehabilitation is a “cooperative patient strategy” meaning patient's voluntary efforts are taken into account rather than imposing any predefined movements or inflexible strategies. The term cooperative is...
This is evident that training duration is a key factor for a successful therapy. Robot supported therapy can improve the rehabilitation allowing more intensive training. This paper presents the kinematic, the control architecture and benchmark criteria to evaluate the performance of Robotic Rehabilitation Devices (RRD). Equipped with position, force and impedance controller, the proposed RRD can deliver...
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