Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523766
Yang Zheng, L. Cao, Zhiqin Qian, Ang Chen, W. Zhang
Traditional prosthetic fingers use rigid links and kinematic joints, which lead to the fingers that lack adaptability. This paper presents a new design of fingers which are fully compliant for prosthetic applications. A home-based topology optimization method was used for the structural synthesis and dimensional analysis in order to determine the topology and geometry of the finger. A prototype was manufactured and experimented for its performance. In order to evaluate the performance of the prosthetic finger, the forces and displacements of the input end and output were measured. A spring was attached at the output end to mimic the stiffness of the work-piece in order to evaluate the grasping ability. Finite element analysis was also performed to compare with the experimental results. It was found that the compliant prosthetic finger met the design requirements and overcome some problems present in the traditional prosthetic fingers. The home-made topology optimization method is reliable for the design of prosthetic finger.
{"title":"Topology optimization of a fully compliant prosthetic finger: Design and testing","authors":"Yang Zheng, L. Cao, Zhiqin Qian, Ang Chen, W. Zhang","doi":"10.1109/BIOROB.2016.7523766","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523766","url":null,"abstract":"Traditional prosthetic fingers use rigid links and kinematic joints, which lead to the fingers that lack adaptability. This paper presents a new design of fingers which are fully compliant for prosthetic applications. A home-based topology optimization method was used for the structural synthesis and dimensional analysis in order to determine the topology and geometry of the finger. A prototype was manufactured and experimented for its performance. In order to evaluate the performance of the prosthetic finger, the forces and displacements of the input end and output were measured. A spring was attached at the output end to mimic the stiffness of the work-piece in order to evaluate the grasping ability. Finite element analysis was also performed to compare with the experimental results. It was found that the compliant prosthetic finger met the design requirements and overcome some problems present in the traditional prosthetic fingers. The home-made topology optimization method is reliable for the design of prosthetic finger.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"21 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113937342","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523822
Elisa Donati, G. Indiveri, C. Stefanini
The study proposed describes preliminary results of a spiking implementation of lamprey's Central Pattern Generator (CPG) using Neuromorphic VLSI devices. Several robotic lamprey implementations have been built to test the models in a bio-mimetic artifact but, in these systems there is a clear separation between the mechanical system, and their control part. This study aims to implement a CPG hardware network, to directly control actuators, creating a biomimetic robot both from mechanical and electronic point of view.
{"title":"A novel spiking CPG-based implementation system to control a lamprey robot","authors":"Elisa Donati, G. Indiveri, C. Stefanini","doi":"10.1109/BIOROB.2016.7523822","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523822","url":null,"abstract":"The study proposed describes preliminary results of a spiking implementation of lamprey's Central Pattern Generator (CPG) using Neuromorphic VLSI devices. Several robotic lamprey implementations have been built to test the models in a bio-mimetic artifact but, in these systems there is a clear separation between the mechanical system, and their control part. This study aims to implement a CPG hardware network, to directly control actuators, creating a biomimetic robot both from mechanical and electronic point of view.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122640776","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523746
V. Bonnet, Takazumi Yamaguchi, A. Dupeyron, S. Andary, Antoine Seilles, P. Fraisse, G. Venture
This study aims to develop and evaluate a new method for the automatic extraction and estimate of back anatomical landmark positions and of 3D spine curve from Kinect sensor data. The proposed method allows to robustly reconstruct different indexes of back deformity used in the evaluation of scoliosis. The algorithm input data are the depth map and its corresponding curvature map. From these, regions-of-interest are automatically created and anatomical landmark positions are estimated by finding common patterns between subjects. The results showed that the proposed method can successfully estimate the anatomical landmark positions, as well as the 3D spine curve (average RMS error of 8 mm and 3 mm). The simplicity and generalisation abilities of the proposed method allow to pave the way of future diagnosis solutions for in-home or for small size practice use.
