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In this paper, the temporal characteristic of spectral subbands of sleep EEG associated with different sleep stages is examined using a simple computational analysis technique based on the local minima and maxima. The average range of local min-max Rλ defined as the average differences between amplitudes of consecutive local minima and maxima is used as a temporal characteristic measure. From the...
An exoskeleton robot is kind of a man-machine system which mostly uses combination of human intelligence and machine power. These robotic systems are used for different applications such as rehabilitation, human power amplification, motion assistance, virtual reality etc. Successful operation of an exoskeleton robot depends on correct selection of design and control methodologies. This paper reviews...
Studying human motor control has received increased attention during the past decades. Both the design and control of robotic artifacts may benefit from observation of human behavior. In this paper a novel method for capturing the dynamic behavior of the human hand is presented. The low dimensional kinematics of the human hand, including the wrist, and the low dimensional representation of the muscular...
Chair comfort is an important design element of the modern life. in this study, a method based on the signal of posture transform was discussed to predicting subjective perceptions of long-term chair comfort. the signal of sEMG in the procedure of mutual transformation during six representative posture was recorded, then analysis of correlation between the change of subject comfort and the index of...
Human motion prediction is becoming more and more important issue in the filed of wearable robots or biorobotics. This paper provides an initial experimental result for human motion prediction. In detail, the prediction method for ternary choice among rock-paper-scissors is presented using temporal patterns of muscle activations (Electromyography, in short EMG) controlling hand motion of subject....
This paper presents an electromyographic-based human-machine interface for the agonist-antagonist system with two pairs of pneumatic artificial muscles (PAMs) that replicates the human elbow-joint system. We introduce the novel concepts of agonist-antagonist muscle-pair ratio (A-A ratio) and agonist-antagonist muscle-pair activity (A-A activity) to link the human muscle system to the PAM system, and...
Many kinds of power assist device have been developed, and are driven with various actuators such as an electric motor, a hydraulic cylinder and so on. By using the exoskeleton, a high generated torque actuator can be introduced. An assist performance of these devices becomes high. On the other hand, a realization of exoskeleton which has the same D.O.F of a human is not easy from considerations about...
Simultaneously considering the physical interaction between the user and the robot within safety and performance constraints in rehabilitation and human walking situations, this paper proposes a new backdrivable torsion spring actuator (BTSA) with hybrid control that switches between direct electromyography (EMG) biofeedback control and zero impedance control, to provide a novel rehabilitation training...
It may be difficult task for physically weak elderly, disabled and injured individuals to perform the day to day activities in their life. Therefore, many assistive devices have been developed in order to improve the quality of life of those people. Especially upper-limb power-assist exoskeletons have been developed since the upper limb motions are vital for the daily activities. Electromyography...
In this work we present a new way to analyze human facial expressions in social situations. We are able to record the smiling expressions of multiple subjects simultaneously using a wireless wearable device that records physiological signals and allows the subjects complete freedom of movement, both of head position and in their environment. We analize the correlation of facial expressions in two...
The synchronization between the brain's electroencephalogram (EEG) rhythm and the rectified electromyogram (EMG) rhythm of muscle has been mathematically expressed as cortico-muscular coherence. Cortico-muscular coherence reflects the functional connection between the brain and muscle has been widely accepted in the human motor system research field. Some researchers have reported that the excitability...
In this paper, an integrated framework with multiple sensory information for analysing human hand motions is proposed, and it consists of components of system integration, signal preprocessing, correlation study of sensory information and human motion recognition based on manipulation intention. Three types of sensors are employed in the framework to simultaneously capture the finger angle trajectory,...
A general problem for human-machine interaction occurs when a machine's controllable dimensions outnumber the control channels available to its human user. In this work, we examine one prominent example of this problem: amputee switching between the multiple functions of a powered artificial limb. We propose a dynamic switching approach that learns during ongoing interaction to anticipate user behaviour,...
Reaching and grasping of objects in an everyday-life environment seems so simple for humans, though so complicated from an engineering point of view. Humans use a variety of strategies for reaching and grasping anything from the simplest to the most complicated objects, achieving high dexterity and efficiency. This seemingly simple process of reach-to-grasp relies on the complex coordination of the...
This paper proposes a novel human-computer interface system, with architecture flexible enough to adapt to various types of physical disabilities and able-bodied person, and also capable of connecting to various devices via a wireless protocol, using a tablet PC as a central system with which a user are interacting. For this interface system surface Electromyogram (EMG) of various muscles which a...
This work presents the novel concept of Tele-Impedance as a method for controlling/teleoperating a robotic arm while performing tasks which require significant dynamics variation. As an alternative method to bilateral force-reflecting teleoperation control approach, which uses a position/velocity command combined with force feedback from the robot side, Tele-Impedance enriches the command sent to...
Muscle force models have many applications in human-machine motion analysis, human-machine interfacing, rehabilitation and robotics. A Hill-type model was used to estimate muscle force. In this work, we are going to introduce a new model to estimate human muscle force. Our model, estimates human muscle force based on a rectified smoothed electromyography (RSEMG) signal using the back-propagation Artificial...
The paper presents our recent results obtained with a new auditory spatial localization based BCI paradigm in which the ERP shape differences at early latencies are employed to enhance the traditional P300 responses in an oddball experimental setting. The concept relies on the recent results in auditory neuroscience showing a possibility to differentiate early anterior contralateral responses to attended...
This work introduces the concept of Tele-Impedance as a method for controlling/teleoperating a robotic arm in contact with the environment. Opposite to bilateral force-reflecting teleoperation control approach, which uses a position/velocity command combined with force feedback from the robot side, Tele-Impedance enriches the command sent to the slave robot by combining the position reference with...
The movie presented here experimentally investigates the effectiveness of Tele Impedance method while teleoperating a slave robotic arm to execute predefined task. The KUKA light weight robotic arm is used as the slave manipulator. The end point (wrist) position of the human arm is monitored by an optical tracking system while the stiffness of the human arm is estimated from the electromyography (EMGs)...
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