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Limited mobility severely impacts the quality of life of persons with lower-limb amputations. Therefore, it is imperative to develop proper rehabilitation techniques to prevent falls and injuries. A vibrotactile device was developed as a training tool to enhance the rehabilitation of persons with recent lower-limb amputations. Stimuli provided by the device trains the user to sense discrete perturbations...
A vibration controller based on wavelet neural network (WNN) is designed for jacket-type offshore platforms with time delay. The offshore platform is regarded as a single-degree-of-freedom (SDOF) system while wave forces are irregular disturbances, and we can rebuild them in the context of Morison equation and wave theory. To reduce the vibration, a WNN vibration controller is designed based on a...
This paper reports on three measurement science field exercises for evaluating ground, aerial, and aquatic robots. These events, conducted from February to June 2017, were conducted in close co-ordination with the responder community, standards organizations, manufacturers, and academia. Test data from a wide variety of robot platforms were gathered in a wide variety of standard and prototypical test...
Given the wide skill gap prevalent in the developing nations today, providing vocational education to the unskilled promises to improve the quality of life of people. Vocational skills are practical competencies and the necessary underpinning knowledge that helps a person acquire gainful employment in the labor market. This paper focuses on a surface mount hand soldering technique which is a vocational...
Percutaneous therapy is a common clinical operation in minimally invasive surgery. Yet, learning curve of this skillful manual operation is steep, which imposes negative impacts on its further advances. In this paper, we proposed a novel workflow to simulate percutaneous therapy through visuo-haptic rendering based on the clinical trials. Intraoperative puncture data, obtained by our 6DOF force recording...
This paper investigates the use of a variable haptic feedback for training a disturbance rejection task. The haptic feedback was designed as a Force-Stiffness feedback. Throughout the training, Force and Stiffness feedback are decreased to progressively give more control authority to the human operator. The training method was tested in a human-in-the-loop experiment. In the experiment, participants...
Task outcome feedback is often used to sustain human work motivation and ensure overall productivity. Feedback can also be useful for reducing learning periods for new tasks. Two types of feedback, including knowledge of results (KR) and knowledge of performance (KP), are commonly delivered as part of motor training by using various sensory modalities (e.g., visual, auditory or kinesthetic). Unfortunately,...
In this paper, we report on the design of a portable set of starting blocks for personal training to provide immediate feedback on the quality of sprinters' starting performance. The prototype set features two portable starting blocks with embedded sensors and a microcontroller for data collection and analysis. Testing was conducted with sprinters to validate and gauge the overall functionality of...
In an effort to improve lay rescuers' knowledge and skills in cardiopulmonary resuscitation (CPR), we developed a system that enables high-quality CPR by improving the perceptions of and skills in CPR. The proposed system can evaluate user CPR actions in real time. Particular characteristics of this system are the use of distance and pressure sensors for laypeople to achieve the necessary posture...
It is a challenge to precisely predict hand grasps based on EMG signals given practical scenarios, due to its inherent nature. This paper proposes a solution to tackle the challenge with a force-driven granular model (FDGM). The problem of n-class hand grasp classification has been represented as force-based granular modelling, in which a number of granules are constructed for each class relying on...
It is difficult to establish accurate mathematical models to describe the range extender electric vehicles due to the non-stationary, non-linear and interconnection of the monitoring signal sources resulted from the massive moving parts and complex architecture in range-extender. And the support vector machine (SVM) and other algorithms would lead to the destruction of the natural structure and the...
Haptic skills are essential for effective Cardiopulmonary Resuscitation (CPR). Existing CPR training simulators provide unrealistic chest conditions. It is assumed that the CPR performance on a real human chest is the same even when the trainees have learnt on unrealistic dummy chests. To test this assumption we have developed an immersive Virtual Reality based CPR simulator in which force feedback...
The purpose of this study was to investigate changes of the maximal reaching distance (MRD) and the amplitude of electromyography (EMG) in lower limbs during reaching forward (RF) test with outstretched arm in the elderly. Ten healthy elderly subjects and ten healthy young subjects participated in this study. A position sensor was used to record the position coordinates of fingertip, and the EMG signals...
Many stroke survivors experience motor deficits. Rehabilitation is important for the maintenance and recovery of motor functions for activities of daily living. Motivated patients tend to show better rehabilitation effects. In this study, motor function was scored using the Simple Exercise Machine for Upper Limbs (SEMUL) rehabilitation system for upper limbs and the trainees were given feedback on...
Aiming at the problem that the micro drills is easy to be broken in the process of drilling; it is difficult to detect the drill bit. The drilling torque signal is taken as the monitoring object. A new method for the on-line monitoring the micro-drill breakage based on BP neural network is proposed. After the three layer wavelet decomposition of the drilling torque signal, the energy feature vector...
Physical interactions between human and machine are essential in facilitating effective physical therapy training programs. Nowadays, physical training largely involves robotic assistive devices or wearable haptics. In this study, we propose a lightweight wearable sensory augmentation device using skin stretch feedback to provide individuals with additional sensory cues during balance training. The...
In recent years, embedded systems technology has found innovative applications in many fields, including sports. As commercial off-the-shelf hardware like sensors, actuators, controllers and networks have become cheaper, smaller and more capable, they can be embedded in stationary and portable systems, improving performance, training, comfort, safety, and economy. The performance data can be analyzed...
Active exercise can improve the rehabilitation efficacy of the paralyzed patients, while we need to consider its safety. Impedance control takes the active compliance into account, providing a safe and comfortable training environment for the patients. However, the traditional impedance control has poor robustness, so it is urgent to enhance the adaptive capability of the system. This paper proposes...
We investigate conditional adversarial networks as a general-purpose solution to image-to-image translation problems. These networks not only learn the mapping from input image to output image, but also learn a loss function to train this mapping. This makes it possible to apply the same generic approach to problems that traditionally would require very different loss formulations. We demonstrate...
The results of the work on the creation of a hand rehabilitation complex with given mass-size characteristics and various training regimes are presented. A brief description of the three versions of the mechanical part of the rehabilitation device is given. A simplified device control scheme is presented, a brief description of the training modes is given, additional modules that expand the functional...
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