Pub Date : 2018-08-01DOI: 10.1109/BIOROB.2018.8487701
Anna-Maria Georgarakis, R. Stämpfli, P. Wolf, R. Riener, Jaime E. Duarte
Immobility due to movement impairments causes many secondary conditions that are a threat to a person's health and quality of life. Wearable robotic mobility aids such as exoskeletons and exosuits are a promising technique to tackle immobility. These devices are attached to the human with cuffs. However, the physical interaction at the human-robot interface is not yet well understood. Misplacement and compression of soft tissue diminish the efficiency of the robot and the comfort for the human. We developed a measurement method that allows us to simultaneously measure cuff interaction forces in normal and tangential direction. The measurement setup was validated in a friction test bench. The test-retest reliability was evaluated in an isolated attachment cuff mounted on a human forearm. Force measurements were repeatable, with error ranges up to 28.7% or 7.8 N in normal, 28.7% or 2.3 N in tangential direction. Our method is the first approach that simultaneously measures normal and tangential forces at the physical interface of wearable robots. The test-retest reliability is within the range of methods that assess only normal forces.
{"title":"A Method for Quantifying Interaction Forces in Wearable Robots*","authors":"Anna-Maria Georgarakis, R. Stämpfli, P. Wolf, R. Riener, Jaime E. Duarte","doi":"10.1109/BIOROB.2018.8487701","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487701","url":null,"abstract":"Immobility due to movement impairments causes many secondary conditions that are a threat to a person's health and quality of life. Wearable robotic mobility aids such as exoskeletons and exosuits are a promising technique to tackle immobility. These devices are attached to the human with cuffs. However, the physical interaction at the human-robot interface is not yet well understood. Misplacement and compression of soft tissue diminish the efficiency of the robot and the comfort for the human. We developed a measurement method that allows us to simultaneously measure cuff interaction forces in normal and tangential direction. The measurement setup was validated in a friction test bench. The test-retest reliability was evaluated in an isolated attachment cuff mounted on a human forearm. Force measurements were repeatable, with error ranges up to 28.7% or 7.8 N in normal, 28.7% or 2.3 N in tangential direction. Our method is the first approach that simultaneously measures normal and tangential forces at the physical interface of wearable robots. The test-retest reliability is within the range of methods that assess only normal forces.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115116440","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8488028
Maram Sakr, C. Menon
Force Myography (FMG) is a technique involving the use of force sensors on the surface of the limb to detect the volumetric changes in the underlying musculotendinous complex. This paper investigates the feasibility of employing force-sensing resistors (FSRs) worn on the arm that measure the FMG signals for force prediction in dynamic conditions. The predicted force value can be mapped into velocity value to control a linear actuator to track hand movements. Two FMG bands were donned on the participant wrist and forearm muscle belly to measure the FMG signals during force exertion. An accurate force transducer was used for labeling the FM G signals by measuring the exerted force. Three regression algorithms including kernel ridge regression (KRR), support vector regression (SVR), and general regression neural network (G RNN), were used in this study for predicting hand force using the FMG signals. The data were collected for 200 seconds for training the regression model. Then, the trained model was used for online force prediction for 430 seconds. The testing accuracy was 0.92, 0.90 and 0.79, using KRR, SVR and GRNN, respectively. These results will be beneficial for monitoring hand force during human-robot interaction or controlling the robot movement.
