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In this paper, an online estimation method of multijoint human arm viscoelasticity for the case of unknown variance is considered. For the unknown variance process of a human multijoint arm, an estimation method of the human multijoint arm viscoelasticity is proposed. The proposed method includes two estimators, the first estimator is to calculate the variance, and the human multijoint arm viscoelasticity...
The authors introduce a fuzzy rule-based algorithm to evaluate the activation patterns of muscles of the lower limb with respect to the gait phases during normal human walking. A relational matrix was established as a Cartesian product between the activation behaviors of muscles of the lower limb within the seven gait phases during normal walking. This relational matrix is an expression of the strength...
In this paper, a 3-DOF parallel mechanism which is wearable for human hip joint power assist is proposed. Different from the conventional power assist system, the proposed wearable parallel mechanism is formed by both mechanical links/joints and human bones/joints. Considering the anatomical mechanism of human hip joint, the 3-DOF wearable system consists of two connected modules, the 3-DOF hip joint...
The advent of the super aged society and decline in earning power makes it critical to develop technologies that can support the limitations of our human abilities. We have developed Robot Suit HAL to support human physical capabilities. A wearable robot expected to work in human society is required to have a high structural safety, with a tough and compact structure and a human outline. To achieve...
In this paper, we propose a framework for the study of power consumption and bit error rate (BER) performance of non-coherent impulse radio ultra wideband (IR-UWB) correlation receivers in the IEEE 802.15.3a channel. Using this framework, transmitted reference (TR) and energy detection (ED) correlation receivers are studied and compared. The receivers are assumed to operate in the 3.1-5 GHz band targeting...
A closed-loop model with actuator dynamics and sensory feedback has been developed to capture the complex postural behaviors observed in a human head tracking task. In motor-control literature, spindle feedback gains are scaled by the central nervous system to adapt muscle stiffness depending on the postural task. We propose to identify spindle reflex equivalent feedback gains for several target's...
This paper presents a novel design of a dynamic instrumented platform for observing the human postural sway. The body sway parameters were recorded using a force platform that was constructed with FSRs, and was fitted snugly on the surface of the dynamic platform. There are two conditions being studied in this paper, subjects are required to try and achieve a `standing quiet' stance, with their feet...
Endothelial progenitor cells (EPCs) are mobilized from bone marrow to peripheral blood, and contribute to angiogenesis in tissues. In the process EPCs are exposed to the shear stress generated by blood flow and tissue fluid flow. Our previous study showed that shear stress promotes differentiation of EPCs into mature endothelial cells. In this study we investigated whether EPCs differentiate into...
We present a human motion model and animation for micro-sensor motion capture system. It consists of a sensor data-driven layered human motion model and an animation method using polygon group to achieve skin deformation. This method is based on biomechanics. The joints of human body were categorized according to the motion characteristics. Motion parameters estimated from sensor data are used to...
The current research status and the problems had been summarized about the exoskeleton intelligence systems in worldwide. Human lower limbs movement data had been collected by using the VICON 460 infrared motion capture system, NOVEL pedar insole plantar pressure measure system and CASIO high speed camera. After the data had been researched, the key characteristics parameters were obtained for the...
The development of a numerical criterion to evaluate the stress on models of vasculature has applications in evaluation of human skills, robots and medical tools. This criterion will enable better medical training for endovascular surgery and the development of better medical techniques and tools. We propose to use the stress produced by human blood pressure simulation in the wall of the model of...
For the artificial control of human limb movements we defined muscle activity patterns to generate desired angular changes in the human arm and in the lower limb as well. Activity patterns based on experimentally measured data of healthy subjects and on a neuro-mechanical model. The theoretically predicted activity patterns can be used to generate desired limb movements in spinal cord injured patients...
The architecture of human motion information acquisition system based on surface electromyography (EMG) was described. Motion information is one of the most important techniques in the intelligent assistant production design, and it is a basis for the assistant system to supply appropriate and necessary actions. Thinking of the characteristics of daily tasks, this system adopted surface EMG as signal...
This paper introduces a novel exoskeleton device (HANDEXOS) for the rehabilitation of the hand for post-stroke patients. The nature of the impaired hand can be summarized in a limited extension, abduction and adduction leaving the fingers in a flexed position, so the exoskeleton goal is to train a safe extension motion from the typical closed position of the impaired hand. The mechanical design of...
A human can maneuver mechanical systems by adjusting his/her own body naturally and effectively according to a target task by utilizing the kinematical and dynamic characteristics of operating systems acquired through sensory organs. If such human sensory and motor characteristics changing in the task can be quantitatively described, it would be useful to design and develop a novel human-machine system...
In this paper, we present an under-actuated model of human walking, comprising only a soleus muscle and flexion/extension monoarticular hip muscles. The remaining muscle groups of the human leg are modeled using quasi-passive, series-elastic clutch elements. We hypothesize that series-elastic clutch units spanning the knee joint in a musculoskeletal arrangement can capture the dominant mechanical...
Mass parameters of the human body segments are mandatory when studying motion dynamics. In orthopedics, biomechanics and rehabilitation they are of crucial importance. Inaccuracies their value generate errors in the motion analysis, misleading the interpretation of results. No systematic method to estimate them has been proposed so far. Rather, parameters are scaled from generic tables or estimated...
The loss of fingers and hands severely limits career and lifestyle options for the amputee. Unfortunately, while there have been strides made in advancements of upper arm and leg prosthetics, the state of the art in prosthetic hands is lagging far behind. Options are generally limited to claw like devices that provide limited gripping capacity. The overall objective of this paper is to demonstrate...
When an operator in a moving vehicle is performing a manual control task, the accelerations to which the operator is subjected can result in unintentional control inputs. This biodynamic feedthrough (BDFT) depends on the properties of the control device and of the control limb. Humans can adjust the dynamics properties of their limbs, effectively changing the limb admittance. Previous studies of BDFT...
By studying surface electromyography(sEMG) characteristics of human neck, shoulder and back muscles keeping static posture, to explore the precise evaluation index for muscle function of the human body, and the significance of muscle function prediction, diagnosis and rehabilitation evaluation. Method: 9 experiment objects, the sEMG signals of five muscles (neck extensor, upper trapezius, the middle...
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