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Disability of lower limb affects voluntary movements and results in a low quality of life. Although people with disabled lower limb can restore their movements through assistive devices like wheelchair, such manner is not as natural as that healthy people perform locomotion. It would be better to regain movements by restoring the function of lower limb itself. Hence, an orthosis that can be worn on...
Rational behind conducting this randomized trial was to examine the therapeutic effect of functional electrical stimulation (FES) in stroke survivors having hand grasp problem. For this we used novel approach of tracking the motor condition changes instead of traditional method of measuring functional assessment scores. In the study subjects less than 9 months of stroke history with hand grasp difficulty...
Although Lower Limb Robotic Rehabilitation device exhibit a great prospect in the rehabilitation of impaired limb, yet it has not been widely applied to clinical rehabilitation of the patient with impairment. This is mostly due to insufficient bidirectional information interaction between exoskeleton and patient. The intended action data that can be extracted from surface electromyography (sEMG) signal...
Although Lower Limb Robotic Rehabilitation device exhibit a great prospect in the rehabilitation of impaired limb, yet it has not been widely applied to clinical rehabilitation. This is mostly due to the insufficient bidirectional information interaction between exoskeleton and patient. In the shared control at the interaction point, it is very important that the deficiency of impaired lower limb...
Estimation of human lower limb motions is elementary to enable power-assist robotic systems used for lower limb disabled persons. These robotic systems are based on lower limb muscles electromyographic (EMG) signals. EMG allows for the measurement of the change in the membrane as voltage from our muscles relates to work done. Apparently, there is no particular technique to estimate the mathematical...
In the study, Patellar T Reflex has been evaluated with tapping force measurement and Deep Tendon Reflex grading. Tapping force is measured with an electronic tendon hammer which is designed by us also can be used as a trigger system for determination of patellar T response. System was tested in Akdeniz University Medicine Faculty Neurology Department EMG Laboratory. In the study at least ten trace...
Modeling of muscle force for a particular motion consists of wide range of approaches including Hill-based models. In this regard, An EMG-driven Hill-based model of the elbow during flexion-extension movement was developed using MATLAB software. Musculoskeletal model was composed of the linkage dynamics of the forearm and hand, EMG activation and musculoskeletal geometry. Six men and women participated...
This research aims to develop electric prosthetic hand that electrically activated using 2-channel surface electromyography (sEMG'), relied on physiological principle, biomedical electronics and microcontroller programming. Our development and designing controller are a 3-fingers robotic hand. A prototype consisted of 4 main components: 1) sEMG signal detector with electrodes, 2) signal conditioning...
It is important to obtain the motor unit information from multi-channel surface electromyogram (SEMG). A new decomposition method called waveform clustering convolution kernel compensation is proposed in this paper, which is classified based on waveform to improve performance. According to the number of clusters, the classification of SEMG waveform is described using a minimum distance classifier...
Muscle fatigue is very common muscle condition has been experienced. Different types of myograms have been used to assess muscle fatigue and there are Electromyogram, Mechanomyogram and Acoustic myogram. Each myogram has its own advantages in assessing muscle fatigue. Therefore, suitable features are needed to assess muscle fatigue. This review discusses the on statistical analysis and classification...
Mean frequency (MNF) based EMG power spectrum analysis is presented to determine Salat associated muscle fatigue and indices. The main complexity of the parameter is a non-linear relationship between muscle fatigue and feature value, especially in large muscle and in cyclic dynamic contraction which is solved by this proposal. By this work, we can compute frequency dependent MNF for dynamic contractions...
Muscle fatigue causes numerous injuries among workers in industries involving mechanical labour each year. This study explores a new feature based on energy of detail wavelet coefficient for muscle fatigue detection in the upper limb. The muscle fatigue data was generated after isometric muscle action. 7 subjects underwent 3 trails each using 3 channels corresponding to Biceps Brachii, Extensor Digitorum...
Robotic devices have been used successfully in assisted rehabilitation to increase, in continuity and intensity, the effects of neuromuscular stimulation. However, information resulting from the Patient-Robot interaction is not yet analyzed for diagnosis purposes. The neuromuscular reaction to a controlled stimulation, measured in terms of physiologic and mechanic variables, can be used to establish...
The aim of this study is to validate the time delay estimators recently developed by our group. We test the estimators with the real data in both case isometric isotonic and isometric anisotonic contraction in order to take into account the stationarity and the non-stationarity of the data. The results indicate that these estimators have coherent behaviors with the law of Henneman up to 60% Maximal...
A lower-limb power-assist robot is expected to assist physically weak persons to walk, stand up, or sit down. However, since the environment perception ability of the physically weak persons is sometimes deteriorated also, falling accident might occur even though the power-assist is applied. A concept of perception-assist has been proposed to avoid an unexpected accident. This paper proposes a perception-assist...
Prediction of interaction force between human and contacting environment has always been an important issue for such as robot control and clinical treatment. Although force/torque sensors can provide direct and precise measurement results, in many cases it is inconvenient to attach these sensors on the environment surface or on human beings. The purpose of this paper is to propose a prediction method...
This paper proposes a novel tongue-operated joy- stick device for severely disabled persons. The human tongue has superior movement and tactile sensations. By providing force information during the device's operation, user can skillfully control life supporting equipment, such as electric powered wheelchairs, robotic manipulators for meals through interaction with this equipment. Therefore, we designed...
Surface electromyography (sEMG) signals have been extensively studied in the area of intention detection, force estimation and control of rehabilitation devices. Studies regarding sEMG based jaw muscle force estimation are necessary towards building intuitive neural-controlled soft oral rehabilitation robot (SORR). This paper presents a force estimation algorithm based on masseter muscle sEMG signals...
Effective execution of a manipulation task using prosthetic or robotic hands requires that the motion and the impedance profiles of the fingers be appropriately commanded. This, however, brings some design and control challenges regarding the individual planning and realization of the finger motion and stiffness trajectories. It appears that the central nervous system solves for this complexity in...
In this paper, we have developed a teleoperation method with novel features, such that the human operator could manipulate the telerobot using both physical and physiological means. Physiological studies have shown that our central neural system (CNS) is able to adapt muscle force, stiffness and damping to perform different tasks under various environments. However, there has been very little research...
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