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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...
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...
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...
Micro-grid system is currently a conceptual solution to fulfill the commitment of reliable power delivery for future power systems. Renewable power sources such as wind and hydro offer the best potential for emission free power for future micro-grid systems. This paper presents a micro-grid system based on wind and hydro power sources and addresses issues related to operation, control, and stability...
‘Saliency map’, a scalar, two-dimensional representation of visual saliency, is at the center of almost all of the existing models of visual attention. Attention is directed toward the most salient location in the saliency map. The mechanism of ‘inhibition of return’ (IOR) suppresses the saliency of recently attended location and thereby enabling the shifts of attention toward different locations...
This work explores a novel approach for a systematic design of a nonlinear mapping system typically for nonlinear, or fuzzy, PID control applications. The paper investigates a non-linear design of proportional actions using spline-based functions. Specifically, the controller uses Bezier curves to form the nonlinear mapping in order to emulate fuzzy PID systems. While other researchers have addressed...
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