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Frontiers in Neurorobotics

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https://www.readbyqxmd.com/read/27909406/assessment-of-a-wearable-force-and-electromyography-device-and-comparison-of-the-related-signals-for-myocontrol
#1
Mathilde Connan, Eduardo Ruiz Ramírez, Bernhard Vodermayer, Claudio Castellini
In the frame of assistive robotics, multi-finger prosthetic hand/wrists have recently appeared, offering an increasing level of dexterity; however, in practice their control is limited to a few hand grips and still unreliable, with the effect that pattern recognition has not yet appeared in the clinical environment. According to the scientific community, one of the keys to improve the situation is multi-modal sensing, i.e., using diverse sensor modalities to interpret the subject's intent and improve the reliability and safety of the control system in daily life activities...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27895574/robot-assisted-rehabilitation-of-ankle-plantar-flexors-spasticity-a-3-month-study-with-proprioceptive-neuromuscular-facilitation
#2
Zhihao Zhou, Yao Sun, Ninghua Wang, Fan Gao, Kunlin Wei, Qining Wang
In this paper, we aim to investigate the effect of proprioceptive neuromuscular facilitation (PNF)-based rehabilitation for ankle plantar flexors spasticity by using a Robotic Ankle-foot Rehabilitation System (RARS). A modified robot-assisted system was proposed, and seven poststroke patients with hemiplegic spastic ankles participated in a 3-month robotic PNF training. Their impaired sides were used as the experimental group, while their unimpaired sides as the control group. A robotic intervention for the experimental group started from a 2-min passive stretching to warming-up or relaxing the soleus and gastrocnemius muscles and also ended with the same one...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27891088/an-emg-interface-for-the-control-of-motion-and-compliance-of-a-supernumerary-robotic-finger
#3
Irfan Hussain, Giovanni Spagnoletti, Gionata Salvietti, Domenico Prattichizzo
In this paper, we propose a novel electromyographic (EMG) control interface to control motion and joints compliance of a supernumerary robotic finger. The supernumerary robotic fingers are a recently introduced class of wearable robotics that provides users additional robotic limbs in order to compensate or augment the existing abilities of natural limbs without substituting them. Since supernumerary robotic fingers are supposed to closely interact and perform actions in synergy with the human limbs, the control principles of extra finger should have similar behavior as human's ones including the ability of regulating the compliance...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27853431/developing-dynamic-field-theory-architectures-for-embodied-cognitive-systems-with-cedar
#4
Oliver Lomp, Mathis Richter, Stephan K U Zibner, Gregor Schöner
Embodied artificial cognitive systems, such as autonomous robots or intelligent observers, connect cognitive processes to sensory and effector systems in real time. Prime candidates for such embodied intelligence are neurally inspired architectures. While components such as forward neural networks are well established, designing pervasively autonomous neural architectures remains a challenge. This includes the problem of tuning the parameters of such architectures so that they deliver specified functionality under variable environmental conditions and retain these functions as the architectures are expanded...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27807418/evaluating-emg-feature-and-classifier-selection-for-application-to-partial-hand-prosthesis-control
#5
Adenike A Adewuyi, Levi J Hargrove, Todd A Kuiken
Pattern recognition-based myoelectric control of upper-limb prostheses has the potential to restore control of multiple degrees of freedom. Though this control method has been extensively studied in individuals with higher-level amputations, few studies have investigated its effectiveness for individuals with partial-hand amputations. Most partial-hand amputees retain a functional wrist and the ability of pattern recognition-based methods to correctly classify hand motions from different wrist positions is not well studied...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27807417/wrist-proprioception-amplitude-or-position-coding
#6
Francesca Marini, Valentina Squeri, Pietro Morasso, Lorenzo Masia
This work examines physiological mechanisms underlying the position sense of the wrist, namely, the codification of proprioceptive information related to pointing movements of the wrist toward kinesthetic targets. Twenty-four healthy subjects participated to a robot-aided assessment of their wrist proprioceptive acuity to investigate if the sensorimotor transformation involved in matching targets located by proprioceptive receptors relies on amplitude or positional cues. A joint position matching test was performed in order to explore such dichotomy...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27803661/closed-loop-robots-driven-by-short-term-synaptic-plasticity-emergent-explorative-vs-limit-cycle-locomotion
#7
Laura Martin, Bulcsú Sándor, Claudius Gros