{"title":"Exploratory Evaluation of the Force Myography (FMG) Signals Usage for Admittance Control of a Linear Actuator","authors":"Maram Sakr, C. Menon","doi":"10.1109/BIOROB.2018.8488028","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8488028","url":null,"abstract":"Force Myography (FMG) is a technique involving the use of force sensors on the surface of the limb to detect the volumetric changes in the underlying musculotendinous complex. This paper investigates the feasibility of employing force-sensing resistors (FSRs) worn on the arm that measure the FMG signals for force prediction in dynamic conditions. The predicted force value can be mapped into velocity value to control a linear actuator to track hand movements. Two FMG bands were donned on the participant wrist and forearm muscle belly to measure the FMG signals during force exertion. An accurate force transducer was used for labeling the FM G signals by measuring the exerted force. Three regression algorithms including kernel ridge regression (KRR), support vector regression (SVR), and general regression neural network (G RNN), were used in this study for predicting hand force using the FMG signals. The data were collected for 200 seconds for training the regression model. Then, the trained model was used for online force prediction for 430 seconds. The testing accuracy was 0.92, 0.90 and 0.79, using KRR, SVR and GRNN, respectively. These results will be beneficial for monitoring hand force during human-robot interaction or controlling the robot movement.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"391 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115990438","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8487183
M. Hoang, Viet Ha Le, Jayoung Kim, Eunpyo Choi, Byungjeon Kang, Jong-Oh Park, Chang-sei Kim
Recently, a wireless capsule endoscope with active locomotion has become an effective endoscopic method for diagnosis and treatment of diseases of gastrointestinal (GI) tract. Various modules such as biopsy and drug delivery were developed for the wireless capsule endoscope (WCE) to extend its application. In this paper, we present a marking module socalled tattooing module for WCE to localize the lesions and tumors in digestive organs before the laparoscopic surgery. The WCE with tattooing module is manipulated by an Electromagnetic Actuation (EMA) system, where a moderate magnetic field intensity is generated to drive the WCE reaching to a target of the digestive organs. The tattooing module is capable of stowing the needle inside the WCE's body to avoid pathway organs damage during locomotion and extruding to puncture the target for tattooing. The magnetic field is controlled to activate the micro-reed switch and triggers a chemical reaction that generates gas pressure. The produced gas increases the pressure in the propellant room and pushes the piston to eject the ink into the target. The prototype of the tattooing capsule endoscope is fabricated with dimension of 13 mm in diameter and 33 mm in length. The working principle and the mechanism of the tattooing module are suggested and the feasibility test with the prototype is demonstrated through in-vitro experiments.
{"title":"Intestinal Tattooing Mechanism Integrated with Active Wireless Capsule Endoscope","authors":"M. Hoang, Viet Ha Le, Jayoung Kim, Eunpyo Choi, Byungjeon Kang, Jong-Oh Park, Chang-sei Kim","doi":"10.1109/BIOROB.2018.8487183","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487183","url":null,"abstract":"Recently, a wireless capsule endoscope with active locomotion has become an effective endoscopic method for diagnosis and treatment of diseases of gastrointestinal (GI) tract. Various modules such as biopsy and drug delivery were developed for the wireless capsule endoscope (WCE) to extend its application. In this paper, we present a marking module socalled tattooing module for WCE to localize the lesions and tumors in digestive organs before the laparoscopic surgery. The WCE with tattooing module is manipulated by an Electromagnetic Actuation (EMA) system, where a moderate magnetic field intensity is generated to drive the WCE reaching to a target of the digestive organs. The tattooing module is capable of stowing the needle inside the WCE's body to avoid pathway organs damage during locomotion and extruding to puncture the target for tattooing. The magnetic field is controlled to activate the micro-reed switch and triggers a chemical reaction that generates gas pressure. The produced gas increases the pressure in the propellant room and pushes the piston to eject the ink into the target. The prototype of the tattooing capsule endoscope is fabricated with dimension of 13 mm in diameter and 33 mm in length. The working principle and the mechanism of the tattooing module are suggested and the feasibility test with the prototype is demonstrated through in-vitro experiments.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115509584","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8487191
Massimo Sartori, D. Farina
Upper limb loss substantially impacts on the quality of life of thousands of individuals worldwide. Current advanced treatments rely on myoelectric prostheses controlled by electromyograms (EMG). Despite advances in surgical procedures (i.e. targeted muscle reinnervation) as well as in electrode design and bio-electric signal sampling, current myocontrol schemes provide limited re-gain of functionality and lack of bio-mimesis. Current solutions create mappings between EMG and prosthesis joint angles, disregarding the underlying neuromusculoskeletal processes. The poor performance of these approaches determines high rejection rates (40-50%) of myoelectric bionic limbs. This paper presents a biomimetic paradigm for active prosthesis control. It encompasses a modelling formulation that simulates the amputee's phantom limb musculoskeletal dynamics as controlled by high-density EMG-extracted neural activations to muscles. We demonstrate how this technique can be applied to a transhumeral amputee offline to decode musculoskeletal function in the phantom elbow and wrist offline. Moreover, we provide preliminary data showing how this technique can be operated online on intact-limbed individuals. The proposed paradigm represents an important step towards next-generation bionic limbs that can mimic human biological limb functionality and robustness.
