Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779442
D. Balamurugan, Andrei Nakagawa Silva, Harrison H. Nguyen, J. Low, Christopher Shallal, Luke E. Osborn, A. Soares, R. C. Yeow, N. Thakor
Soft robotic fingers have shown great potential for use in prostheses due to their inherent compliant, light, and dexterous nature. Recent advancements in sensor technology for soft robotic systems showcase their ability to perceive and respond to static cues. However, most of the soft fingers for use in prosthetic applications are not equipped with sensors which have the ability to perceive texture like humans can. In this work, we present a dexterous, soft, biomimetic solution which is capable of discrimination of textures. We fabricated a soft finger with two individually controllable degrees of freedom with a tactile sensor embedded at the fingertip. The output of the tac- tile sensor, as texture plates were palpated, was converted into spikes, mimicking the behavior of a biological mechanoreceptor. We explored the spatial properties of the textures captured in the form of spiking patterns by generating spatial event plots and analyzing the similarity between spike trains generated for each texture. Unique features representative of the different textures were then extracted from the spikes and input to a classifier. The textures were successfully classified with an accuracy of 94% when palpating at a rate of 42 mm/s. This work demonstrates the potential of providing amputees with a soft finger with sensing capabilities, which could potentially help discriminate between different objects and surfaces during activities of daily living (ADL) through palpation.
{"title":"Texture Discrimination using a Soft Biomimetic Finger for Prosthetic Applications","authors":"D. Balamurugan, Andrei Nakagawa Silva, Harrison H. Nguyen, J. Low, Christopher Shallal, Luke E. Osborn, A. Soares, R. C. Yeow, N. Thakor","doi":"10.1109/ICORR.2019.8779442","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779442","url":null,"abstract":"Soft robotic fingers have shown great potential for use in prostheses due to their inherent compliant, light, and dexterous nature. Recent advancements in sensor technology for soft robotic systems showcase their ability to perceive and respond to static cues. However, most of the soft fingers for use in prosthetic applications are not equipped with sensors which have the ability to perceive texture like humans can. In this work, we present a dexterous, soft, biomimetic solution which is capable of discrimination of textures. We fabricated a soft finger with two individually controllable degrees of freedom with a tactile sensor embedded at the fingertip. The output of the tac- tile sensor, as texture plates were palpated, was converted into spikes, mimicking the behavior of a biological mechanoreceptor. We explored the spatial properties of the textures captured in the form of spiking patterns by generating spatial event plots and analyzing the similarity between spike trains generated for each texture. Unique features representative of the different textures were then extracted from the spikes and input to a classifier. The textures were successfully classified with an accuracy of 94% when palpating at a rate of 42 mm/s. This work demonstrates the potential of providing amputees with a soft finger with sensing capabilities, which could potentially help discriminate between different objects and surfaces during activities of daily living (ADL) through palpation.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114320636","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779414
Hohorst William H., Christian M. Kinder, Neha Lodha, Brendan W. Smith
Currently, driver rehabilitation involves use of fixed-base simulators. Such simulators are used infrequently and with little success. We hypothesize that the absence of motion feedback may be limiting the therapeutic effectiveness of driving simulation. During real, motor vehicle driving, the driver receives motion feedback that provides rich and real-time information about acceleration, deceleration and turning of the vehicle. Thus, motion feedback may be a key missing component that could dramatically increase the clinical pragmatism of simulator-based driver rehabilitation. In this pilot study, six young adult drivers participated in simulated driving tasks with or without motion feedback. Participants who received motion feedback completed faster laps on a racetrack and committed fewer driving infractions on a highway. They reported being more motivated and aware of the pressure of high speed driving. Particularly, they experienced substantially fewer symptoms of simulator sickness, a primary impedient to widespread use of driving simulators for driver rehabilitation. These preliminary finding motivate a full investigation of the impacts of motion feedback during simulated driving, and of the efficacy of lower cost, two degree of freedom driving simulators for clinical use.