{"title":"Automatic estimate of back anatomical landmarks and 3D spine curve from a Kinect sensor","authors":"V. Bonnet, Takazumi Yamaguchi, A. Dupeyron, S. Andary, Antoine Seilles, P. Fraisse, G. Venture","doi":"10.1109/BIOROB.2016.7523746","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523746","url":null,"abstract":"This study aims to develop and evaluate a new method for the automatic extraction and estimate of back anatomical landmark positions and of 3D spine curve from Kinect sensor data. The proposed method allows to robustly reconstruct different indexes of back deformity used in the evaluation of scoliosis. The algorithm input data are the depth map and its corresponding curvature map. From these, regions-of-interest are automatically created and anatomical landmark positions are estimated by finding common patterns between subjects. The results showed that the proposed method can successfully estimate the anatomical landmark positions, as well as the 3D spine curve (average RMS error of 8 mm and 3 mm). The simplicity and generalisation abilities of the proposed method allow to pave the way of future diagnosis solutions for in-home or for small size practice use.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115134275","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523632
A. Nakazawa, K. Nanri, K. Harada, Shinichi Tanaka, H. Nukariya, Y. Kurose, Naoyuki Shono, Hirohumi Nakatomi, A. Morita, Eiju Watanabe, N. Sugita, M. Mitsuishi
Robotic assistance enables a surgeon to perform dexterous and precise manipulations. However, conducting robot assisted neurosurgery within the deep and narrow spaces of the brain presents the risk of unexpected collisions between the shafts of robotic instruments and their surroundings out of the microscopic view. Thus, we propose the provision of feedback using a truncated cone shaped virtual fixture generated by marking the edges of the top and bottom plane of a workspace in the deep and narrow spaces within the brain with the slave manipulator. The experimental results show that the virtual fixture generation method could precisely model the workspace. We also implemented force feedback, visual feedback, and motion scaling feedback in the microsurgical robotic system in order to inform the surgeon of the risk of collision. Performance of each feedback method and their combinations was evaluated in two experiments. The experimental results showed that the combination of the force and the visual feedback methods were the most beneficial for avoiding collisions.
{"title":"Feedback methods for collision avoidance using virtual fixtures for robotic neurosurgery in deep and narrow spaces","authors":"A. Nakazawa, K. Nanri, K. Harada, Shinichi Tanaka, H. Nukariya, Y. Kurose, Naoyuki Shono, Hirohumi Nakatomi, A. Morita, Eiju Watanabe, N. Sugita, M. Mitsuishi","doi":"10.1109/BIOROB.2016.7523632","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523632","url":null,"abstract":"Robotic assistance enables a surgeon to perform dexterous and precise manipulations. However, conducting robot assisted neurosurgery within the deep and narrow spaces of the brain presents the risk of unexpected collisions between the shafts of robotic instruments and their surroundings out of the microscopic view. Thus, we propose the provision of feedback using a truncated cone shaped virtual fixture generated by marking the edges of the top and bottom plane of a workspace in the deep and narrow spaces within the brain with the slave manipulator. The experimental results show that the virtual fixture generation method could precisely model the workspace. We also implemented force feedback, visual feedback, and motion scaling feedback in the microsurgical robotic system in order to inform the surgeon of the risk of collision. Performance of each feedback method and their combinations was evaluated in two experiments. The experimental results showed that the combination of the force and the visual feedback methods were the most beneficial for avoiding collisions.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133187964","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523688
B. Dinh, L. Cappello, L. Masia
In recent years, actuation technology have been increasingly developed new fields and utilized widely in applications differing from automation and industry , but also robotic rehabilitation, haptics and wearable exoskeleton devices where safety, limitation of peak forces and gentle interaction are extremely important. To date, several examples of robotic applications have been designed to address the demanding needs of these disciplines that require the compliance in actuation and manipulation. However, the control performance is still limited due to lack of accuracy in robotic dynamics model and unmodeled nonlinearities such as friction. In such cases, estimating inverse dynamic model from collected data will provide an interesting alternative solution in order to achieve the compliance interaction and the good performance in position tracking. In this paper, an algorithm for online robotic inverse dynamics learning is proposed and explained using localization approach combined with Extreme Learning Machine.