We examine the hypothesis, that short-term synaptic plasticity (STSP) may generate self-organized motor patterns. We simulated sphere-shaped autonomous robots, within the LPZRobots simulation package, containing three weights moving along orthogonal internal rods. The position of a weight is controlled by a single neuron receiving excitatory input from the sensor, measuring its actual position, and inhibitory inputs from the other two neurons. The inhibitory connections are transiently plastic, following physiologically inspired STSP-rules...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27799908/assessment-of-myoelectric-controller-performance-and-kinematic-behavior-of-a-novel-soft-synergy-inspired-robotic-hand-for-prosthetic-applications
#8
Simone Fani, Matteo Bianchi, Sonal Jain, José Simões Pimenta Neto, Scott Boege, Giorgio Grioli, Antonio Bicchi, Marco Santello
Myoelectric artificial limbs can significantly advance the state of the art in prosthetics, since they can be used to control mechatronic devices through muscular activity in a way that mimics how the subjects used to activate their muscles before limb loss. However, surveys indicate that dissatisfaction with the functionality of terminal devices underlies the widespread abandonment of prostheses. We believe that one key factor to improve acceptability of prosthetic devices is to attain human likeness of prosthesis movements, a goal which is being pursued by research on social and human-robot interactions...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27752242/pragmatic-frames-for-teaching-and-learning-in-human-robot-interaction-review-and-challenges
#9
Anna-Lisa Vollmer, Britta Wrede, Katharina J Rohlfing, Pierre-Yves Oudeyer
One of the big challenges in robotics today is to learn from human users that are inexperienced in interacting with robots but yet are often used to teach skills flexibly to other humans and to children in particular. A potential route toward natural and efficient learning and teaching in Human-Robot Interaction (HRI) is to leverage the social competences of humans and the underlying interactional mechanisms. In this perspective, this article discusses the importance of pragmatic frames as flexible interaction protocols that provide important contextual cues to enable learners to infer new action or language skills and teachers to convey these cues...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27656140/deep-learning-with-convolutional-neural-networks-applied-to-electromyography-data-a-resource-for-the-classification-of-movements-for-prosthetic-hands
#10
Manfredo Atzori, Matteo Cognolato, Henning Müller
Natural control methods based on surface electromyography (sEMG) and pattern recognition are promising for hand prosthetics. However, the control robustness offered by scientific research is still not sufficient for many real life applications, and commercial prostheses are capable of offering natural control for only a few movements. In recent years deep learning revolutionized several fields of machine learning, including computer vision and speech recognition. Our objective is to test its methods for natural control of robotic hands via sEMG using a large number of intact subjects and amputees...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27597824/combining-vibrotactile-feedback-with-volitional-myoelectric-control-for-robotic-transtibial-prostheses
#11
Baojun Chen, Yanggang Feng, Qining Wang
In recent years, the development of myoelectric control for robotic lower-limb prostheses makes it possible for amputee users to volitionally control prosthetic joints. However, the human-centered control loop is not closed due to the lack of sufficient feedback of prosthetic joint movement, and it may result in poor control performance. In this research, we propose a vibrotactile stimulation system to provide the feedback of ankle joint position, and validate the necessity of combining it with volitional myoelectric control to achieve improved control performance...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27597823/the-reality-of-myoelectric-prostheses-understanding-what-makes-these-devices-difficult-for-some-users-to-control
#12
Alix Chadwell, Laurence Kenney, Sibylle Thies, Adam Galpin, John Head
Users of myoelectric prostheses can often find them difficult to control. This can lead to passive-use of the device or total rejection, which can have detrimental effects on the contralateral limb due to overuse. Current clinically available prostheses are "open loop" systems, and although considerable effort has been focused on developing biofeedback to "close the loop," there is evidence from laboratory-based studies that other factors, notably improving predictability of response, may be as, if not more, important...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27516737/design-of-spiking-central-pattern-generators-for-multiple-locomotion-gaits-in-hexapod-robots-by-christiansen-grammar-evolution
#13
Andres Espinal, Horacio Rostro-Gonzalez, Martin Carpio, Erick I Guerra-Hernandez, Manuel Ornelas-Rodriguez, Marco Sotelo-Figueroa