{"title":"Is simulator-based driver rehabilitation missing motion feedback?","authors":"Hohorst William H., Christian M. Kinder, Neha Lodha, Brendan W. Smith","doi":"10.1109/ICORR.2019.8779414","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779414","url":null,"abstract":"Currently, driver rehabilitation involves use of fixed-base simulators. Such simulators are used infrequently and with little success. We hypothesize that the absence of motion feedback may be limiting the therapeutic effectiveness of driving simulation. During real, motor vehicle driving, the driver receives motion feedback that provides rich and real-time information about acceleration, deceleration and turning of the vehicle. Thus, motion feedback may be a key missing component that could dramatically increase the clinical pragmatism of simulator-based driver rehabilitation. In this pilot study, six young adult drivers participated in simulated driving tasks with or without motion feedback. Participants who received motion feedback completed faster laps on a racetrack and committed fewer driving infractions on a highway. They reported being more motivated and aware of the pressure of high speed driving. Particularly, they experienced substantially fewer symptoms of simulator sickness, a primary impedient to widespread use of driving simulators for driver rehabilitation. These preliminary finding motivate a full investigation of the impacts of motion feedback during simulated driving, and of the efficacy of lower cost, two degree of freedom driving simulators for clinical use.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114460114","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779417
J. Fong, Renz Ocampo, D. Gross, M. Tavakoli
Occupational rehabilitation is an integral part of the recovery process for workers who have sustained injuries at the workplace. It often requires the injured worker to engage in functional tasks that simulate the workplace environment to help regain their functional capabilities and allow for a return to employment. We present a system comprised of a robotic arm for recreating the physical dynamics of functional tasks and a 3D Augmented Reality (AR) display for immersive visualization of the tasks. While this system can be used to simulate a multitude of occupational tasks, we focus on one specific functional task. Participants perform a virtual version of the task using the robot-AR system, and a physical version of the same task without the system. This study shows the results for two able-bodied users to determine if the robot-AR system produces upper-limb movements similar to the real-life equivalent task. The similarity between relative joint positions, i.e., hand-to-elbow (H2E) and elbow-to-shoulder (E2S) displacements, is evaluated within clusters based on the spatial position of the user’s hand. The H2E displacements for approximately 50% of hand position clusters were consistent between the robot-AR and real-world conditions and approximately 30% for E2S displacements. The similar clusters are distributed across the entire task space however, indicating the robot-AR system has the potential to properly simulate real-world equivalent tasks.
{"title":"A Robot with an Augmented-Reality Display for Functional Capacity Evaluation and Rehabilitation of Injured Workers","authors":"J. Fong, Renz Ocampo, D. Gross, M. Tavakoli","doi":"10.1109/ICORR.2019.8779417","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779417","url":null,"abstract":"Occupational rehabilitation is an integral part of the recovery process for workers who have sustained injuries at the workplace. It often requires the injured worker to engage in functional tasks that simulate the workplace environment to help regain their functional capabilities and allow for a return to employment. We present a system comprised of a robotic arm for recreating the physical dynamics of functional tasks and a 3D Augmented Reality (AR) display for immersive visualization of the tasks. While this system can be used to simulate a multitude of occupational tasks, we focus on one specific functional task. Participants perform a virtual version of the task using the robot-AR system, and a physical version of the same task without the system. This study shows the results for two able-bodied users to determine if the robot-AR system produces upper-limb movements similar to the real-life equivalent task. The similarity between relative joint positions, i.e., hand-to-elbow (H2E) and elbow-to-shoulder (E2S) displacements, is evaluated within clusters based on the spatial position of the user’s hand. The H2E displacements for approximately 50% of hand position clusters were consistent between the robot-AR and real-world conditions and approximately 30% for E2S displacements. The similar clusters are distributed across the entire task space however, indicating the robot-AR system has the potential to properly simulate real-world equivalent tasks.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127419910","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779469
Wandercleyson M. Scheidegger, R. Mello, Sergio D. Sierra Marín, Mario F. Jiménez, M. Múnera, C. Cifuentes, A. Frizera-Neto
This work presents a multimodal cognitive interaction strategy aiming at walker-assisted rehabilitation therapies, with special focus on post-stroke patients. Such interaction strategy is based on monitoring user’s gait and face orientation to command the displacement of the smart walker. Users are able to actively command the steering of the walker by changing their face orientation, while their lower limbs movement affect the walker’s linear velocity. The proposed system is validated using a smart walker and the results obtained point to the feasibility of employing such cognitive interaction in rehabilitation therapies.