{"title":"Localized Extreme Learning Machine for online inverse dynamic model estimation in soft wearable exoskeleton","authors":"B. Dinh, L. Cappello, L. Masia","doi":"10.1109/BIOROB.2016.7523688","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523688","url":null,"abstract":"In recent years, actuation technology have been increasingly developed new fields and utilized widely in applications differing from automation and industry , but also robotic rehabilitation, haptics and wearable exoskeleton devices where safety, limitation of peak forces and gentle interaction are extremely important. To date, several examples of robotic applications have been designed to address the demanding needs of these disciplines that require the compliance in actuation and manipulation. However, the control performance is still limited due to lack of accuracy in robotic dynamics model and unmodeled nonlinearities such as friction. In such cases, estimating inverse dynamic model from collected data will provide an interesting alternative solution in order to achieve the compliance interaction and the good performance in position tracking. In this paper, an algorithm for online robotic inverse dynamics learning is proposed and explained using localization approach combined with Extreme Learning Machine.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132245885","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523789
Luenin Barrios, Wei-Min Shen
Center of Mass(CoM) estimation in rough terrains is hampered by complicated body dynamics yet remains critically important in the study of human and robot motion planning. Current techniques for CoM estimation are encumbered by lengthy calibration periods requiring the use of specialized tools(force plates, motion capture, etc). This paper presents a novel and straightforward geometric method for CoM estimation over rough planar terrains that relies solely on geometry information of the environment and essential knowledge of the kinematic body. The CoM is approximated using a simplified model of the contact foot locations and an Optimized Geometric Hermite(OGH) curve with minimum curvature and length. To evaluate the accuracy of the method, cross validation with human subjects was performed. The results demonstrate that the geometric method delivers an accurate approximation of the CoM path for natural walking over rough planar terrains and offers a reliable alternative for CoM estimation.
{"title":"A geometric method for center of mass estimation in rough planar terrains","authors":"Luenin Barrios, Wei-Min Shen","doi":"10.1109/BIOROB.2016.7523789","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523789","url":null,"abstract":"Center of Mass(CoM) estimation in rough terrains is hampered by complicated body dynamics yet remains critically important in the study of human and robot motion planning. Current techniques for CoM estimation are encumbered by lengthy calibration periods requiring the use of specialized tools(force plates, motion capture, etc). This paper presents a novel and straightforward geometric method for CoM estimation over rough planar terrains that relies solely on geometry information of the environment and essential knowledge of the kinematic body. The CoM is approximated using a simplified model of the contact foot locations and an Optimized Geometric Hermite(OGH) curve with minimum curvature and length. To evaluate the accuracy of the method, cross validation with human subjects was performed. The results demonstrate that the geometric method delivers an accurate approximation of the CoM path for natural walking over rough planar terrains and offers a reliable alternative for CoM estimation.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125582667","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523788
Simon Hauser, P. Eckert, Alexandre Tuleu, A. Ijspeert
Moving away from simple foot designs of current quadruped robots towards a more bio-inspired approach, a novel foot design was implemented on the quadruped robot Oncilla. These feet mimic soft paw-pads of dogs and cats with high traction and soft underlying tissue. Consisting of a granular medium enclosed in a flexible membrane, they can be set to different pressure/vacuum conditions. Tests of general properties such as friction force, damping and deformation were completed by proof of concept tests on the robot. These included flat ground locomotion as well as ascending a slope with different inclination. Comparison tests with the previous feet were performed as well, showing that the new feet have a high friction and strong damping properties. Additionally, the speed of flat ground locomotion is comparable to the maximum speed of the robot with the previous feet while retaining the desired trotting gait. These are promising aspects for legged locomotion. The jamming of granular media previously has been used to create a universal gripper which in the future also opens up opportunities to use the feet both in locomotion and simple object manipulation (although the manipulation is not tested here).
