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A complete mechanical design concept of an electromyogram (EMG) controlled hybrid prosthetic hand, with 24 degree of freedom (DOF) anthropomorphic structure is presented. Brushless DC motors along with Shape Memory Alloy (SMA) actuators are used to achieve dexterous functionality. An 8 channel EMG is used for detecting 7 basic hand gestures for control purposes. The prosthetic hand will be integrated...
This interdisciplinary team focused on the development of an active exoskeleton for augmented hand gripping. An exoskeleton linger was modeled in computer-aided design software and printed with a three-dimensional printer. Forearm flexor and extensor muscle surface electromyography signals were used as input to a microcomputer controller. Flexion and extension of the exoskeleton was accomplished by...
EMG prosthetic hands are being extensively studied to meet with the need of the millions of physical disabilities who have lost a hand or both hands. But for most of existing multi-degree of freedom EMG prosthetic hands, shortcomings such as low intensity, high price, et al., have blocked them from practical realization. Low-degree freedom EMG prosthetic hand with high performance is therefore desired...
Ankle joint with spasticity and/or contracture can severely affect mobility and independence of stroke survivors. Due to that, the Achilles tendon(AT) is affected. In this paper, we aim to study changes of AT properties via proprioceptive neuromuscular facilitation (PNF) treatment. A robotic ankle-foot rehabilitation system has been proposed, which consists of a robotic ankle-foot platform and a graphic...
In this paper, we use motion capture technology together with an EMG-driven musculoskeletal model of the knee joint to predict muscle behavior during human dynamic movements. We propose a muscle model based on infinitely stiff tendons and show this allows speeding up 250 times the computation of muscle force and the resulting joint moment calculation with no loss of accuracy with respect to the previously...
This paper focuses on the modeling of the human bicep brachii muscle and introduces an iterative identification method for nonlinear parameters in a virtual muscle model. This model displays characteristics that are highly nonlinear and dynamical in nature. However, the precision of the virtual muscle model depends on a set of model parameters which cannot be acquired easily using non-invasive measurement...
The purpose of this study was to compare variable ratios to constant ratios testing on the kinematics of the elbow and forearm using a load-controlled testing apparatus that simulates active muscle loading. Two fresh-frozen upper extremities were tested which were two sides of one donator. Four muscle loading ratios were achieved by employing pulley-weight system attached to the tendons of the brachialis,...
The inclusion of robotic systems in physiotherapy allows developing new solutions for the rehabilitation and support of disabled people. Our research addresses the core problem for the advancement of such applications: the availability of a human machine interface offering intuitive control of robotic devices. In this paper we present an EMG-driven model of the human lower limb based on that previously...
A musculoskeletal model of wrist flexors comprising musculoskeletal dynamics and limb anatomy was experimentally validated with healthy subjects during maximum voluntary contractions. Electromyography signals recorded from flexors were used as input, while measured torques exerted by the hand were compared to the torques predicted by the model. The root mean square error and the normalized root mean...
Now more than ever, progresses in information technology applied to rehabilitation robotics give new hopes to people recovering from different kinds of diseases and injuries. Beside the standard application of EMG signals to analyze disabilities or to track progress in rehabilitation, more focus has been put on controlling robot arms and exoskeletons. In recent years, biomechanists have developed...
In this paper, we propose a tendon skeletal finger model and discuss which finger postures the human feels easy to pinch based on the tendon forces and the human experimental results. The finger model mimics a human tendon skeletal structure. The tendon forces during the pinching motion were simulated using the finger model. Simulation results show that the tendon forces closely mirror the human muscle...
This paper presents an anthropomorphic prototype hand prosthesis that is intended for use with a multiple channel myoelectric interface. The hand contains 16 joints, which are differentially driven by a set of five independent actuators. The hand prototype was designed with the minimum number of independent actuators required to provide a set of eight canonical hand postures. This paper describes...
In this paper, we focus on the hand posture when a human subject pinches an object, and the correlation between the results of sensory evaluation by the subject and the tendon force of the subject's fingers are investigated. Surface electromyogram (surface EMG) and pinching force are measured during the pinching motion of human subjects. Experimental results show that subjects feel comfortable pinching...
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