{"title":"A Novel Multimodal Cognitive Interaction for Walker-Assisted Rehabilitation Therapies","authors":"Wandercleyson M. Scheidegger, R. Mello, Sergio D. Sierra Marín, Mario F. Jiménez, M. Múnera, C. Cifuentes, A. Frizera-Neto","doi":"10.1109/ICORR.2019.8779469","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779469","url":null,"abstract":"This work presents a multimodal cognitive interaction strategy aiming at walker-assisted rehabilitation therapies, with special focus on post-stroke patients. Such interaction strategy is based on monitoring user’s gait and face orientation to command the displacement of the smart walker. Users are able to actively command the steering of the walker by changing their face orientation, while their lower limbs movement affect the walker’s linear velocity. The proposed system is validated using a smart walker and the results obtained point to the feasibility of employing such cognitive interaction in rehabilitation therapies.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"07 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126797675","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779443
Heather E. Williams, Quinn A. Boser, P. Pilarski, Craig S. Chapman, A. Vette, Jacqueline S. Hebert
Studies that investigate myoelectric prosthesis control commonly use non-disabled participants fitted with a simulated prosthetic device. This approach improves participant recruitment numbers but assumes that simulated movements represent those of actual prosthesis users. If this assumption is valid, then movement performance differences between simulated prosthesis users and normative populations should be similar to differences between actual prosthesis users and normative populations. As a first step in testing this assumption, the objective of this study was to quantify movement performance differences between simulated transradial myoelectric prosthesis hand function and normative hand function. Motion capture technology was used to obtain hand kinematics for 12 non-disabled simulated prosthesis participants who performed a functional object-manipulation task. Performance metrics, end effector movement, and grip aperture results were compared to 20 nondisabled participants who used their own hand during task execution. Simulated prosthesis users were expected to perform the functional task more slowly, with multiple peaks in end effector velocity profiles, and a plateau in grip aperture when reaching to pick up objects, when compared to non-disabled participants. This study confirmed these expectations and recommends that subsequent research be undertaken to quantify differences in actual myoelectric prosthesis hand function versus normative hand function.
{"title":"Hand Function Kinematics when using a Simulated Myoelectric Prosthesis","authors":"Heather E. Williams, Quinn A. Boser, P. Pilarski, Craig S. Chapman, A. Vette, Jacqueline S. Hebert","doi":"10.1109/ICORR.2019.8779443","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779443","url":null,"abstract":"Studies that investigate myoelectric prosthesis control commonly use non-disabled participants fitted with a simulated prosthetic device. This approach improves participant recruitment numbers but assumes that simulated movements represent those of actual prosthesis users. If this assumption is valid, then movement performance differences between simulated prosthesis users and normative populations should be similar to differences between actual prosthesis users and normative populations. As a first step in testing this assumption, the objective of this study was to quantify movement performance differences between simulated transradial myoelectric prosthesis hand function and normative hand function. Motion capture technology was used to obtain hand kinematics for 12 non-disabled simulated prosthesis participants who performed a functional object-manipulation task. Performance metrics, end effector movement, and grip aperture results were compared to 20 nondisabled participants who used their own hand during task execution. Simulated prosthesis users were expected to perform the functional task more slowly, with multiple peaks in end effector velocity profiles, and a plateau in grip aperture when reaching to pick up objects, when compared to non-disabled participants. This study confirmed these expectations and recommends that subsequent research be undertaken to quantify differences in actual myoelectric prosthesis hand function versus normative hand function.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"137 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126842998","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779429
A. Ozgur, Louis Faucon, Pablo Maceira-Elvira, M. Wessel, W. Johal, Ayberk Özgür, A. Cadic-Melchior, F. Hummel, P. Dillenbourg
A key feature of a successful game is its ability to provide the player with an adequate level of challenge. However, the objective of difficulty adaptation in serious games is not only to maintain the player’s motivation by challenging, but also to ensure the completion of training objectives.This paper describes our proposed upper-limb rehabilitation game with tangible robots and investigates the effect of game elements and gameplay on the amount of the performed motion in several planes and percentage of failure by using the data from 33 unimpaired subjects who played 53 games within two consecutive days. In order to provide a more generic adaptation strategy in the future, we discretize the game area to circular zones. We then show the effect of changing these zones during gameplay on the activation of different muscles through EMG data in a pilot study.The study shows that it is possible to increase the challenge level by adding more active agents chasing the player and increasing the speed of these agents. However, only the increase in number of agents significantly increases the users’ motion on both planes. Analysis of player behaviors leads us to suggest that by adapting the behaviour of these active agents in specific zones, it is possible to change the trajectory of the user, and to provide a focus on the activation of specific muscles.