{"title":"Estimation of Phantom Limb Musculoskeletal Mechanics After Targeted Muscle Reinnervation: Towards Online Model-Based Control of Myoelectric Bionic Limbs* Resrach supported by ERC Advanced Grant DEMOVE (267888).","authors":"Massimo Sartori, D. Farina","doi":"10.1109/BIOROB.2018.8487191","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487191","url":null,"abstract":"Upper limb loss substantially impacts on the quality of life of thousands of individuals worldwide. Current advanced treatments rely on myoelectric prostheses controlled by electromyograms (EMG). Despite advances in surgical procedures (i.e. targeted muscle reinnervation) as well as in electrode design and bio-electric signal sampling, current myocontrol schemes provide limited re-gain of functionality and lack of bio-mimesis. Current solutions create mappings between EMG and prosthesis joint angles, disregarding the underlying neuromusculoskeletal processes. The poor performance of these approaches determines high rejection rates (40-50%) of myoelectric bionic limbs. This paper presents a biomimetic paradigm for active prosthesis control. It encompasses a modelling formulation that simulates the amputee's phantom limb musculoskeletal dynamics as controlled by high-density EMG-extracted neural activations to muscles. We demonstrate how this technique can be applied to a transhumeral amputee offline to decode musculoskeletal function in the phantom elbow and wrist offline. Moreover, we provide preliminary data showing how this technique can be operated online on intact-limbed individuals. The proposed paradigm represents an important step towards next-generation bionic limbs that can mimic human biological limb functionality and robustness.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114840064","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8488118
Bokeon Kwak, Dongyoung Lee, J. Bae
Some aquatic insects can rapidly dash over the water surface by secreting chemical material that lowers the surface tension behind. This locomotion is commonly known as Marangoni propulsion, and we built a non-tethered miniature robot inspired by their mobility. The robot had six circular footpads with equilateral triangular cross section, and weighed 14.8 gram including on-board electronics, a battery, and a servo motor. Although the robot successfully skimmed over the water surface by dripping alcohol (e.g., 3-Methyl-l-butanol), the robot could not maintain a linear motion by itself. Therefore, we designed and attached flexural joints at the hind legs of the robot to compensate its linear motion; the asymmetric force applied to the hind legs subsequently induced another counter moment due to the bending of flexural joints. During the experiments, these joints were effective at reducing undesired lateral deviation more than 3-fold compared to one without flexural joints. Also, the characteristics of the robot's locomotion was similar with the locomotion of aquatic arthropods according to the dimensionless number analysis.
