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Highly impaired stroke patients at early stages of recovery are unable to generate enough muscle force to lift the weight of their own arm. Accordingly, task-related training is strongly limited or even impossible. However, as soon as partial or full arm weight support is provided, patients are enabled to perform arm rehabilitation training again throughout an increased workspace. In the literature,...
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...
System identification is an important tool to investigate human motion control. The goal of this study was to identify and address issues in system identification for human motor control and to investigate if linear time invariant system identification techniques are applicable to recorded mechanical and physiological data. During a posture maintenance experiment subjects had to minimize the deviations...
This paper proposes a control method for a human-assisting manipulator using acceleration sensors. The technique involves an arm control part (ACP) and a hand-and-wrist control part (HWCP); the ACP controls the manipulator's shoulder and elbow joints using acceleration signals, while the HWCP controls the corresponding joints using mechanomyogram (MMG) signals measured from the human operator. A distinctive...
Human motion and its intention sensing from noninvasive biosignals is one of the significant issues in the field of physical human-machine interactions (pHMI). This paper presents a real-time upper limb motion prediction method using surface electromyography (sEMG) signals for pHMI. The sEMG signals from 5 channels were collected and used to predict the motion by an artificial neural network (ANN)...
There is a great effort during the last decades towards building robotic devices that are worn by humans. These devices, called exoskeletons, are used mainly for support and rehabilitation, as well as for augmentation of human capabilities. Providing a control interface for exoskeletons, that would guarantee comfort and safety, as well as efficiency and robustness, is still an issue. This paper presents...
In recent years, many dangerous tasks are performed by robots. In most contact tasks, however, humans are far superior to their robotic counterparts. To control robot manipulators in contact tasks, the characteristics of human movements should be investigated through biological signals, such as EMG, which reflects the dexterity of human manipulation. In this study, EMG signal is analyzed through direct...
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