Pub Date : 1900-01-01DOI: 10.1504/ijbbr.2023.10054889
J. Dhupia, Peter Xu, B. Chen
{"title":"Deformation and Dynamic Response of a Soft Cavity Facilitating Robotic Chewing of Foods","authors":"J. Dhupia, Peter Xu, B. Chen","doi":"10.1504/ijbbr.2023.10054889","DOIUrl":"https://doi.org/10.1504/ijbbr.2023.10054889","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125224983","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 : 1900-01-01DOI: 10.1504/ijbbr.2023.10057830
Nantu Das, A. Paul
{"title":"Prosthetic robotic arm design using flex sensors for implementation in human assistive application","authors":"Nantu Das, A. Paul","doi":"10.1504/ijbbr.2023.10057830","DOIUrl":"https://doi.org/10.1504/ijbbr.2023.10057830","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130990148","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 : 1900-01-01DOI: 10.1504/IJBBR.2015.079328
E. Maranesi, F. Nardo, G. Ghetti, L. Burattini, S. Fioretti
The aim of the study is to propose a new methodology to assess step length, duration and speed, using only two 1-degree-of-freedom electrogoniometers, positioned on hip and knee joints. To this purpose, a novel model was introduced, which represents the lower limb modelled as two rigid segments (thigh and shank). Model validation was performed comparing the results with those automatically achieved from two classic gait analysis systems (a 6-camera stereophotogrammetric system and GAITRite), during walking at three different speeds (natural, fast and slow). The absence of significant differences among parameter values estimated by the three systems indicates a strong reliability of the model. Thus, the study candidates this electrogoniometer-based model as a reliable and not expensive tool for an easy and flexible assessment of spatio-temporal gait parameters in normal subjects, and propose it as a valid alternative to traditional methods using foot switches, ground reaction forces, IMU or stereo-photogrammetric systems.
{"title":"A biomechanical model for the evaluation by electrogoniometry of spatio-temporal parameters during walking","authors":"E. Maranesi, F. Nardo, G. Ghetti, L. Burattini, S. Fioretti","doi":"10.1504/IJBBR.2015.079328","DOIUrl":"https://doi.org/10.1504/IJBBR.2015.079328","url":null,"abstract":"The aim of the study is to propose a new methodology to assess step length, duration and speed, using only two 1-degree-of-freedom electrogoniometers, positioned on hip and knee joints. To this purpose, a novel model was introduced, which represents the lower limb modelled as two rigid segments (thigh and shank). Model validation was performed comparing the results with those automatically achieved from two classic gait analysis systems (a 6-camera stereophotogrammetric system and GAITRite), during walking at three different speeds (natural, fast and slow). The absence of significant differences among parameter values estimated by the three systems indicates a strong reliability of the model. Thus, the study candidates this electrogoniometer-based model as a reliable and not expensive tool for an easy and flexible assessment of spatio-temporal gait parameters in normal subjects, and propose it as a valid alternative to traditional methods using foot switches, ground reaction forces, IMU or stereo-photogrammetric systems.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115494151","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 : 1900-01-01DOI: 10.1504/IJBBR.2013.058741
M. Cong, Haiying Wen, Weiliang Xu
A jaw robot based on the 6-PUS parallel mechanism was introduced according to the biomechanical properties of mandibular muscles. For a given mandibular trajectory to be tracked, the inverse kinematics solution is derived and Jacobian matrix formulated from differential kinematics is found. Kinematics performances, such as constant orientation workspace and manipulability are simulated via numerical method. These indices show that the parallel mechanism has enough flexible workspace without singularity, and has a good motion transmission performance for human chewing movement. In order to reproduce jaw motions and mechanics that match the human jaw function truthfully with the conception of bionics, the temporomandibular joints (TMJs) are taken into account. Another novel actuation redundant mechanism for the jaw robot is proposed based on mechanical biomimetic principles, which has four degrees of freedom, but is driven by six actuators.
