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Stroke patients have reduced kinematic characteristics in gait speed, cadence, step kinematics, and range of motion (ROM). Especially, a drop foot is a common symptom during gait after stroke due to the weakness of ankle dorsiflexor. A few robotic ankle systems have been developed to measure and train pathological ankle movements. However, the previously developed systems use orthogonal ankle axis...
Duchenne muscular dystrophy (DMD) is a genetic disorder that causes progressive muscle degeneration involving necrosis and inflammation, with subsequent replacement of muscle fibers by fibrosis and fatty tissue. These compositional changes underlie mechanical property alterations in affected muscles, which may be assessed using Viscoelastic Response (VisR) ultrasound. We hypothesize that VisR will...
This study focuses on developing a safe, lightweight, power assist device that can be worn by people who like caregivers during lifting or static holding tasks to prevent low back pain (LBP). Therefore in consideration of their flexibility, light weight, and large force to weight ratio we have developed a Wearable Power Assist Wear for caregivers, two types of pneumatic actuators are employed in assisting...
Recent years, image diagnosis of non-reliability has been rapidly developed, some of which it is possible to acquire the image of the time series. It is necessary to fix by, for example subjects or the shooting object is gripped by the MRI internally, within the MRI gantry is unable to use the common actuator for the strong magnetic field. In this study, the pneumatic bending actuator manipulator...
Musculoskeletal Models are useful for designing rehabilitation technology (RT). MSMS software has unique features which let simulate RT along with different controllers. Unfortunately there are technical differences across platforms which yield to different results. Therefore benchmarking of simulations has been proposed. Here we present the implementation of a Shoulder and Elbow musculosketal (SE)...
This study has developed a device and system for the exercise of eccentric contraction of the tibialis anterior, with the objective of maintaining ambulatory function. A system was built that allows for exercises of appropriate load and speed, by providing the trainee with force data in the form of visual feedback. An experimental verification with two healthy participants shows small variation in...
Building on previous experiments in the domain of energy expenditure estimation using wearable sensors, the measurements of energy ratios of a runner on a treadmill were analyzed to observe any commonalities between an inertia measurement unit and an electromyograph sensor. The subjects were equipped with a VO2 gas measurement device, an Inertial Measurement Unit (IMU) measuring gyroscopic activity...
Gait is one of fundamental motion in human daily life. Therefore, malfunction for gait motion strongly affects the human health. Gait analysis helps to prevent the human health from the malfunction gait. This study developed a sole pressure measurement system which can provide sole pressure and pose of sole in gait motion. In the experiment, the system was applied for normal human to examine several...
In this study we have tested the hypothesis regarding the increase in synchronization with the onset of muscle fatigue. For this aim, we have investigated the difference in the synchronicity between high density surface electromyogram (sEMG) channels of the rested muscles and when at the limit of endurance. Synchronization was measured by computing and normalizing the mutual information between the...
Body motion registration can provide plenty of muscle activity information of human beings, which is applicable in the control of human-computer interfaces or real devices. Forcemyography (FMG) is a method to register real-time body motions by measuring the radially directed force distributions that are generated by muscle contractions. In this work, we recorded FMG maps by using a novel type of sensor,...
There is a discontinuity in published electromechanical delays (EMD) in upper-limb muscles and the state-of-the-art in modelling end-point force from electromyographic signals collected from one or more muscles. Published values are typically in the range of 10 to 30ms, depending on the nature of the contraction. In published literature where the EMG-force relationship is modelled, generally a delay...
Modelling of pneumatic muscle actuators “PMA” is one of the valued challenges in soft robotic researches, which is still under modification for the McKibben artificial muscle. Accurate force, length and position models allow for the wide use of make the continuum robot arm in industrial and medical applications. Moreover, accurate control can be achieved. This paper presents new formulas to model...
To generate voluntary forearm movements, the information that is encoded in the activity of the cortical neurons has to travel through the spinal cord and activate the skeletal muscles. The axons carrying these signals are tightly bundled together in the descending tracts that control the spinal circuitry innervating the forearm muscles. In this paper, we show that corticospinal tract (CST) signals...
Pneumatic artificial muscles (PAMs) are one of the most famous linear actuators in bio-inspired robotics. They can generate relatively high linear force considering their form factors and weights. Furthermore, PAMs are inexpensive compared with traditional electromagnetic actuators (e.g. DC motors) and also inherently light and compliant. In robotics applications, however, they typically require external...
Hemispheric stroke survivors tend to have persistent motor impairments, with muscle weakness and muscle spasticity observed concurrently in the affected muscles. The objective of this preliminary study was to identify whether impairment of muscle force transmission could contribute to weakness in spastic-paretic muscles of chronic stroke survivors. To characterize the efficiency of the transmission...
This paper presents the development of a myoelectric prosthetic hand based on a 3D printed model. A myoelectric control strategy based on artificial neural networks is implemented on a microcontroller for online position estimation. Position estimation performance achieves a correlation index of 0.78. Also a study involving transcutaneous electrical stimulation was performed to provide tactile feedback...
The Brachialis (BR) is placed under the Biceps Brachii (BB) deep in the upper arm. Therefore, the detection of the corresponding surface Electromyogram (sEMG) is a complex task. The BR is an important elbow flexor, but it is usually not considered in the sEMG based force estimation process. The aim of this study was to attempt to separate the two sEMG activities of the BR and the BB by using a High...
This paper proposes to use the analysis of human mechanical impedance to predict spatial behavior of tremor. Traditional studies have revealed that the variability in force is proportional to the mean level of force generated, which is described as signal dependent noise. The variability in force sometimes generates unintentional and uncontrollable rhythmic muscle movements, called tremor. Tremor...
The aim of this paper is to describe the design of a soft, wearable glove for power assisted and rehabilitation, based on pneumatic soft actuators. The extensor bending type of pneumatic soft actuators was used in this study, which proved these actuators are appropriate by examining their characteristics. A proposed solution for a release movement is presented. Experimental results show this solution...
Smooth physical interaction with our environment, such as when working with tools, requires adaptability to unpredictable perturbations that can be achieved through impedance control of multi-joint limbs. Modulation of arm stiffness can be achieved either increasing co-contraction of antagonistic muscles or by increasing the gain of spinal reflex loops. According to the “automatic gain scaling” principle,...
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