{"title":"Friction and damping of a compliant foot based on granular jamming for legged robots","authors":"Simon Hauser, P. Eckert, Alexandre Tuleu, A. Ijspeert","doi":"10.1109/BIOROB.2016.7523788","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523788","url":null,"abstract":"Moving away from simple foot designs of current quadruped robots towards a more bio-inspired approach, a novel foot design was implemented on the quadruped robot Oncilla. These feet mimic soft paw-pads of dogs and cats with high traction and soft underlying tissue. Consisting of a granular medium enclosed in a flexible membrane, they can be set to different pressure/vacuum conditions. Tests of general properties such as friction force, damping and deformation were completed by proof of concept tests on the robot. These included flat ground locomotion as well as ascending a slope with different inclination. Comparison tests with the previous feet were performed as well, showing that the new feet have a high friction and strong damping properties. Additionally, the speed of flat ground locomotion is comparable to the maximum speed of the robot with the previous feet while retaining the desired trotting gait. These are promising aspects for legged locomotion. The jamming of granular media previously has been used to create a universal gripper which in the future also opens up opportunities to use the feet both in locomotion and simple object manipulation (although the manipulation is not tested here).","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"317 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124484326","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523750
M. Kolditz, Thivaharan Albin, K. Albracht, G. Brüggemann, D. Abel
Resistance training of the leg extensor muscles is an important intervention in rehabilitation and prevention of musculoskeletal disorders such as hip or knee arthrosis and osteoporosis. With current training equipment, neither the exercise trajectory can be optimized nor the loadings on structures of the musculoskeletal system can be controlled. To overcome these limitations an experimental research platform for the development of new training scenarios is developed using an industrial robot for maximum flexibility together with kinetic and kinematic data and musculoskeletal models for estimating loadings on target structures. The focus of this paper lies on the implementation of isokinematic exercise, i.e. leg extension and flexion with constant velocity. A force triggered trajectory with smooth transitions between two points needs to be planned for the robot. An algorithm which uses continuous polynomials is proposed. It consists of three parts. First, the trajectory is planned in Cartesian space by intuitive definitions of e.g. start and end point or desired velocity and minimum resistive force. The trajectory can be visualized and optimized using OpenSim together with a model of the research platform, which makes the system usable for non experts in the field of robotics. Second, a smooth trajectory in joint space is generated from the planning points, using a third order polynomial for joint velocities between two adjacent points. Third, the trajectory is adapted to the measured force at the end effector, as the robot should only move along the trajectory, if the applied force by the user is high enough. The proposed algorithm is furthermore easily expandable to arbitrary force triggered motions with definable position and velocity profiles.
{"title":"Isokinematic leg extension training with an industrial robot","authors":"M. Kolditz, Thivaharan Albin, K. Albracht, G. Brüggemann, D. Abel","doi":"10.1109/BIOROB.2016.7523750","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523750","url":null,"abstract":"Resistance training of the leg extensor muscles is an important intervention in rehabilitation and prevention of musculoskeletal disorders such as hip or knee arthrosis and osteoporosis. With current training equipment, neither the exercise trajectory can be optimized nor the loadings on structures of the musculoskeletal system can be controlled. To overcome these limitations an experimental research platform for the development of new training scenarios is developed using an industrial robot for maximum flexibility together with kinetic and kinematic data and musculoskeletal models for estimating loadings on target structures. The focus of this paper lies on the implementation of isokinematic exercise, i.e. leg extension and flexion with constant velocity. A force triggered trajectory with smooth transitions between two points needs to be planned for the robot. An algorithm which uses continuous polynomials is proposed. It consists of three parts. First, the trajectory is planned in Cartesian space by intuitive definitions of e.g. start and end point or desired velocity and minimum resistive force. The trajectory can be visualized and optimized using OpenSim together with a model of the research platform, which makes the system usable for non experts in the field of robotics. Second, a smooth trajectory in joint space is generated from the planning points, using a third order polynomial for joint velocities between two adjacent points. Third, the trajectory is adapted to the measured force at the end effector, as the robot should only move along the trajectory, if the applied force by the user is high enough. The proposed algorithm is furthermore easily expandable to arbitrary force triggered motions with definable position and velocity profiles.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121970728","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523705
M. Wairagkar, I. Zoulias, V. Oguntosin, Y. Hayashi, S. Nasuto
Brain Computer Interface (BCI) could be used as an effective tool for active engagement of patients in motor rehabilitation by enabling them to initiate the movement by sending the command to BCI directly via their brain. In this paper, we have developed a BCI using novel EEG analysis to control a Virtual Reality avatar and a Soft Robotics rehabilitation device. This BCI is able identify and predict the upper limb movement. Autocorrelation analysis was done on EEG to study the complex oscillatory processes involved in motor command generation. Autocorrelation represented the interplay between oscillatory and decaying processes in EEG which change during voluntary movement. To investigate these changes, the exponential decay curve was fitted to the autocorrelation of EEG windows which captured the autocorrelation decay. It was observed that autocorrelation decays slower during voluntary movement and fast otherwise, thus, movement intention could be identified. This new method was translated into online signal processing for BCI to control the virtual avatar hand and soft robotic rehabilitation device by intending to move an upper limb. The soft robotic device placed on the joint between upper and the lower arm inflated and deflated resulting to extension and flexion of the arm providing proprioceptive feedback. Avatar arm viewed in virtual 3D environment with Oculus Rift also moved simultaneously providing a strong visual feedback.
