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When human exercises multi-degrees of freedom (DOF) motion, they just pay attention to only part of the body motion and can control the whole body motion. By consciously adjusting low-DOF movements, it is possible to induce multi-DOF motion, which is referred as a “knack” in the sport. Acquiring knacks can drastically improve multi-DOF motor skills by low-DOF information presentation, and it is also...
Detecting lies is crucial in many areas, such as airport security, police investigations, counter-terrorism, etc. One technique to detect lies is through the identification of facial micro-expressions, which are brief, involuntary expressions shown on the face of humans when they are trying to conceal or repress emotions. Manual measurement of micro-expressions is hard labor, time consuming, and inaccurate...
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...
This paper describes the mechanism of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, and a foot. It weighs 6.5 [kg], and is 594 [mm] tall. It has a total of 9 actuators: 6 mono-articular types and 3 bi-articular types. A pneumatic artificial muscle actuator that can expand radially and contract axially is used...
This paper presents hand grasp classifier using perimeter change of the forearm. Two sensors based on strain gauge were employed. Signal processing was applied to remove some ripples. Four different classes were trained. Real time classifier was used to recognize the trained grasps. Experimental results show that the average accuracy was 81.2%.
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...
This paper investigates open-loop control, which does not need the joint angles and velocities, for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design...
In earlier work, an optimal control model of human posture regulation that replicated significant features of experimental observations of humans' response to perturbations was presented. In that work the muscles were modeled as ideal torque generators and the performance measure was quartic in the states and quadratic in the controls. Here, a much more realistic model of muscles is utilized and performance...
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....
Enabling robots to safely interact with humans is an essential goal of robotics research. The developments achieved over the last years in mechanical design and control made it possible to have active cooperation between humans and robots in rather complex situations. In these terms, safe behavior of the robot even under worst-case situations is crucial and forms also a basis for higher level decisional...
Most of today's robots have rigid structures and actuators requiring complex software control algorithms and sophisticated sensor systems in order to behave in a compliant and safe way adapted to contact with unknown environments and humans. By studying and constructing variable impedance actuators and their control, we contribute to the development of actuation units which can match the intrinsic...
Human's spinal reflexes response rapidly to the change of states of muscles, therefore, they are supposed to play an important role for dynamic motion. In order to realize three dimensional stable jumping, rapid control system is indispensable. In this paper, we investigate contribution of the stretch reflex for stabilizing roll motion of continuous jumping by constructing a musculoskeletal biped...
In order to know human dynamics, humanoid as a human body simulator is increasing its importance. Such humanoid is expected to have human musculoskeletal structure as close as possible. From this viewpoint, we are trying to create new musculoskeletal humanoid which has detailed human imitating structure, such as bi-articular muscle, muscle arrangement, joint structure and so on. In this paper, we...
To design a robot with humanlike body structure, this paper presents a design methodology for a humanoid upper limb by tendon driven system. We newly designed an upper limb and rib cage like thorax for a musculoskeletal humanoid robot, based on the knowledge of anatomy. The robot consists of muscle, bone, and joint structure based on human and is expected to move flexibly and dynamically. This paper...
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...
In recent years, musculoskeletal robots are being intensively studied to exploit the advantages of biological musculoskeletal systems for robot developments. In these robots, it is very important to assure engineering, biomechanical, and anatomical plausibility at the same time. However, these requirements are often in contradiction. Especially, in the human's shoulder complex, mimicking the glenohumeral...
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...
TRPV5 and TRPV6 channels are related to vigorous regulations under physiological, pathological, and therapeutic conditions. This study aims to predict the 3D structures of the TRPV channels by developing homology models based on the chosen multiple sequence alignment. In this study, we compared the results of the sequence alignments from three multiple sequence alignment programs; CLUSTALW, MAFFT...
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