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This project focuses on the development of robot-assisted stroke rehabilitation by implementing electromyography (EMG) as the interface between robot and user communication. Key issue in implementation of EMG in this application is conversion of EMG signal into torque data. This paper presents a methodology of EMG signal to estimated joint torque conversion by using genetic algorithm (GA). Basic principle...
A successful implementation of any effective rehabilitation process using robotics systems must consider the issues in both clinical and engineering. Although many recent robotics rehabilitation works involve interdisciplinary teams with engineers and clinicians, there seems to be a gap between the engineers and the clinical groups. Useful and important results achieved in the clinical groups are...
Evaluations for gait rehabilitation is difficult because gait parameters change with individuals and situations, such as walking speeds and step length. Doctors suggest proper rehabilitation programs for patients after performing initial clinical evaluations. For the use of design and control of the NaTUre-gaits (natural and tuneable rehabilitation gait system), this paper provides a clinical analysis...
A previous study from our laboratory showed that when soleus electromyography was used to control the amount of plantar flexion assistance from a robotic ankle exoskeleton, subjects significantly reduced their soleus activity to quickly return to normal gait kinematics. We speculated that subjects were primarily responding to the local mechanical assistance of the exoskeleton rather than directly...
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