{"title":"Simulation of a 6-PUS jaw robot and a new mechanism inspired by masticatory system","authors":"M. Cong, Haiying Wen, Weiliang Xu","doi":"10.1504/IJBBR.2013.058741","DOIUrl":"https://doi.org/10.1504/IJBBR.2013.058741","url":null,"abstract":"A jaw robot based on the 6-PUS parallel mechanism was introduced according to the biomechanical properties of mandibular muscles. For a given mandibular trajectory to be tracked, the inverse kinematics solution is derived and Jacobian matrix formulated from differential kinematics is found. Kinematics performances, such as constant orientation workspace and manipulability are simulated via numerical method. These indices show that the parallel mechanism has enough flexible workspace without singularity, and has a good motion transmission performance for human chewing movement. In order to reproduce jaw motions and mechanics that match the human jaw function truthfully with the conception of bionics, the temporomandibular joints (TMJs) are taken into account. Another novel actuation redundant mechanism for the jaw robot is proposed based on mechanical biomimetic principles, which has four degrees of freedom, but is driven by six actuators.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123630312","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 : 1900-01-01DOI: 10.1504/IJBBR.2013.058735
L. Sui, S. Xie
This paper proposes a modelling approach using two general parameters of pneumatic muscle actuator based on a linearised method. After the analysis of the two linearised parameters, which are stiffness and pressure-force coefficient, a model of pneumatic muscle is developed based on assumptions of the linearised parameters. Joint stiffness and pressure-torque coefficient are proposed and applied to the analysis of an antagonistic joint actuated by pneumatic muscles. A joint model is obtained using the linearised parameters, and a position and stiffness control model of the joint is developed.
{"title":"Modelling of pneumatic muscle actuator and antagonistic joint using linearised parameters","authors":"L. Sui, S. Xie","doi":"10.1504/IJBBR.2013.058735","DOIUrl":"https://doi.org/10.1504/IJBBR.2013.058735","url":null,"abstract":"This paper proposes a modelling approach using two general parameters of pneumatic muscle actuator based on a linearised method. After the analysis of the two linearised parameters, which are stiffness and pressure-force coefficient, a model of pneumatic muscle is developed based on assumptions of the linearised parameters. Joint stiffness and pressure-torque coefficient are proposed and applied to the analysis of an antagonistic joint actuated by pneumatic muscles. A joint model is obtained using the linearised parameters, and a position and stiffness control model of the joint is developed.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126343150","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 : 1900-01-01DOI: 10.1504/IJBBR.2013.058708
M. A. Oskoei, Huosheng Hu, J. Q. Gan
This paper proposes a feature-channel subset selection method for obtaining an optimal subset of features and channels of myoelectric human-machine interface applied to classify upper limb’s motions using multi-channel myoelectric signals. It employs a multi-objective genetic algorithm as a search strategy and either data separability index or classification rate as an objective function. A wide range of features in time, frequency, and time-scale domains are examined, and a modification that reduces the bias of cardinality in the separability index is evaluated. The proposed method produces a compact subset of features and channels, which results in high accuracy by linear classifiers without a need of preliminary tailor-made adjustments.
{"title":"Feature-channel subset selection for optimising myoelectric human-machine interface design","authors":"M. A. Oskoei, Huosheng Hu, J. Q. Gan","doi":"10.1504/IJBBR.2013.058708","DOIUrl":"https://doi.org/10.1504/IJBBR.2013.058708","url":null,"abstract":"This paper proposes a feature-channel subset selection method for obtaining an optimal subset of features and channels of myoelectric human-machine interface applied to classify upper limb’s motions using multi-channel myoelectric signals. It employs a multi-objective genetic algorithm as a search strategy and either data separability index or classification rate as an objective function. A wide range of features in time, frequency, and time-scale domains are examined, and a modification that reduces the bias of cardinality in the separability index is evaluated. The proposed method produces a compact subset of features and channels, which results in high accuracy by linear classifiers without a need of preliminary tailor-made adjustments.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133966275","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 : 1900-01-01DOI: 10.1504/IJBBR.2013.058737
Ran Tao, S. Xie, Yanxin Zhang, J. Pau
Assistive robots have made great contributions to disabled people in physiotherapy and rehabilitation areas. The interface between patients and medical devices plays a significant role for patients to operate these kinds of robots. This review introduces the current research and development of neuromuscular interfaces, especially the new research directions with special focus on modelling of musculoskeletal systems for interfacing purposes. The paper also summarises the function and prominent advantage of using surface electromyography (sEMG) signals for the interface. The elbow joint was used as an example to go through the working steps of both human biological systems and neuromuscular interfaces. Further developments were also discussed to improve the interface to meet medical demands.
