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The main focus of our research is to control the load of selected muscles by using a power-assisting device, thus enabling pinpointed motion support, rehabilitation and training by explicitly specifying the target muscles. In our past research, a control method was proposed for static human motion. And the result of simulation and experiments showed that it is possible to control the force of selected...
This paper is motivated by works done in the area of robot-assisted stroke rehabilitation. The use of electromyographic (EMG) signal brings a new way of communication interface between user and robot. However, the EMG signal has to be transferred into useful information that serve as robot input. This paper presents a novel methodology for conversion of electromyographic (EMG) signal into estimated...
The objective of this study is to design a robot system to assist the rehabilitation of patients so that they can afterwards do various daily activities. It is difficult to determine the desirable posture of a 9-DOFs exoskeleton manipulator in such a system and each joint control design as well. In this paper, we resolve the difficulties by mapping the kinematics of a human arm to that of the manipulator...
The key point of post-stroke rehabilitation is that exercices and therapy must begin as soon as possible after stroke in order to let the survivors regain their body movement functions. By playing the EMG-driven computer game, the patients can locate disused body parts and start training their muscles even when they have to stay on beds during the early stage of rehabilitation. Wearable EMG nodes...
This paper presents the design of an admittance-based assistive controller and preliminary experimental results for a high performance parallel robot used for ankle rehabilitation. The goal of this work was to design a suitable control algorithm for diagnosis, training and rehabilitation of the ankle in presence of musculoskeletal injuries. An admittance control technique is used to perform patient-active...
Driven Gait Orthosis (DGO) are commonly used in gait rehabilitation. These devices commonly lack an actuator at the ankle. As a result the ankle trajectories often differ considerably from those seen normally. The question arises whether these abnormal trajectories affect the phase-dependent modulation of cutaneous reflexes from the foot. To investigate this, the sural nerve was stimulated electrically...
Focusing on physical human-robot interaction, biosignal feedback allows a rehabilitation and assistive robotic system possess many advantages, such as providing human intention estimations, suitable treatment evaluations, capacity of generating power assistive strategies in advance, etc. In general, electromyogram (EMG), angle, and force signals can be used to estimate the intention of the human by...
Comparing with hip and knee, the design of exoskeleton ankle is much more difficult due to the strict requirements of smaller space, better rigidity and heavier load. A novel ankle exoskeleton with 3-RPS (Revolute- Prismatic-Spherical) parallel mechanism, which can fully sustain the heavy load of human body with good dynamic and kinematic performances, has been conducted to assist rehabilitation of...
Biofeedback signals have been frequently used for rehabilitation purposes, and in design and calibration of orthotic and prosthetic devices. Whenever one or a couple of muscles of a joint are chosen for rehabilitation or control of a device, it's assumed that a specific load sharing or activation pattern exists among them for each individual and for each specific joint demand. Indeterminacy or a load...
This paper deals with the design of a new prototype, developed for the quantitative analysis of neuromotor diseases. The system, called Daphne, may measure the reaction of a person evaluating the time response in the motion of one finger of the hand, the velocity of phalanxes, the force exerted from the finger against a button. Daphne performs the more modern aspect connected with concurrent and simultaneous...
In order to make haptic feedback in teleoperation rehabilitation robot system or to assist the object's movement, recognition the intended movement of an object is required. In this paper, we establish the relation between the electromyography (EMG) signal of some specified hu.man arm's muscles and the moment of corresponding arm's joints. The model and the parameter calibration process are simple...
The demand for rehabilitation robots is increasing for the upcoming aging society. Power-assisting devices are considered promising for enhancing the mobility of elderly and disabled people. Other potential applications are for muscle rehabilitation and sports training. The main focus of this paper is to control the load of selected muscles by using a power-assisting device, thus enabling ldquopinpointedrdquo...
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