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For Electrotechnics involves complex content, it contains lots of knowledge, this paper proposes some reformation ways and teaching methods of the Electrotechnics course. In order to stimulate students' interest and initiative to improve the teaching quality of Electrotechnics course, we raised to combine the theory and practice, carry out various teaching methods, and use various means to check students'...
Haptic sensation is difficult to describe verbally. An experiment was performed to evaluate the viability of using a contra lateral hap tic replication task to elicit hap tic information from subjects, bypassing verbal description. Subjects received force input of four magnitudes in four directions from one hap tic device to the hand, and attempted to reproduce it in another hap tic device that was...
In recent years, realistic simulation of vehicles on soft terrain has increasingly gained importance due to its use in operator training, mission planning and design. In this work we present a method which is tailored to the requirements of real-time simulation of soft soil in Virtual Reality applications. We combine models from terramechanics and soil mechanics in order to represent the interaction...
Dividing the control authority of the slave robot among operators, based on the available information to them and their controlling strategy, is absolutely essential for cooperative teleoperation systems. Although there have been many studies on this, most of the analysis were limited to fixed authority and its effect on stability. None of the research has discussed how to allocate the control authority...
Robust fingertip force detection from fingernail image is a critical strategy that can be applied in many areas. However, prior research fixed many variables that influence the finger color change. This paper analyzes the effect of the finger joint on the force detection in order to deal with the constrained finger position setting. A force estimator method is designed: a model to predict the fingertip...
The population of disabled stroke survivors is increasing sharply over the world, and robot-assisted training has been proved to be effective to help motor relearning and alleviate the shortage of physical therapists. This paper presents the design details of a novel upper limb rehabilitation robot named CASIA-ARM, which can assist poststroke patients to perform shoulder and elbow rehabilitation training...
In this paper, a variable admittance controller based on reinforcement learning is proposed for human-robot co-manipulation tasks. Setting as the goal of the reinforcement learning algorithm the minimisation of the jerk throughout a point-to-point movement, the proposed controller can learn the appropriate damping for effective cooperation without any prior knowledge of the target position or other...
Falls are acknowledged as one of the most serious problems in the elderly. In order to develop effective interventions to reduce the fall risk, perturbation-based training programs are being adopted. The exposure to repeated unexpected perturbations can modify proactive strategies to control dynamical gait stability and decrease the risk of falling during unpreventable events encountered in everyday...
Variation in upper extremity motor impairments among stroke survivors creates challenges for the design of robot-assisted therapies. One approach to enhance treatment is to customize based on individual assessments of motor capabilities. However, current strategies are limited by the use of traditional assessments (e.g. Fugl-Meyer, goal-directed performance) for informing customization. Our approach...
Several studies support the hypothesis that robot assisted therapy for adult subjects with motor impairments resulting from neurological damages can be beneficial in promoting the recovery process when conveyed in conjunction to conventional rehabilitation. Robotic therapy has been mainly applied to adult subjects and little is known about children or youth. This study presents the results of a robot-assisted...
Haptic force fields are widely used in studies on motor adaptation, motor retention, and motor recovery in both healthy and impaired subjects. In the main paradigm the hand is guided or perturbed along specific paths or channels in order to investigate different aspects underlying the human motor control. Programming such fields for complex haptic environments can be very challenging and is often...
After unilateral stroke, physical impairment commonly appears on one side of the body. As the unaffected side is the non-dominant side for some patients, we investigated whether human motor learning can transfer from a non-dominant arm to the dominant, with a 2-dof manipulandum that allows both isometric and dynamic reaching. The goal of our study was to assess the transfer of visuomotor adaptation...
Repetitive retraining of grip function is critical for stroke patients to regain functional abilities. Therefore, we have developed ‘GripAble’, a low-cost but sensitive hand-grip promoting independent and repetitive rehabilitation of grasp function based around a novel flexible structure. An initial usability study was performed on (N = 34) healthy subjects to compare user interaction between this...
Pelvic motion plays an important role in human locomotion. Any abnormality of the pelvic motion during walking, such as asymmetry or altered range of motion, can affect gait stability and energy consumption [1]. In this work, we propose a new control methodology to guide and correct the human pelvic motion in the transverse plane during walking. An assist-as-needed paradigm was used to generate forces...
This paper aims at dynamic modeling and control of a new upper-limb rehabilitation robot which has a parallel structure. Dynamic modeling of parallel robot is a complicated problem, and the dynamics and voluntary force of the patient arm increase the difficulty of dynamic analysis and control in rehabilitation training. The novelties of this study are: (1) dynamics of the robot and the patient are...
Laparoscopic surgery is a challenging task for surgeons. The challenges include: (i) lack of depth perception, (ii) inverted motion of the hand instrument. In this paper, we investigate the possibility of using CAREX-M, a Cable-driven Arm Exoskeleton - Mobile, to train subjects using laparoscopic tool to do a simple task. CAREX-M uses an assist-as-needed controller that generates assistive force that...
This paper presents a novel method— asymmetric dual-user shared control method to enhance the variety of the training mode and improve the flexibility of the dual-user tele-manipulation process. Firstly, we model the novel dual-user shared control architecture with multi-dominance factors and analysis the relationship between the proposed method and the original one. Then, several performance measuring...
This paper describes the initial design, control system development and preliminary testing of a robotic gait training device which aims to help teach and/or improve the gait patterns of children affected by cerebral palsy (CP). An H-frame, timing-belt driven, 2 degree-of-freedom stage has been designed and built to guide a child's leg through a gait pattern during over-ground training. The end-effector...
This paper describes the development of an ankle training robot force visualization for eccentric contraction training. In the mechanism of walking, the eccentric contraction of the tibialis anterior muscle plays an important part in the phase between heel-strike and foot-flat as a shock absorber. However, the eccentric contraction has not been reported in previous research on ankle rehabilitation...
Chronic hemiparetic stroke survivors need 3D point-to-point movements every day at home. We compared device-assisted 3D reaching exercise performed by chronic stroke and evaluated the effect of active-assisted/active devices and 2D/3D visual feedback. We chose two arms to serve as upper extremity exercise devices, with active-assisted and active modes. 2D/3D visual feedback of the target position...
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