{"title":"Movement intention based Brain Computer Interface for Virtual Reality and Soft Robotics rehabilitation using novel autocorrelation analysis of EEG","authors":"M. Wairagkar, I. Zoulias, V. Oguntosin, Y. Hayashi, S. Nasuto","doi":"10.1109/BIOROB.2016.7523705","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523705","url":null,"abstract":"Brain Computer Interface (BCI) could be used as an effective tool for active engagement of patients in motor rehabilitation by enabling them to initiate the movement by sending the command to BCI directly via their brain. In this paper, we have developed a BCI using novel EEG analysis to control a Virtual Reality avatar and a Soft Robotics rehabilitation device. This BCI is able identify and predict the upper limb movement. Autocorrelation analysis was done on EEG to study the complex oscillatory processes involved in motor command generation. Autocorrelation represented the interplay between oscillatory and decaying processes in EEG which change during voluntary movement. To investigate these changes, the exponential decay curve was fitted to the autocorrelation of EEG windows which captured the autocorrelation decay. It was observed that autocorrelation decays slower during voluntary movement and fast otherwise, thus, movement intention could be identified. This new method was translated into online signal processing for BCI to control the virtual avatar hand and soft robotic rehabilitation device by intending to move an upper limb. The soft robotic device placed on the joint between upper and the lower arm inflated and deflated resulting to extension and flexion of the arm providing proprioceptive feedback. Avatar arm viewed in virtual 3D environment with Oculus Rift also moved simultaneously providing a strong visual feedback.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116954789","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523769
Baojun Chen, Qining Wang
In this paper, we propose a vibrotactile stimulation system and explore the potential of combining it with volitional myoelectric control for robotic transtibial prostheses. The proposed system consists of six vibrators, three on the anterior side of the thigh and the other three on the posterior side. Six able-bodied subjects and two transtibial amputee subjects participated in the study, and three experiments were performed. The first two experiments were designed to evaluate subjects' ability to perceive vibrotactile stimulations and make fast response. In the third experiment, we aimed to investigate the necessity of adding vibrotactile feedback to the loop of volitional myoelectric control. Experimental results indicate that subjects are able to discriminate stimulations produced by different vibrators, and detect the change of stimulation positions with small time delay. Furthermore, the addition of vibrotactile feedback improves the performance of controlling a virtual ankle to reach target positions. These preliminary results validate the promise of applying the vibrotactile stimulation system for robotic transtibial prosthesis control.
{"title":"Design and evaluation of a vibrotactile feedback system to improve volitional myoelectric control for robotic transtibial prostheses: A preliminary study","authors":"Baojun Chen, Qining Wang","doi":"10.1109/BIOROB.2016.7523769","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523769","url":null,"abstract":"In this paper, we propose a vibrotactile stimulation system and explore the potential of combining it with volitional myoelectric control for robotic transtibial prostheses. The proposed system consists of six vibrators, three on the anterior side of the thigh and the other three on the posterior side. Six able-bodied subjects and two transtibial amputee subjects participated in the study, and three experiments were performed. The first two experiments were designed to evaluate subjects' ability to perceive vibrotactile stimulations and make fast response. In the third experiment, we aimed to investigate the necessity of adding vibrotactile feedback to the loop of volitional myoelectric control. Experimental results indicate that subjects are able to discriminate stimulations produced by different vibrators, and detect the change of stimulation positions with small time delay. Furthermore, the addition of vibrotactile feedback improves the performance of controlling a virtual ankle to reach target positions. These preliminary results validate the promise of applying the vibrotactile stimulation system for robotic transtibial prosthesis control.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116712074","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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