{"title":"Flexural Joints for Improved Linear Motion of a Marangoni Propulsion Robot: Design and Experiment","authors":"Bokeon Kwak, Dongyoung Lee, J. Bae","doi":"10.1109/BIOROB.2018.8488118","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8488118","url":null,"abstract":"Some aquatic insects can rapidly dash over the water surface by secreting chemical material that lowers the surface tension behind. This locomotion is commonly known as Marangoni propulsion, and we built a non-tethered miniature robot inspired by their mobility. The robot had six circular footpads with equilateral triangular cross section, and weighed 14.8 gram including on-board electronics, a battery, and a servo motor. Although the robot successfully skimmed over the water surface by dripping alcohol (e.g., 3-Methyl-l-butanol), the robot could not maintain a linear motion by itself. Therefore, we designed and attached flexural joints at the hind legs of the robot to compensate its linear motion; the asymmetric force applied to the hind legs subsequently induced another counter moment due to the bending of flexural joints. During the experiments, these joints were effective at reducing undesired lateral deviation more than 3-fold compared to one without flexural joints. Also, the characteristics of the robot's locomotion was similar with the locomotion of aquatic arthropods according to the dimensionless number analysis.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124646315","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8487188
Francesca Stival, S. Michieletto, Andrea De Agnoi, E. Pagello
Ahstract- The interest on wearable prosthetic devices has boost the research for a robust framework to help injured subjects to regain their lost functionality. A great number of solutions exploit physiological human signals, such as Electromyography (EMG), to naturally control the prosthesis, reproducing what happens in the human limbs. In this paper, we propose for the first time a way to integrate EMG signals with Inertial Measurement Unit (IMU) information, as a way to improve subject-independent models for controlling robotic hands. EMG data are very sensitive to both physical and physiological variations, and this is particularly true between different subjects. The introduction of IMUs aims at enriching the subject-independent model, making it more robust with information not strictly dependent from the physiological characteristics of the subject. We compare three different models: the first based on EMG solely, the second merging data from EMG and the 2 best IMUs available, and the third using EMG and IMUs information corresponding to the same 3 electrodes. The three techniques are tested on two different movements executed by 35 healthy subjects, by using a leave-one-out approach. The framework is able to estimate online the bending angles of the joints involved in the motion, obtaining an accuracy up to 0.8634. The resulting joint angles are used to actuate a robotic hand in a simulated environment.
{"title":"Toward a Better Robotic Hand Prosthesis Control: Using EMG and IMU Features for a Subject Independent Multi Joint Regression Model","authors":"Francesca Stival, S. Michieletto, Andrea De Agnoi, E. Pagello","doi":"10.1109/BIOROB.2018.8487188","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487188","url":null,"abstract":"Ahstract- The interest on wearable prosthetic devices has boost the research for a robust framework to help injured subjects to regain their lost functionality. A great number of solutions exploit physiological human signals, such as Electromyography (EMG), to naturally control the prosthesis, reproducing what happens in the human limbs. In this paper, we propose for the first time a way to integrate EMG signals with Inertial Measurement Unit (IMU) information, as a way to improve subject-independent models for controlling robotic hands. EMG data are very sensitive to both physical and physiological variations, and this is particularly true between different subjects. The introduction of IMUs aims at enriching the subject-independent model, making it more robust with information not strictly dependent from the physiological characteristics of the subject. We compare three different models: the first based on EMG solely, the second merging data from EMG and the 2 best IMUs available, and the third using EMG and IMUs information corresponding to the same 3 electrodes. The three techniques are tested on two different movements executed by 35 healthy subjects, by using a leave-one-out approach. The framework is able to estimate online the bending angles of the joints involved in the motion, obtaining an accuracy up to 0.8634. The resulting joint angles are used to actuate a robotic hand in a simulated environment.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125133202","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8487907
Yongtae G. Kim, M. Xiloyannis, D. Accoto, L. Masia
Wearable robotic devices and exoskeletons, that assist human beings in physically-demanding tasks have the potential to both increase productivity and reduce the risk of musculoskeletal disorders. Soft exoskeletons, known as exosuit, provide improved portability and fit. While many exosuits are populating the market to support light weights, very few are powerful enough to reinforce workers in lifting heavy loads. Adopting the advantages of novel soft-robotic principles, we propose a voice-controlled upper limb exosuit designed to aid its user in lifting up to 10kg per arm. The exosuit uses a wire-driven mechanism to transmit power from a proximally-located actuation stage to the shoulder and elbow. Forces are transmitted to the human body via soft, textile-based components. We evaluate the impact of the device on the muscular effort of a wearer in both a lifting and a holding task. Holding a weight of 14kg with the exosuit results in an average reduction in muscular effort of the biceps brachii and anterior deltoid of 50% and 68%, respectively. Similarly, lifting a weight of 7kg with the exosuit reduces the muscular activity of the same two muscles by 23.4% and 41.2%, respectively.
