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This paper proposes a new method of muscle force estimation based on the relationship between the muscle space and the task space using a general lower extremity model in the sagittal plane. In addition, we report a verification experiment using several active motion patterns with a training robot for the lower extremities. The results show that the muscle forces estimated by the proposed method exhibit...
Hemiplegia is the lingering effect after a stroke and causes varying impairments. The ability to generate and modulate force is frequently impaired. This study focuses on a rehabilitation technique that encourages force generation in an arbitrary direction. The authors introduced a physiotherapy technique into a rehabilitation robot. Force visualization was provided as a feedback strategy to facilitate...
Technology based and hands-on experimental activities in engineering are currently under way in a joint venture involving Portuguese and Brazilian higher education institutions, whose goals include sharing of resources and instructor experiences in using alternative ways of implementing experimental training in engineering, as well as investigating the reaction of students with different cultural...
This paper presents the concept, development and testing of RoboTrainer-Light, a low-cost yet effective and usable training robot designed for use in the home. Although designed for simplicity and economic mass production, it is believed to enable a large section of patients with partial paralysis to perform effective neurological training in their own home. The robot consists of a wire-pulling motor...
While performing everyday interactions, we often incidentally touch and move objects in subtle ways. These objects are not necessarily directly related to the task at hand, and the movement of an object might even be entirely unintentional. If another person is touching the object at the same time, the movement can transfer through the object and be experienced — however subtly — by the other person...
The design of brain machine interfaces (BMI) has been improving over the past decade. Such improvements have led to advanced capability in terms of restoring the functionality of a paralyzed/amputated limb and producing fine controlled movements of a robotic arm and hand. However, there is still more to be invested towards producing advanced BMI features such as producing appropriate forces when gripping...
Deep learning takes advantage of large datasets and computationally efficient training algorithms to outperform other approaches at various machine learning tasks. However, imperfections in the training phase of deep neural networks make them vulnerable to adversarial samples: inputs crafted by adversaries with the intent of causing deep neural networks to misclassify. In this work, we formalize the...
It has become a trend that ankle rehabilitation robots replace traditional therapist in rehabilitation field. Many ankle rehabilitation robots have been proposed for rehabilitation training by researchers. However, most of current researches are only focusing on providing the passive training. They not only ignore the active force training for patient, but also neglect the relationship between passive...
The bearing capacity detection of anchor bolt system is very important for the supporting effect evaluation. In this paper, back propagation neural network(BPNN) and genetic algorithm(GA) were used to predict the pull force of free bolt. Acoustic stress wave signals of free bolt were collected under different pull forces and analyzed in time domain and frequency domain. The wave velocity, fundamental...
This research concerns the development of an effective rehabilitation training approach using a pronation and supination function recovery training device for hemiplegic forearms. This device works based on Repetitive Facilitative Exercise, which induce the stretch reflex of the human body through training to achieve intended movements of the patient by increasing the facilitating effect by triggering...
Accurate control of quadrotors movement is a challenging task. One must have a reliable controller that will manipulate the speed of each motors. It is also important to study the effect of voltage to the motor speed. This paper will use neural network to predict the rolling and pitching motion of the quadrotor based on the voltage inputs of each motor. It will also determine the net force along z-axis...
As a systems-based technique for accident analysis, Accimap involves the construction of a multi-layered diagram in which the various causes of an accident are arranged according to their causal remoteness from the outcome. Though there is systematic research and development for this technique, Accimap is inadequate in terms of the contributory factors identified. This paper presents a modified Accimap...
Disabilities after neural injury such as stroke bring tremendous burden to the patients, families and society. Besides the conventional constrained-induced training with the paretic arm, bilateral rehabilitation training involves both the ipsilateral and contralateral sides of the neural injury, fits well the fact that both arms are needed in common activities of daily living (ADLs), and can promote...
Multiple modalities such as color, texture, shape and motion need to be analyzed separately and fused together to get the comprehensive result in content-based video concept analysis. We propose a multimodal fusion method based on a mechanical node equilibrium model. It treats the scores ofmultiple modalities and the fused score as physical nodes. Between these nodes, we define correlations which...
To validate the hypothesis that manipulated visual information can also be used to influence haptic perception in the presence of force signals that are relevant to hand eye co-ordination task performance, such as Cardio Pulmonary Resuscitation (CPR) training, Consumer grade Virtual Reality based system is used. This study is based on a series of psychological experiments on the discrimination of...
The increase in care-receiver/caregiver ratio is becoming a social problem in Japan, one factor in which is the increase in the number of falls in the elderly. The purpose of this study is to develop a balance training ability system for fall prevention. To effectively improve balance ability while walking, dynamic training specialized for somatic sensation is useful. We developed a system that greatly...
Because of the shortage for automatic straightening of the elevator guide rail based on database, this paper proposes the design method for that based on neural network. A neural network was built for the automatic straightening process of the elevator guide rail with the initial bending value and the supporting points span as the input parameters, the straightening exceeded value as the output parameter...
Soft tissue force modeling with the approach of creating a force-feedback simulator for training medical skills has been the focus of many attempts up to now. The most important parameter considered in soft tissue modeling, is its being real-time along with its precision and high sensitivity. In this article, using ANFIS (Adaptive Neuro Fuzzy Inference System), a neuro-fuzzy model is presented for...
This paper defines a model-based control hap tic guidance (MPC-HG) approach to improve the performance of a user in a minimally invasive surgery (MIS) training while performing a surgical related task. In this approach, a robot applies controlled forces on the hand of the user to guide him/her through an MIS training task according to an MIS reference model and desired set of motions. The main challenges...
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