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Physical interaction between man and machines is increasing the interest of the research as well as the industrial community. It is known that physical coupling between active persons can be beneficial and increase the performance of the dyad compared to an individual. However, the factors that may result in performance benefits are still poorly understood. The aim of this work is to investigate how...
This paper proposed a VR-based self-rehabilitation system which utilizes the virtual training model rendered by OpenGL and collects electromyography (EMG) signals from the subjects to perform hand motion recognition. EMG signals are biomedical signals generated in muscles and can be applied in many fields such as clinical diagnosis and biomedical applications. The subjects were asked to manipulate...
Robotic devices have been used successfully in assisted rehabilitation to increase, in continuity and intensity, the effects of neuromuscular stimulation. However, information resulting from the Patient-Robot interaction is not yet analyzed for diagnosis purposes. The neuromuscular reaction to a controlled stimulation, measured in terms of physiologic and mechanic variables, can be used to establish...
In this paper, we have developed a teleoperation method with novel features, such that the human operator could manipulate the telerobot using both physical and physiological means. Physiological studies have shown that our central neural system (CNS) is able to adapt muscle force, stiffness and damping to perform different tasks under various environments. However, there has been very little research...
Current control strategies in physical human-robot interaction (pHRI) face some limitations: endpoint stiffness level is not directly measurable in typical haptic control situations and the bilateral nature of the interaction requires proper treatment of operator dynamics. These limitations have reduced current control approaches to estimation techniques based on correlated metrics, such as electromyographic...
As the field of brain-machine interfaces and neuro-prosthetics continues to grow, there is a high need for sensor and actuation mechanisms that can provide haptic feedback to the user. Current technologies employ expensive, invasive and often inefficient force feedback methods, resulting in an unrealistic solution for individuals who rely on these devices. This paper responds through the development,...
Haptic technology has many real world applications such as rehabilitation robotics, telepresence surgery, gaming, virtual reality and human-robot interaction. Force plays an important role in the above mentioned haptic applications. In this paper, we propose a method to estimate force from surface Electromyography (SEMG) signals using Artificial Neural Network (ANN). The haptic device is modeled to...
Rigorous analyses of the mechanisms human-human physical interaction are only possible if corresponding means of systematically classifying dyad strategies are in place. Previous suggestions for classification of strategies neglect the high level of redundancy that is present when attenuation of external disturbances is required. To address this, we propose a quantitative classification system based...
Robot-assisted rehabilitation has only recently begun to be applied to improvement of hand function after stroke. In a preliminary study, involving 4 post-stroke subjects, more than 2 years following the stroke, we have been able to show that 8 weeks of robot-assisted training leads to changes in patterns of arm and finger muscle activation. The patterns were quantified in terms of synchronous muscle...
Haptic interfaces have played an important role in the investigation of human factors, the identification of passive joint properties and gaining a better understanding of how the central nervous system learns to compensate for external dynamic perturbations through neuromuscular adaptation. Such devices further promise novel therapeutic approaches in neurorehabilitation, by assisting the patient...
To harness the increased dexterity and sensing capabilities in advanced prosthetic device designs, amputees will require interfaces supported by novel forms of sensory feedback and novel control paradigms. We are using a motorized elbow brace to feed back grasp forces to the user in the form of extension torques about the elbow. This force display complements myoelectric control of grip closure in...
A recent trend in virtual environments aims at making the user free of devices or limitations in its motion, at the benefit of immersiveness and interactivity. This work introduces an interaction paradigm that goes beyond motion based interaction, by making use of measured real forces exerted by the user in free space. The sensation of touch with virtual object is obtained by vibrotactile stimulation...
Fixed-Base Exoskeleton applications have increased rapidly in the last few years, evidently as part of promising rehabilitation robotic programs of the robotics worldwide community, where in particular Human-Robot-Interaction (HRI) plays an important role in its design and control because they are tightly coupled to human-limbs. Exoskeletons embrace HRI as well as technological and theoretical challenges...
The ability to use haptic input through light contact to improve stability while walking post-stroke is investigated in a virtual environment (VE). Persons with stroke and healthy participants walk in a VE where they encounter changes in the slope of the support surface. Kinematic, kinetic, and electromyographic data analyses will be used to show the anticipatory postural adjustments made leading...
Prosthetic technology is a prime candidate for the integration of haptic feedback. Conventional myoelectric prostheses do not have a mechanism to convey any sensory information, making it difficult for users to feel connected to their hand and to engage in active grasping and exploration tasks. Vibrotactile stimulation is a simple and safe choice for a noninvasive haptic display that can be easily...
Our talk describes our general project, i.e. how we investigate the adaptation to stable and unstable tasks using EMG, fMRI and haptic interfaces. This short paper focuses on a spin-off. It describes a simple computational model of force and impedance in human arm movements, which can be used to simulate human motion and to improve the control of human-machine interfaces. This model, based on recent...
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