{"title":"Review of EMG-based neuromuscular interfaces for rehabilitation: elbow joint as an example","authors":"Ran Tao, S. Xie, Yanxin Zhang, J. Pau","doi":"10.1504/IJBBR.2013.058737","DOIUrl":"https://doi.org/10.1504/IJBBR.2013.058737","url":null,"abstract":"Assistive robots have made great contributions to disabled people in physiotherapy and rehabilitation areas. The interface between patients and medical devices plays a significant role for patients to operate these kinds of robots. This review introduces the current research and development of neuromuscular interfaces, especially the new research directions with special focus on modelling of musculoskeletal systems for interfacing purposes. The paper also summarises the function and prominent advantage of using surface electromyography (sEMG) signals for the interface. The elbow joint was used as an example to go through the working steps of both human biological systems and neuromuscular interfaces. Further developments were also discussed to improve the interface to meet medical demands.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"208 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132971761","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 : 1900-01-01DOI: 10.1504/IJBBR.2015.079320
Xing Song, A. McDaid, S. Xie
Steady state visual evoked potentials (SSVEP) are less vulnerable to noise than other kinds of electroencephalography (EEG) signals and have therefore recently become popular in brain computer interface (BCI) applications. This paper firstly demonstrates an online asynchronous analogue (variable level) SSVEP-based BCI for lower limb rehabilitation in which the movement of robotic exoskeleton is continuously controlled by the user's intent. Such patient participation has proved to be one of the most important factors for rehabilitating the neural system after injury or stroke. Three new and different training protocols are developed specially for rehabilitation exercise and tested with the proposed adjacent narrow band-pass filter (ANBF) method. Results with six participants are presented with accuracy to within a knee angle of 1° after simple training. For the ANBF method with 0.3 Hz filter spans, the overall average recognition accuracy is 95.98% ± 4.15% and the overall average net latency is 2.84 ± 0.61 seconds. For the ANBF method with 0.1 Hz filter spans, the overall average recognition accuracy is 98.91% ± 1.50% and the overall average net latency is 4.29% ± 0.50% seconds. This gives much promise to future development of brain controlled rehabilitation devices.
{"title":"Online analogue steady state visually evoked potential brain computer interface for lower limb rehabilitation","authors":"Xing Song, A. McDaid, S. Xie","doi":"10.1504/IJBBR.2015.079320","DOIUrl":"https://doi.org/10.1504/IJBBR.2015.079320","url":null,"abstract":"Steady state visual evoked potentials (SSVEP) are less vulnerable to noise than other kinds of electroencephalography (EEG) signals and have therefore recently become popular in brain computer interface (BCI) applications. This paper firstly demonstrates an online asynchronous analogue (variable level) SSVEP-based BCI for lower limb rehabilitation in which the movement of robotic exoskeleton is continuously controlled by the user's intent. Such patient participation has proved to be one of the most important factors for rehabilitating the neural system after injury or stroke. Three new and different training protocols are developed specially for rehabilitation exercise and tested with the proposed adjacent narrow band-pass filter (ANBF) method. Results with six participants are presented with accuracy to within a knee angle of 1° after simple training. For the ANBF method with 0.3 Hz filter spans, the overall average recognition accuracy is 95.98% ± 4.15% and the overall average net latency is 2.84 ± 0.61 seconds. For the ANBF method with 0.1 Hz filter spans, the overall average recognition accuracy is 98.91% ± 1.50% and the overall average net latency is 4.29% ± 0.50% seconds. This gives much promise to future development of brain controlled rehabilitation devices.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126948679","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 : 1900-01-01DOI: 10.1504/ijbbr.2020.10030382
F. Nardo, A. Mengarelli, E. Maranesi, L. Burattini, S. Fioretti
{"title":"Gender-related differences in ankle-muscles recruitment during walking","authors":"F. Nardo, A. Mengarelli, E. Maranesi, L. Burattini, S. Fioretti","doi":"10.1504/ijbbr.2020.10030382","DOIUrl":"https://doi.org/10.1504/ijbbr.2020.10030382","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124142422","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 : 1900-01-01DOI: 10.1504/ijbbr.2020.10030381
F. Khosravi, M. S. Noorani, M. Shoaran
{"title":"Intelligent detection of melanoma growth stage based on the analysis of the thermal response of skin","authors":"F. Khosravi, M. S. Noorani, M. Shoaran","doi":"10.1504/ijbbr.2020.10030381","DOIUrl":"https://doi.org/10.1504/ijbbr.2020.10030381","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121416393","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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