{"title":"Towards an Adaptive Upper Limb Rehabilitation Game with Tangible Robots","authors":"A. Ozgur, Louis Faucon, Pablo Maceira-Elvira, M. Wessel, W. Johal, Ayberk Özgür, A. Cadic-Melchior, F. Hummel, P. Dillenbourg","doi":"10.1109/ICORR.2019.8779429","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779429","url":null,"abstract":"A key feature of a successful game is its ability to provide the player with an adequate level of challenge. However, the objective of difficulty adaptation in serious games is not only to maintain the player’s motivation by challenging, but also to ensure the completion of training objectives.This paper describes our proposed upper-limb rehabilitation game with tangible robots and investigates the effect of game elements and gameplay on the amount of the performed motion in several planes and percentage of failure by using the data from 33 unimpaired subjects who played 53 games within two consecutive days. In order to provide a more generic adaptation strategy in the future, we discretize the game area to circular zones. We then show the effect of changing these zones during gameplay on the activation of different muscles through EMG data in a pilot study.The study shows that it is possible to increase the challenge level by adding more active agents chasing the player and increasing the speed of these agents. However, only the increase in number of agents significantly increases the users’ motion on both planes. Analysis of player behaviors leads us to suggest that by adapting the behaviour of these active agents in specific zones, it is possible to change the trajectory of the user, and to provide a focus on the activation of specific muscles.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126161730","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779438
A. Soliman, P. Şendur, B. Ugurlu
This paper presents a framework to address three dimensional (3-D) dynamic walking for a bipedal exoskeleton with underactuated legs. To achieve this goal, the framework is constructed via a trajectory generator and an optimized inverse kinematics algorithm that can cope with underactuation. In order to feasibly attain task velocities with underactuated legs, the inverse kinematics algorithm makes use of a task prioritization method via the exploitation of null space. In doing so, the tasks with lower priority, e.g., swing foot orientation, are attained as much as possible without disrupting the higher priority tasks, such as CoM trajectory. Meanwhile, the trajectory generator utilizes the ZMP concept analytically and ensures the acceleration continuity throughout the whole walking period, regardless of the contact and phase changes. The proposed method is verified via a lumped human-bipedal exoskeleton model that is developed and simulated in MSC.ADAMS simulation environment. As a result, we obtained feasible and dynamically balanced 3-D walking motion, in which no oblique foot landing or exaggerated torso orientation variations were observed, despite the underactuated nature of the robot legs.