This paper presents a method to design Spiking Central Pattern Generators (SCPGs) to achieve locomotion at different frequencies on legged robots. It is validated through embedding its designs into a Field-Programmable Gate Array (FPGA) and implemented on a real hexapod robot. The SCPGs are automatically designed by means of a Christiansen Grammar Evolution (CGE)-based methodology. The CGE performs a solution for the configuration (synaptic weights and connections) for each neuron in the SCPG. This is carried out through the indirect representation of candidate solutions that evolve to replicate a specific spike train according to a locomotion pattern (gait) by measuring the similarity between the spike trains and the SPIKE distance to lead the search to a correct configuration...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27471463/dynamical-integration-of-language-and-behavior-in-a-recurrent-neural-network-for-human-robot-interaction
#14
Tatsuro Yamada, Shingo Murata, Hiroaki Arie, Tetsuya Ogata
To work cooperatively with humans by using language, robots must not only acquire a mapping between language and their behavior but also autonomously utilize the mapping in appropriate contexts of interactive tasks online. To this end, we propose a novel learning method linking language to robot behavior by means of a recurrent neural network. In this method, the network learns from correct examples of the imposed task that are given not as explicitly separated sets of language and behavior but as sequential data constructed from the actual temporal flow of the task...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27242504/concepts-and-relations-in-neurally-inspired-in-situ-concept-based-computing
#15
Frank van der Velde
In situ concept-based computing is based on the notion that conceptual representations in the human brain are "in situ." In this way, they are grounded in perception and action. Examples are neuronal assemblies, whose connection structures develop over time and are distributed over different brain areas. In situ concepts representations cannot be copied or duplicated because that will disrupt their connection structure, and thus the meaning of these concepts. Higher-level cognitive processes, as found in language and reasoning, can be performed with in situ concepts by embedding them in specialized neurally inspired "blackboards...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27148039/optical-myography-detecting-finger-movements-by-looking-at-the-forearm
#16
Christian Nissler, Nikoleta Mouriki, Claudio Castellini
One of the crucial problems found in the scientific community of assistive/rehabilitation robotics nowadays is that of automatically detecting what a disabled subject (for instance, a hand amputee) wants to do, exactly when she wants to do it, and strictly for the time she wants to do it. This problem, commonly called "intent detection," has traditionally been tackled using surface electromyography, a technique which suffers from a number of drawbacks, including the changes in the signal induced by sweat and muscle fatigue...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/27014051/neuromodulation-and-synaptic-plasticity-for-the-control-of-fast-periodic-movement-energy-efficiency-in-coupled-compliant-joints-via-pca
#17
Philipp Stratmann, Dominic Lakatos, Alin Albu-Schäffer
There are multiple indications that the nervous system of animals tunes muscle output to exploit natural dynamics of the elastic locomotor system and the environment. This is an advantageous strategy especially in fast periodic movements, since the elastic elements store energy and increase energy efficiency and movement speed. Experimental evidence suggests that coordination among joints involves proprioceptive input and neuromodulatory influence originating in the brain stem. However, the neural strategies underlying the coordination of fast periodic movements remain poorly understood...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/26913002/serendipitous-offline-learning-in-a-neuromorphic-robot
#18
Terrence C Stewart, Ashley Kleinhans, Andrew Mundy, Jörg Conradt
We demonstrate a hybrid neuromorphic learning paradigm that learns complex sensorimotor mappings based on a small set of hard-coded reflex behaviors. A mobile robot is first controlled by a basic set of reflexive hand-designed behaviors. All sensor data is provided via a spike-based silicon retina camera (eDVS), and all control is implemented via spiking neurons simulated on neuromorphic hardware (SpiNNaker). Given this control system, the robot is capable of simple obstacle avoidance and random exploration...
2016: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/26635598/cortical-spiking-network-interfaced-with-virtual-musculoskeletal-arm-and-robotic-arm
#19
Salvador Dura-Bernal, Xianlian Zhou, Samuel A Neymotin, Andrzej Przekwas, Joseph T Francis, William W Lytton
Embedding computational models in the physical world is a critical step towards constraining their behavior and building practical applications. Here we aim to drive a realistic musculoskeletal arm model using a biomimetic cortical spiking model, and make a robot arm reproduce the same trajectories in real time. Our cortical model consisted of a 3-layered cortex, composed of several hundred spiking model-neurons, which display physiologically realistic dynamics. We interconnected the cortical model to a two-joint musculoskeletal model of a human arm, with realistic anatomical and biomechanical properties...
2015: Frontiers in Neurorobotics
https://www.readbyqxmd.com/read/26578947/editorial-neural-plasticity-for-rich-and-uncertain-robotic-information-streams
#20
Andrea Soltoggio, Frank van der Velde
No abstract text is available yet for this article.
2015: Frontiers in Neurorobotics
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