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This paper presents the optimization of muscle forces in the human upper extremity for the desired trajectory. The proposed kinematic model of the human upper extremity is a force redundant mechanism, implying that number of actuators are more than number of outputs. During the trajectory, the torque is generated for each joint by antagonistic activation of muscles. The biological actuators (muscles)...
This paper briefly introduces the soft robot and the development and importance of the McKibben pneumatic artificial muscle. We describe a typical model of the McKibben pneumatic artificial muscle in the ideal condition. Then we provide a new model with end constraints and further highlight the differences of these two models by simulation. We also show the broad applications of this artificial muscle...
Ankle joint dynamics properties have been widely studied because of their important role in interaction with environment. In this paper, these properties were studied under the experimental condition of push-recovery. The disturbance was exerted on backs of subjects. The amplitude of disturbance was limited so that only ankle joint strategy was evoked, without foot tilting. A data-synchronized-collection...
Rehabilitation robots have been widely used in clinical rehabilitation in stroke subjects. The safety and comfort in rehabilitation training still are affected by many problems, however, such as the single rehabilitation training mode, the poor human-robot interaction and adaptability. In this paper, an adaptive trajectory planning method of lower limb rehabilitation robot based on surface Electromyography...
In this study, the motion characteristics and techniques of Tai Chi push-hand, a fixed step, single-handed concentric sparring method, were investigated using biomechanical measurements. The FAB system was utilized to obtain the kinematic and foot pressure data, and an MYO armband was used to record the sEMG signals. After the measurements, a single concentric motion was divided into four stages....
Humanoid robots are considered to be ideal partner in future life for human beings, thus have great application prospects and attracted much attention. Bionics can bring researchers inspirations and lead to great achievements, for example, bipedal walking and dual-arm coordination have been made by bionics. Spine plays an important role in human body motion with unique structure and brilliant properties,...
This paper proposed a VR-based self-rehabilitation system which utilizes the virtual training model rendered by OpenGL and collects electromyography (EMG) signals from the subjects to perform hand motion recognition. EMG signals are biomedical signals generated in muscles and can be applied in many fields such as clinical diagnosis and biomedical applications. The subjects were asked to manipulate...
This paper proposed a novel muscle force evaluation method to evaluate the patient's rehabilitation condition in the process of rehabilitation training. According to the related literature research, the complexity of the electromyography (EMG) signals were different under different muscle force. The physiological features and the state of muscle can be indirectly speculated by detecting the change...
Ensuring customer satisfaction within the automotive industry is a top priority. Primary concerns of satisfaction revolve around perceived comfort of entering and exiting vehicles. The ease of this task is attributed mostly to the design of the vehicles door frame however these are not tailored towards a specific gender. In this paper we present a biomechanical analysis-based gender assessment during...
In recent years, powdered materials have been often used in various industries. Among the various uses of powders, we focused on the conveyance of the developer in the printers. Screw conveyors are commonly used in the printer for the conveyance of the developer. However, this presents the problems such as the condensation of the developer by the shearing force and the temperature rise. Thus, low...
Recently, improvements in robots with human affinity have become necessary. Such robots need artificial muscles that are similar to human muscles. This improvement can be achieved by designing a telescopic actuator comparable to that of a human muscle cell. We studied a shape memory alloy actuator protected by a rolled film tube. In this study, the actuator was inserted into a natural rubber tube...
Lower back pain continues to be an issue worldwide. One cause of lower back pain is the burden on the lumbar region caused by the handling of heavy objects. To reduce this burden on the lumbar region in the lifting, the Ministry of Health, Labour and Welfare in Japan has recommended a lifting technique called “squat lifting.” However this technique, which supports a large force on the knee, is not...
Pneumatic Artificial Muscles (PAMs) are used in robotic and prosthetic applications due to the high power to weight ratio, controllable compliance, and simple design. Contractile PAMs are typically used in traditional hard robotics in place of heavy electric motors. As the field of soft robotics grows, extensile PAMs are beginning to have increased usage. This work experimentally tests, models, and...
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 due to lack of identification of the system that can build a relationship relating knee joint dynamics to EMG signal. As a result, the insufficient bidirectional information interaction between exoskeleton and patient, the...
This paper introduces a simplified nonlinear model to study sitting control for persons with Spinal Cord Injury. The system obtained via Lagrangian techniques is defined with a nonlinear descriptor form and written under an exact Takagi-Sugeno model. In order to stabilize this class of system that includes a time-varying input delay, a state feedback control extended from robust control theory is...
Restoring human limb that is lost due to accidents or amputation because of vascular diseases with prosthesis is one challenging issue in engineering field. The loss of human body, especially the upper and lower limbs will limit the daily activities of patient in many ways. There were many studies that had been done previously in developing prostheses which were simpler in the forms than human limb...
Numerous parties have used traditional exercises as interventions to improve individuals' physical activity levels. These were found to be effective in reducing the risk of chronic diseases such as hypertension, heart diseases, and diabetes. Recent studies have shown that exergames are alternative approaches of physical activity intervention. This paper presents the preliminary design of an exergaming...
Neuromuscular electrical stimulation (NMES) to extend as well as flex a limb joint requires stimulation of an antagonistic muscle pair. This is due to the fact that muscles are unidirectional actuators. The control challenge is to allocate control inputs to antagonist muscles based on the system output, usually a limb angle error. Further, NMES input to each muscle is delayed by an electromechanical...
Compliance is an important property in machine, but mechanism to realize compliance is not adequate to the demand. In this paper, the variable stiffness linkage (VSL) was designed to achieve safety assurance, stability improvement and energy conservation in robots and mechanical applications. Stiffness change could be realized by changing the position of the slider on each leaf spring. In order to...
Manipulators are now widely used in many aspects and many of them are cooperative with human. This requires higher security performance to manipulators. The compliance control to the manipulator seems difficult because of features of actuators, mechanical inertia, the coupling forces and the requirement of smooth and accurate control. We presented a compliance control method based on fuzzy methodology...
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