{"title":"3-D Dynamic Walking Trajectory Generation for a Bipedal Exoskeleton with Underactuated Legs: A Proof of Concept","authors":"A. Soliman, P. Şendur, B. Ugurlu","doi":"10.1109/ICORR.2019.8779438","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779438","url":null,"abstract":"This paper presents a framework to address three dimensional (3-D) dynamic walking for a bipedal exoskeleton with underactuated legs. To achieve this goal, the framework is constructed via a trajectory generator and an optimized inverse kinematics algorithm that can cope with underactuation. In order to feasibly attain task velocities with underactuated legs, the inverse kinematics algorithm makes use of a task prioritization method via the exploitation of null space. In doing so, the tasks with lower priority, e.g., swing foot orientation, are attained as much as possible without disrupting the higher priority tasks, such as CoM trajectory. Meanwhile, the trajectory generator utilizes the ZMP concept analytically and ensures the acceleration continuity throughout the whole walking period, regardless of the contact and phase changes. The proposed method is verified via a lumped human-bipedal exoskeleton model that is developed and simulated in MSC.ADAMS simulation environment. As a result, we obtained feasible and dynamically balanced 3-D walking motion, in which no oblique foot landing or exaggerated torso orientation variations were observed, despite the underactuated nature of the robot legs.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126362553","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779470
Christopher Jarrett, A. McDaid
This paper presents a model inversion procedure for a viscoelastic compliant element contained within a rotary series elastic actuator (SEA). Model inversion plays an important role in enabling accurate model-based control of physical human-robot interaction (HRI) with SEAs. If the compliant element of the SEA is elastomeric, analytically inverting its model is non-trivial due to the presence of complex non-linear terms. This paper applies an alternative inversion procedure, by coupling a partially analytical inverse model with a disturbance observer (DOB). Results of inverting without a DOB are given as a baseline and compared to the analytical inversion + DOB with two different types of filter. To quantify the accuracy of the inversion, the output of the inversion procedure is passed back through the forward model to identify the ‘actual setpoint’, the signal that would be generated if the output of the inversion procedure was tracked accurately. The inversions for five desired torque signals are presented; in all cases, the root-mean square (RMS) error between the desired setpoint and actual setpoint is lower when the DOB inversion procedure is used, compared to the RMS error incurred when the DOB is omitted. The results suggest that the proposed inversion procedure provides an accurate and mathematically tractable inverse of the complex viscoelastic elastomer model.
{"title":"A Model Inversion Procedure for Control of Nonlinear Series Elastic Actuators","authors":"Christopher Jarrett, A. McDaid","doi":"10.1109/ICORR.2019.8779470","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779470","url":null,"abstract":"This paper presents a model inversion procedure for a viscoelastic compliant element contained within a rotary series elastic actuator (SEA). Model inversion plays an important role in enabling accurate model-based control of physical human-robot interaction (HRI) with SEAs. If the compliant element of the SEA is elastomeric, analytically inverting its model is non-trivial due to the presence of complex non-linear terms. This paper applies an alternative inversion procedure, by coupling a partially analytical inverse model with a disturbance observer (DOB). Results of inverting without a DOB are given as a baseline and compared to the analytical inversion + DOB with two different types of filter. To quantify the accuracy of the inversion, the output of the inversion procedure is passed back through the forward model to identify the ‘actual setpoint’, the signal that would be generated if the output of the inversion procedure was tracked accurately. The inversions for five desired torque signals are presented; in all cases, the root-mean square (RMS) error between the desired setpoint and actual setpoint is lower when the DOB inversion procedure is used, compared to the RMS error incurred when the DOB is omitted. The results suggest that the proposed inversion procedure provides an accurate and mathematically tractable inverse of the complex viscoelastic elastomer model.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126417211","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779530
Qiang Zhang, Zhiyu Sheng, Frank Moore-Clingenpeel, Kang Kim, N. Sharma
Ankle dorsiflexion produced by Tibialis Anterior (TA) muscle contraction plays a significant role during human walking and standing balance. The weakened function or dysfunction of the TA muscle often impedes activities of daily living (ADL). Powered ankle exoskeleton is a prevalent technique to treat this pathology, and its intelligent and effective behaviors depend on human intention detection. A TA muscle contraction strength monitor is proposed to evaluate the weakness of the ankle dorsiflexion. The new method combines surface electromyography (sEMG) signals and sonomyography signals to estimate ankle torque during a voluntary isometric ankle dorsiflexion. Changes in the pennation angle (PA) are derived from the sonomyography signals. The results demonstrate strong correlations among the sonomyography-derived PA, the sEMG signal, and the measured TA muscle contraction force. Especially, the TA muscle strength monitor approximates the TA muscle strength measurement via a weighted summation of the sEMG signal and the PA signal. The new method shows an improved linear correlation with the muscle strength, compared to the correlations between the muscle strength and sole sEMG signal or sole PA signal, where the R-squared values are improved by 4.21 % and 1.99 %, respectively.
