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The traction force of any moving object on a floor is the frictional force between the object and the floor. Therefore, investigation of the frictional constraint is very important for such moving object on a floor as well as a biped walking robot. Conventionally, the study of frictional constraint of a biped robot was only constrained in translational slip, without considering rotational slip, which...
Brain-Machine Interface (BMI) has emerged as a powerful tool for assisting disabled people and for augmenting human performance. Up so far, no studies have succeeded in the power augmentation for the multi-DOFs robot based on EEG signals, especially for the complex shoulder joint. In this work, we propose an electromyography (EMG) estimation method based on electroencephalography (EEG) signals to...
Brain-Machine Interface (BMI), has been considered as an effective way to help and support the disabled's daily lives and rehabilitation to use their brain activity information instead of their bodies. As an extension, it is also expected to be used for healthy individuals. In our study, we try to estimate the necessary force/torque information for a subject from his/her EEG signals when using an...
This study aims to develop a light and wearable exoskeleton controlled by Electromyography (EMG) signals for upper extremity augmentation to support the elbow and shoulder joints. This exoskeleton has four degrees of freedom, one for elbow joint and three for shoulder joint. The flexion and extension movements of elbow and shoulder joints are actively powered to support the wearer and other two DoFs...
In order to help an attendant who are pushing a conventional commercialized manual wheelchair in which a patient (an elderly or disabled person) is sitting in the wheelchair, in this study, we have been developing a novel power add-on unit (PAU) for attendant propelled wheelchair with sensorless speed control and power assistance. This development is based on the following three concept: to make our...
Brain-Machine Interface (BMI), has been becoming gradually an effective way to help and support the disabled person by using his/her brain activity information. It is also expected to be used for both of the disabled and the healthy people. In this paper, aiming to estimate the force/torque information from brain activity to help and support human's daily life, we estimate the humans muscular activity...
In this paper, at first we briefly present an overview of our developed hybrid walker and wheelchair robot. Then we focus on analysis and investigation of the movement in which the robot starts to ascend/descend a slope, and point out that the user's walking velocity and the robot's velocity are inevitably different. Further, in order to let the user get a smooth load feeling as the user use the robot...
Aiming to develop an noninvasive BMI control system with EEG (electroencephalogram) signals to control external devices such as prostheses and robots for rehabilitation and/or power support, four different tasks corresponding to different brain excitation degrees are designed. Their EEG spectra are analyzed with short-time fast Fourier transform (STFFT), and their features of mu and beta rhythms corresponding...
In the past decade, a lot of invasive BMIs (Brain-Machine Interfaces) directly using nerve action potentials within brain are reported to control external devices such as prostheses and robots. Meanwhile, non-invasive BMIs are developed to provide a communication tools to the external world mostly for the disabled. In our study, we try to establish a BMI technology not only to be used for the disabled...
In this paper, different from the conventional admittance control, an originally negative admittance control, in which two virtual parameters, virtual damping coefficient and virtual moment of inertia, are negative, is developed to support the movement of human's upper extremity only by agonist's EMG signals. First, we empirically determine two agonists, biceps brachii and clavicular part of deltoid...
In this paper, first we briefly present an overview of our developed electric powered user-propelled hybrid walker and wheelchair robot. Then we focus on analysis and investigation of a movement in which the robot starts to ascend and to descend a slope. We originally point out that in such motion the users walking speed and the robots traveling speed are inevitably different since the robot is undergoing...
Recently, a lot of BMIs (Brain-Machine Interfaces) using EEG (electroencephalogram) signals are developed to control external devices such as prostheses and robots. In this paper, in order to develop a new BMI for rehabilitation and/or power support, four different tasks corresponding to different brain excitation degrees are designed. Their EEG spectra are analyzed with short-time FFT, and their...
In this paper, different from other researches, we developed an admittance control model with EMG signal to control our developed power assistance device for human elbow motion support. A two degree of freedom power assistance device is developed, and a simple but effective EMG signal processing method is proposed. Further, an admittance control model using EMG signal is introduced to generate speed...
Up to now, many robotic aids for the elderly's walking support or the disabled's walking rehabilitation are reported, and numerous electrical-powered wheelchairs are developed. In this paper, a new kind of omnidirectional wheelchair typed robot is developed. The robot not only can accomplish the walking support or walking rehabilitation as the elderly or the disabled walking, but also can realize...
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