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For the upper limb amputees and disabled persons, the human hand is a marvel of strength, sensitivity and discrimination due to innumerable tasks it can perform and more importantly the human brain controls to perform these tasks. Presently the researchers are focusing on developing bio-signals based natural gesture, which is one of the most active thrust areas in the field of rehabilitation robotics...
Modeling of muscle force for a particular motion consists of wide range of approaches including Hill-based models. In this regard, An EMG-driven Hill-based model of the elbow during flexion-extension movement was developed using MATLAB software. Musculoskeletal model was composed of the linkage dynamics of the forearm and hand, EMG activation and musculoskeletal geometry. Six men and women participated...
Myoelectric control has a key role in human-machine interface applications such as orthosis control and teleoperation. Myoelectric signals are bio signals that are detectable from surface of the skin, and contain useful information about user's moving intention. This paper presents a methodology to estimate elbow joint angle from muscle's data using neural network (NN). Proposed methodology can be...
The aim of this study is to validate the time delay estimators recently developed by our group. We test the estimators with the real data in both case isometric isotonic and isometric anisotonic contraction in order to take into account the stationarity and the non-stationarity of the data. The results indicate that these estimators have coherent behaviors with the law of Henneman up to 60% Maximal...
In this paper, a new approach is presented for the analysis and the identification of the surface electromyography (EMG) signals of biceps and triceps muscles. The objective of this study is the accurate classification of elbow flexion and extension movements. We propose a cropping method based on the agreement of the movement changes and the EMG signal using the upper limb kinematic. Then, we perform...
This paper presents LIGHTarm, a passive gravity compensated exoskeleton for upper-limb rehabilitation suitable for the use both in the clinical environment and at home. Despite the low-cost and not actuated design, LIGHTarm aims at providing remarkable back-drivability in wide portions of the upper-limb workspace. The weight-support and back-drivability features are experimentally investigated on...
Electromyografic signals offer insights into understanding the intent and extent of motion of the musculoskeletal system. This information could be utilized in developing controllers for applications such as prostheses and orthosis, and in general assistive technology. This paper presents a myoelectric based interface to control five discrete upper limb motions involving the shoulder and elbow joint...
Stroke rehabilitation requires intralimb coordination to achieve natural movement after recovery. Focusing on mechanical impedance by the coactivation of agonist muscles, we performed two experiments to assess the intralimb coordination of a post-stroke subject using two indices of the endpoint stiffness and muscle synergies. The results of the first experiment showed that the endpoint stiffness of...
We previously proposed a motion support robot and conducted experiments in which a C5-level cervical cord injury patient used the system. This paper proposes to offer motion support to a C4-level spinal cord injury patient who suffers from paralysis of the limbs. Electromyogram (EMG) signals are used to determine the user's intentions. The proposed motion assist robot can then support flexion and...
This paper proposes two kinematic based task classification methods to aid control of a transhumerai prosthesis. The first method is a neural network based classifier where the angles of shoulder flexion/extension, shoulder abduction/adduction and elbow flexion/extension are considered. The angular values with their first and second derivatives are obtained to train the robotic arm for a selected...
Poststroke hemiparesis limits the ability to reach, in part due to involuntary muscle co-activation (synergies). Robotic approaches are being developed for both therapeutic benefit and continuous assistance during activities of daily living. Robotic assistance may enable participants to exert less effort, thereby reducing expression of the abnormal co-activation patterns, which could allow participants...
Prosthesis hand is an artificial device which replaces missing hand because of human's hand may lost by trauma, disease or defect. From last decade, some researchers have been studying to invent and develop artificial hand. One of the most important step of bionic upper limb is developing surface electromyography (sEMG) signal analyzing methods. This pilot study is aimed to examine de-noising efficiency...
The proposed Electromyography (EMG) and IMU sensor based device for Rehabilitation aid to measure the performance improvement of Hemiparetic patients while displaying the exercise results through Graphic User Interface (GUI). The development of the EMG based rehabilitation device tends to encourage the patients by recording the results and provide 3D Virtual Reality arm to simulate the arm movement...
Recent research in the field of surface EMG recorded with 2D electrode arrays have shown muscle adaptations as reflected on the spatial activation of motor units in response to pain, direction of movement or fatigue. The purpose of this study was to evaluate time- changes in the activation maps of upper limb muscles during endurance tasks associated with the degrees of freedom at the elbow joint....
Following tendon transfer of the biceps to triceps after cervical spinal cord injuries (SCI), individuals must learn to activate the transferred biceps muscle to extend the elbow. Corticomotor excitability of the transferred biceps may play a role in post-operative elbow extension strength. In this study, we evaluated whether corticomotor excitability of the transferred biceps is related to an individuals'...
Powered prostheses have the potential to restore abilities lost to amputation; however, many users report dissatisfaction with the control of their devices. The high variability of the EMG signals used to control powered devices likely burdens amputees with high movement uncertainty. In able-bodied subjects uncertainty affects adaptation, control, and feedback processing, which are often modeled using...
It is widely assumed that neural control of movement is carried out by the a motor system sufficiently. The role of the у motor system in movement and posture has not been adequately addressed in motor control studies. Here, we propose a modular control model for movement and posture based on propriospinal neuronal (PN) network and spinal a-y motor system. In the modular control model, the a and у...
Handedness has been proposed as a laterality of motor control specialization: the dominant limb specializes in controlling limb trajectory using feed-forward mechanisms, while the non-dominant limb is specialized for position control, reliant largely upon feedback mechanisms. Experimental motor control research has tended to use the dominant arm, which could bias our understanding of control toward...
In this paper a novel design of an actively powered arm orthotics is discussed. A light and effective electromechanical motor gear combination is designed which produces torque directly at the elbow. The modular design of the drive system makes it possible to use it in different applications in the field of orthotics, prosthetics and exoskeletons. The EMG sensors are used to measure the nerve impulses...
Currently, a considerable group of adult Duchenne Muscular Dystrophy patients lives with severe physical impairments and strong dependency on care. Active arm supports can improve their quality of life by augmenting their arm's residual motor capabilities. This paper presents the design and control of an experimental active elbow support specially made to investigate different control interfaces with...
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