{"title":"Ankle Dorsiflexion Strength Monitoring by Combining Sonomyography and Electromyography","authors":"Qiang Zhang, Zhiyu Sheng, Frank Moore-Clingenpeel, Kang Kim, N. Sharma","doi":"10.1109/ICORR.2019.8779530","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779530","url":null,"abstract":"Ankle dorsiflexion produced by Tibialis Anterior (TA) muscle contraction plays a significant role during human walking and standing balance. The weakened function or dysfunction of the TA muscle often impedes activities of daily living (ADL). Powered ankle exoskeleton is a prevalent technique to treat this pathology, and its intelligent and effective behaviors depend on human intention detection. A TA muscle contraction strength monitor is proposed to evaluate the weakness of the ankle dorsiflexion. The new method combines surface electromyography (sEMG) signals and sonomyography signals to estimate ankle torque during a voluntary isometric ankle dorsiflexion. Changes in the pennation angle (PA) are derived from the sonomyography signals. The results demonstrate strong correlations among the sonomyography-derived PA, the sEMG signal, and the measured TA muscle contraction force. Especially, the TA muscle strength monitor approximates the TA muscle strength measurement via a weighted summation of the sEMG signal and the PA signal. The new method shows an improved linear correlation with the muscle strength, compared to the correlations between the muscle strength and sole sEMG signal or sole PA signal, where the R-squared values are improved by 4.21 % and 1.99 %, respectively.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121930092","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/ICORR.2019.8779413
Harrison H. Nguyen, Christopher Shallal, N. Thakor
Amputees often find wearing a prosthetic limb for a long period of time uncomfortable. Prosthetic sockets that adjust the socket’s fit automatically, or adaptive sockets, would encourage amputees to wear their prosthesis more frequently. In this work, we simulate the control system design of a Multiple-Input, Multiple-Output (MIMO) adaptive socket using principles of optimal control and robust control. A data-driven model of the socket-limb interface is first obtained by applying regression to open-loop recordings of the socket interacting with the limb during a simulated grasping task. A MIMO controller is then designed to maintain a desired uniform socket fit. An $H_{infty}$ controller, obtained from loop shaping synthesis using the Glover-McFarlane method, is shown to perform comparably to a Linear Quadratic Gaussian (LQG) controller while maintaining robustness to uncertainties in the socket-limb interface model. This work then outlines a potential procedure on how to develop the control system for a real adaptive prosthetic socket with multiple sensors and actuators.
{"title":"Designing an Adaptive Prosthetic Socket Controller Using H-Infinity Loop Shaping Synthesis","authors":"Harrison H. Nguyen, Christopher Shallal, N. Thakor","doi":"10.1109/ICORR.2019.8779413","DOIUrl":"https://doi.org/10.1109/ICORR.2019.8779413","url":null,"abstract":"Amputees often find wearing a prosthetic limb for a long period of time uncomfortable. Prosthetic sockets that adjust the socket’s fit automatically, or adaptive sockets, would encourage amputees to wear their prosthesis more frequently. In this work, we simulate the control system design of a Multiple-Input, Multiple-Output (MIMO) adaptive socket using principles of optimal control and robust control. A data-driven model of the socket-limb interface is first obtained by applying regression to open-loop recordings of the socket interacting with the limb during a simulated grasping task. A MIMO controller is then designed to maintain a desired uniform socket fit. An $H_{infty}$ controller, obtained from loop shaping synthesis using the Glover-McFarlane method, is shown to perform comparably to a Linear Quadratic Gaussian (LQG) controller while maintaining robustness to uncertainties in the socket-limb interface model. This work then outlines a potential procedure on how to develop the control system for a real adaptive prosthetic socket with multiple sensors and actuators.","PeriodicalId":130415,"journal":{"name":"2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121971091","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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