{"title":"Development of a Soft Exosuit for Industriale Applications","authors":"Yongtae G. Kim, M. Xiloyannis, D. Accoto, L. Masia","doi":"10.1109/BIOROB.2018.8487907","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487907","url":null,"abstract":"Wearable robotic devices and exoskeletons, that assist human beings in physically-demanding tasks have the potential to both increase productivity and reduce the risk of musculoskeletal disorders. Soft exoskeletons, known as exosuit, provide improved portability and fit. While many exosuits are populating the market to support light weights, very few are powerful enough to reinforce workers in lifting heavy loads. Adopting the advantages of novel soft-robotic principles, we propose a voice-controlled upper limb exosuit designed to aid its user in lifting up to 10kg per arm. The exosuit uses a wire-driven mechanism to transmit power from a proximally-located actuation stage to the shoulder and elbow. Forces are transmitted to the human body via soft, textile-based components. We evaluate the impact of the device on the muscular effort of a wearer in both a lifting and a holding task. Holding a weight of 14kg with the exosuit results in an average reduction in muscular effort of the biceps brachii and anterior deltoid of 50% and 68%, respectively. Similarly, lifting a weight of 7kg with the exosuit reduces the muscular activity of the same two muscles by 23.4% and 41.2%, respectively.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115903670","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8487912
Dalia De Santis, Patrycja Dzialecka, F. Mussa-Ivaldi
Interfaces that exploit biological signals or movements to control the operation of lower-dimensional systems external to the body are at the frontier for augmenting human abilities, but also constitute a learning challenge for their users. We developed and tested an unsupervised coadaptive algorithm that changed the mapping of a body machine interface to match the natural movement distribution of the users. Users controlled a cursor on a computer monitor using arm and shoulder motions captured by a set of inertial sensors in either of three conditions: i) a constant body-to-cursor map obtained through Principal Component Analysis of calibration movements, ii) a map that was recomputed at specified points in time, iii) a map that adaptively changed over time. We used recursive online PCA to incrementally shift the projection space towards the 2-dimensional subspace capturing the greatest sensor signal variance. Results suggest that training with the coadaptive BMI allows for faster internalization of the control space while reducing user's reliance on visual feedback.
{"title":"Unsupervised Coadaptation of an Assistive Interface to Facilitate Sensorimotor Learning of Redundant Control","authors":"Dalia De Santis, Patrycja Dzialecka, F. Mussa-Ivaldi","doi":"10.1109/BIOROB.2018.8487912","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487912","url":null,"abstract":"Interfaces that exploit biological signals or movements to control the operation of lower-dimensional systems external to the body are at the frontier for augmenting human abilities, but also constitute a learning challenge for their users. We developed and tested an unsupervised coadaptive algorithm that changed the mapping of a body machine interface to match the natural movement distribution of the users. Users controlled a cursor on a computer monitor using arm and shoulder motions captured by a set of inertial sensors in either of three conditions: i) a constant body-to-cursor map obtained through Principal Component Analysis of calibration movements, ii) a map that was recomputed at specified points in time, iii) a map that adaptively changed over time. We used recursive online PCA to incrementally shift the projection space towards the 2-dimensional subspace capturing the greatest sensor signal variance. Results suggest that training with the coadaptive BMI allows for faster internalization of the control space while reducing user's reliance on visual feedback.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122717714","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}
Lower back pain is a major health concern worldwide. A cause of lower back pain is the burden on the lumbar region caused by the handling of heavy objects. The Ministry of Health, Labour and Welfare in Japan recommended “squat lifting” to reduce the burden. However, the technique is not very popular although it supports a large force on the lower limbs. Therefore, the aim of this study is to develop a power assist suit for squat lifting. In the study, we propose a knee joint extension mechanism by using a leaf spring. Subsequently, we discuss the estimation of joint torque from the motion analysis of squat lifting to construct a prototype. Finally, we describe the performance of a prototype mounted on a human body. The results indicate that the %MVC of the rectus femoris while performing squat lifting using the prototype is 53% lower than the value obtained without using the prototype.
