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The objective of this study was to measure muscle activity during stair-climbing in order to estimate the water depth at which people can evacuate safely from urban underground. A life-size model of a staircase with a water pump that generated water flow from the top of stairs was constructed. In the study, electromyogram data were measured for six muscles on the right lower extremity, namely, the...
In this paper, an integrated framework with multiple sensory information for analysing human hand motions is proposed, and it consists of components of system integration, signal preprocessing, correlation study of sensory information and human motion recognition based on manipulation intention. Three types of sensors are employed in the framework to simultaneously capture the finger angle trajectory,...
This work presents the novel concept of Tele-Impedance as a method for controlling/teleoperating a robotic arm while performing tasks which require significant dynamics variation. As an alternative method to bilateral force-reflecting teleoperation control approach, which uses a position/velocity command combined with force feedback from the robot side, Tele-Impedance enriches the command sent to...
Muscle force models have many applications in human-machine motion analysis, human-machine interfacing, rehabilitation and robotics. A Hill-type model was used to estimate muscle force. In this work, we are going to introduce a new model to estimate human muscle force. Our model, estimates human muscle force based on a rectified smoothed electromyography (RSEMG) signal using the back-propagation Artificial...
During Aging muscle physiological properties change, which affect the Electropmyography (EMG) signals recorded by either surface electrodes or needle electrodes. In this paper, an surface EMG generation techniques has been presented by considering multilayer muscle model and physiologic behavior of type-I and type-II motor units during voluntary contraction from the latest findings in literature....
An understanding of how the brain constrains dimensions of freedom to control the body would be beneficial for the robotic engineering of a humanoid robot. We estimated joint stiffness in a female Japanese monkey (Macaca fuscata) during arm reaching movements and carried out a numerical simulation. The estimated stiffness was high at movement onset and movement end, and decreased at the mid-point...
Virtual Reality environments have the ability to present users with rich visual representations of simulated environments. However, means to interact with these types of illusions are generally unnatural in the sense that they do not match the methods humans use to grasp and move objects in the physical world. We demonstrate a system that enables users to interact with virtual objects with natural...
This paper describes the development of hardware and software of Human-Machine Interface (HMI) for active assistive device based on surface Electromyography signals (sEMG). The sEMG signals have been chosen as the most intuitive and transparent source of information on detection of users intention. For work presented in this paper, our research activities focus mainly on development of hardware, algorithms...
In order to evaluate the effectiveness of a robotic trainer, NaTUre-gaits (Natural and TUneable rehabilitation gait system), four healthy and one spinal cord injury (SCI) subjects have participated in the walking experiment. The comparison between robotic-assisted overground walking with ground contact and totally robotic-assisted walking without ground contact is conducted via EMG analysis. Furthermore,...
Our recent investigations are focused to develop dynamic models for skeletal muscle force and finger angles for prosthetic hand control using surface electromyographic sEMG as input. Since sEMG is temporal and spatially distributed and is influenced by various factors, muscle fatigue and its related sEMG becomes of importance. This study is an effort to spectrally analyze the sEMG signal during progression...
With attention to voluntary tongue motion, which is capable of communicating the intentions of a person with a disability, we estimated the position and contact force of the tongue simultaneously using EMG signals of the underside of the jaw. We affixed a multi-channel electrode with nine electrodes to the underside of the jaw. Then, deriving many EMG signals using monopolar leads, we calculated 36...
An experimental study was conducted to determine the effect of music and induced mental load in a word processing task. Eight subjects participated in the study. A 2×2 repeated measure design was implemented, with or without background music and with or without induced mental load. Applied typing force, typing productivity, and electromyography (EMG) of the left hand extensor digitorum muscle were...
Knowing the neuromuscular admittance of drivers helps understanding how drivers adapt to different steering wheel configurations. System identification allows, through force perturbations on the steering wheel, for identification of endpoint admittance. Design of the forcing function can greatly influence the obtained results. We conducted an experiment to investigate the effects of frequency content...
Continuous haptic feedback can improve manual control task performance and application methods on steering wheel (haptic steering guidance) have been studied. However, the current haptic steering guidance systems assume there is an average, constant driver's response to force (which can be quantified as the admittance). To improve the performance of haptic steering guidance, the guidance system should...
In current biomechanics approach, the assumptions are commonly used in body-segment parameters and muscle strength parameters due to the difficulty in accessing those subject-specific values. Especially in the rehabilitation and sports science where each subject can easily have quite different anthropometry and muscle condition due to disease, age or training history, it would be important to identify...
In this paper we describe and practically demonstrate a robotic arm/hand system that is controlled in real-time in 6D Cartesian space through measured human muscular activity. The soft-robotics control architecture of the robotic system ensures safe physical human robot interaction as well as stable behaviour while operating in an unstructured environment. Muscular control is realised via surface...
Navigation and position applications are now becoming standard built-in features in a smart phone. However, locating a mobile user in GNSS unfriendly and denied environments such as urban canyons and indoor environments ubiquitously is still a challenging task. Several self-contained sensors, such as accelerometer, digital compass, gyroscope and barometer, have been adapted as assistance augmentation...
Many stroke patients are subject to limited hand functions in the paretic arm due to a significant loss of Corticospinal Tract (CST) fibers. A possible solution for this problem is to classify surface Electromyography (EMG) signals generated by hand movements and uses that to implement Functional Electrical Stimulation (FES). However, EMG usually presents an abnormal muscle coactivation pattern shown...
Rigorous analyses of the mechanisms human-human physical interaction are only possible if corresponding means of systematically classifying dyad strategies are in place. Previous suggestions for classification of strategies neglect the high level of redundancy that is present when attenuation of external disturbances is required. To address this, we propose a quantitative classification system based...
This study describes the design and feasibility testing of a hand rehabilitation system that provides haptic assistance for hand opening in moderate to severe hemiplegia while subjects attempt to perform bilateral hand movements. A cable-actuated exoskeleton robot assists the subjects in performing impaired finger movements but is controlled by movement of the unimpaired hand. In an attempt to combine...
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