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From being soft, flexible and producing movement by contracting, soft linear actuators are said to have musclelike properties. Due to these similarities, they are often called “artificial muscle actuator.” However, the strain produced by these actuators is generally insufficient to be utilized in a large range of applications. Some solutions have been developed, but they sacrifice force to increase...
The movement of a human arm is simulated by controlling the musculoskeletal nonlinear model of the arm in this work. In many incidents of spinal cord damage due to car accident, the functionality of hands is disturbed while the hand muscles are intact and healthy. In another words, hands don't receive proper motion signals from brain. In this study a nonlinear controller is developed to produce a...
This system aims to provide force and muscle activation information to assess the biomechanical performance of cane handles using data from gait trials performed by a patient. This device can be used to improve individual prescription of canes or help guide research for the design of more effective and less damaging cane handles.
Haptic technology is well known in providing real-time feedback. Real-time feedback may helps with early detection when children incorrectly performing their writing tasks. Haptic device is a popular learning approach in which it does not only provide real-time feedback but also able to track user's hand position and motion including pen position. This paper will discuss the key elements of haptic...
Advancements in robotics are expected to have a profound impact on the economy, industry, jobs, education, health, warfare, space and planetary exploration etc. Progress in fields like Biomechatronics has the potential to further redefine the notion of human identity. An experimental platform for study of a biologically inspired muscular aproach to joint actuation by synthetic Gastrocnemius, Soleus,...
Knowing the force exerted by a human operator while he/she is performing a specific task is important in many different field. For instance, limiting or optimizing the effort in sport activities allows for the development of specific training patterns for athletes, while knowing the effort made by a worker when he/she lifts a weight is important from the point of view of the safety. The effective...
Electromyography (EMG) employs widespread usage of rehabilitation robotics. EMG informs about the maximum capabilities of muscles and allows comparisons between different tasks performed. This presents a comparitive study % MVC (Maximum Voluntary Contraction) hand muscles among 30 to 60 years of age group. The movement considered are flexion and extension of elbow and wrist, pronation and supination...
Aiming at maintaining the accuracy of grasping pattern recognition meanwhile evaluating the required force, this paper uses Linear discriminant analysis (LDA) to realize pattern recognition and artificial neural networks to establish the relationship between surface EMG signals and fingertip force in each grasping mode. Once the grasping pattern identified, the program calls the corresponding force...
This paper presents the modeling of Transversal Artificial Muscles. The innovative construction enables transversal deformation of the muscle, what allows obtaining a linear displacement by changing a diameter of a muscle without changing its length. The model simulates the motion of a PAM caused by a force which depended on pressure and deformation. Theoretically predicted capacities, like generated...
Functional Electrical Stimulation (FES) is a useful technique for restoring functions for patients with neurological disorders. Muscle activities can be artificially driven through delivery of electrical pulses to skeletal muscles. Typically, muscles are activated by using constant stimulation train with a fixed parameters (amplitude, frequency and pulse width). In addition, the FES systems do not...
In this research, a flat-type pneumatic actuator aimed to be applied to mobile robots working in narrow spaces or wearable devices has been developed. The actuator is configured with small diameter McKibben Artificial Muscles which show high flexibility and generate contraction force in axial direction. By integrating the artificial muscles parallelly, the actuator can contract in the longitudinal...
This study proposes a new method for modeling the complicated dynamics between motor neural signal (surface electromyography, sEMG) and corresponding joint torque of muscle contraction (sEMG-driven neuromusculoskeletal model), which has potential to be used for rehabilitation robot control and neuromuscular evaluation after stroke, etc. In this model, muscle activation dynamics and contraction dynamics...
In this paper, a preliminary identification and evaluation activity about the modeling of the muscle behavior during isometric contraction is reported. The muscle model is based on a second order dynamic system taking as input the surface skin electromyographic signals measured by means of a pair of electrodes placed on the skin of a human subject and providing as output the force generated by the...
Muscle cell actuators are composed of skeletal muscle cells and collagen intercellular matrix. Muscle cells adhere to collagen fibers and contraction along with the direction of collagen fiber. Collagen fibers in a muscle cell actuator transmit contraction force of each muscle cells along longitudinal direction. In order to improve contraction force of muscle cell actuators, it is very important to...
This paper intends to design a system which acquires the trainer's motion and force information in order to manipulate a robot arm applied for rehabilitations. Patients who suffering physical disability also can receive the professorial guiding and cheirapsis even excellent trainers are very busy and insufficient. The key point of this article is data acquisition and reconstruction of the movement...
By collecting the human original surface electromyography (sEMG), a dynamic model of human elbow joint was established with sEMG as the input. Firstly, according to the theory of muscle fiber slippage and the characteristics of the internal viscous force of the muscle, the skeletal muscle force model was built about physiological structure and micro mechanical properties. Secondly, by modeling the...
This paper deals with the study of the non linear handwriting model of Yasuhara. From this nonlinear model, we proposed a linear model to study the speed profile for each generated letter by the writers, Arabic letter and Arabic word, including the muscular forces measured in the surface of the hand on writing movement. Then, we try to compare the generated graphic traces by the non linear and the...
There are wide verities of human movement possible that involves a range from the gait of the physically handicapped, the lifting of a load by a factory worker to the performance of a superior athlete. Output of the movement can be described by a large number of kinematic variables. Modeling each case with a muscle model is difficult. Intended action data can also be extracted from surface Electromyography...
Monitoring the movements of the ankle may be highly relevant for applications such as sport injury prevention, rehabilitation, and gait analysis. This paper explores the feasibility of employing force myography (FMG) on the distal end of the lower leg to detect ankle position. FMG signals corresponding to 7 different ankle positions were recorded from three healthy volunteers. Using a linear discriminant...
In this study, a variable viscoelastic joint system with a clutch for a human assistance was proposed. The variable viscoelastic joint system comprised antagonized artificial muscles and magneto-rheological fluid brake (MR-brake). This system enabled the human assisting device such as exoskeletons to retain structural softness when compared with the existing devices driven by motor and reduction gear,...
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