{"title":"Proposal of Non-rotating Joint Drive Type Mechanical Assist Device for Squat Lifting by Using Leaf and Compression Spring","authors":"Hirokazu Arakawa, Shun Mohri, Kazuya Yokoyama, Yasuyuki Yamada, Isao Kikutani, Taro Nakamura","doi":"10.1109/BIOROB.2018.8487627","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487627","url":null,"abstract":"Lower back pain is a major health concern worldwide. A cause of lower back pain is the burden on the lumbar region caused by the handling of heavy objects. The Ministry of Health, Labour and Welfare in Japan recommended “squat lifting” to reduce the burden. However, the technique is not very popular although it supports a large force on the lower limbs. Therefore, the aim of this study is to develop a power assist suit for squat lifting. In the study, we propose a knee joint extension mechanism by using a leaf spring. Subsequently, we discuss the estimation of joint torque from the motion analysis of squat lifting to construct a prototype. Finally, we describe the performance of a prototype mounted on a human body. The results indicate that the %MVC of the rectus femoris while performing squat lifting using the prototype is 53% lower than the value obtained without using the prototype.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128415138","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 : 2018-08-01DOI: 10.1109/BIOROB.2018.8487204
C. Wai, T. C. Leong, Manik Gujral, Jeff Hung, T. Hui, Kew Kok Wen
This paper describes the Ambidexter, a low cost portable home-based robotic rehabilitation device for training fine motor skills. The Ambidexter is a 3 degree-of-freedom (DOF) robotic device designed for training hand opening/closing, forearm pronation/supination and wrist flexion/extension. The aim of physical/occupational therapy is to help the patients to improve the ability to perform activities in daily life (ADLs). Currently, due to the high cost and complexity, robotic assisted rehabilitation device are only available at rehabilitation center or therapeutic institution with proper supervision by trained therapist. A low-cost home-based robotic device is needed to solve the existing shortage of trained therapists and high number of patients needing upper limbs rehabilitation. Home-based device also enables patients to get more exercises with minimum assistance at the comfort of their home. It reduces the need to travel and the reliance on physical presence of trained therapists. This paper will present the design considerations and criteria adopted with the aim to reduce cost while maintaining the functionality and effectiveness of the robotic device.
{"title":"Ambidexter: A Low Cost Portable Home-Based Robotic Rehabilitation Device for Training Fine Motor Skills","authors":"C. Wai, T. C. Leong, Manik Gujral, Jeff Hung, T. Hui, Kew Kok Wen","doi":"10.1109/BIOROB.2018.8487204","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487204","url":null,"abstract":"This paper describes the Ambidexter, a low cost portable home-based robotic rehabilitation device for training fine motor skills. The Ambidexter is a 3 degree-of-freedom (DOF) robotic device designed for training hand opening/closing, forearm pronation/supination and wrist flexion/extension. The aim of physical/occupational therapy is to help the patients to improve the ability to perform activities in daily life (ADLs). Currently, due to the high cost and complexity, robotic assisted rehabilitation device are only available at rehabilitation center or therapeutic institution with proper supervision by trained therapist. A low-cost home-based robotic device is needed to solve the existing shortage of trained therapists and high number of patients needing upper limbs rehabilitation. Home-based device also enables patients to get more exercises with minimum assistance at the comfort of their home. It reduces the need to travel and the reliance on physical presence of trained therapists. This paper will present the design considerations and criteria adopted with the aim to reduce cost while maintaining the functionality and effectiveness of the robotic device.","PeriodicalId":382522,"journal":{"name":"2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130894713","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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