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https://www.readbyqxmd.com/read/28814027/challenges-in-using-compliant-ligaments-for-position-estimation-within-robotic-joints
#1
Felix Russell, Lei Gao, Peter Ellison, Ravi Vaidyanathan
The mechanical advantages of bio-inspired condylar robotic knee joints for use in prosthetics or rehabilitation has been argued extensively in literature. A common limitation of these designs is the difficulty of estimating joint angle and therefore accurately controlling the joint. Furthermore, the potential role of ligament-like structures in robotic knees is not very well established. In this work, we investigate the role of compliant stretch sensing ligaments and their integration into a condylar robotic knee...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814014/bio-inspired-control-of-joint-torque-and-knee-stiffness-in-a-robotic-lower-limb-exoskeleton-using-a-central-pattern-generator
#2
Stefan O Sobrade, Yannik Nager, Amy R Wu, Roger Gassert, Auke Ijspeert
Robotic lower limb exoskeletons are becoming increasingly popular in therapy and recreational use. However, most exoskeletons are still rather limited in their locomotion speed and the activities of daily live they can perform. Furthermore, they typically do not allow for a dynamic adaptation to the environment, as they are often controlled with predefined reference trajectories. Inspired by human leg stiffness modulation during walking, variable stiffness actuators increase flexibility without the need for more complex controllers...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814009/preliminary-results-toward-a-naturally-controlled-multi-synergistic-prosthetic-hand
#3
Matteo Rossi, Cosimo Della Santina, Cristina Piazza, Giorgio Grioli, Manuel Catalano, Antonio Biechi
Robotic hands embedding human motor control principles in their mechanical design are getting increasing interest thanks to their simplicity and robustness, combined with good performance. Another key aspect of these hands is that humans can use them very effectively thanks to the similarity of their behavior with real hands. Nevertheless, controlling more than one degree of actuation remains a challenging task. In this paper, we take advantage of these characteristics in a multi-synergistic prosthesis. We propose an integrated setup composed of Pisa/IIT SoftHand 2 and a control strategy which simultaneously and proportionally maps the human hand movements to the robotic hand...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813999/upper-limb-prosthetic-control-using-wearable-multichannel-mechanomyography
#4
Samuel Wilson, Ravi Vaidyanathan
In this paper we introduce a robust multi-channel wearable sensor system for capturing user intent to control robotic hands. The interface is based on a fusion of inertial measurement and mechanomyography (MMG), which measures the vibrations of muscle fibres during motion. MMG is immune to issues such as sweat, skin impedance, and the need for a reference signal that is common to electromyography (EMG). The main contributions of this work are: 1) the hardware design of a fused inertial and MMG measurement system that can be worn on the arm, 2) a unified algorithm for detection, segmentation, and classification of muscle movement corresponding to hand gestures, and 3) experiments demonstrating the real-time control of a commercial prosthetic hand (Bebionic Version 2)...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813977/repeatability-of-grasp-recognition-for-robotic-hand-prosthesis-control-based-on-semg-data
#5
Francesca Palermo, Matteo Cognolato, Arjan Gijsberts, Henning Muller, Barbara Caputo, Manfredo Atzori
Control methods based on sEMG obtained promising results for hand prosthetics. Control system robustness is still often inadequate and does not allow the amputees to perform a large number of movements useful for everyday life. Only few studies analyzed the repeatability of sEMG classification of hand grasps. The main goals of this paper are to explore repeatability in sEMG data and to release a repeatability database with the recorded experiments. The data are recorded from 10 intact subjects repeating 7 grasps 12 times, twice a day for 5 days...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813976/megane-pro-myo-electricity-visual-and-gaze-tracking-data-acquisitions-to-improve-hand-prosthetics
#6
Francesca Giordaniello, Matteo Cognolato, Mara Graziani, Arjan Gijsberts, Valentina Gregori, Gianluca Saetta, Anne-Gabrielle Mittaz Hager, Cesare Tiengo, Franco Bassetto, Peter Brugger, Barbara Caputo, Henning Muller, Manfredo Atzori
During the past 60 years scientific research proposed many techniques to control robotic hand prostheses with surface electromyography (sEMG). Few of them have been implemented in commercial systems also due to limited robustness that may be improved with multimodal data. This paper presents the first acquisition setup, acquisition protocol and dataset including sEMG, eye tracking and computer vision to study robotic hand control. A data analysis on healthy controls gives a first idea of the capabilities and constraints of the acquisition procedure that will be applied to amputees in a next step...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813965/cheap-or-robust-the-practical-realization-of-self-driving-wheelchair-technology
#7
Maya Burhanpurkar, Mathieu Labbe, Charlie Guan, Francois Michaud, Jonathan Kelly
To date, self-driving experimental wheelchair technologies have been either inexpensive or robust, but not both. Yet, in order to achieve real-world acceptance, both qualities are fundamentally essential. We present a unique approach to achieve inexpensive and robust autonomous and semi-autonomous assistive navigation for existing fielded wheelchairs, of which there are approximately 5 million units in Canada and United States alone. Our prototype wheelchair platform is capable of localization and mapping, as well as robust obstacle avoidance, using only a commodity RGB-D sensor and wheel odometry...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813952/comparative-performance-analysis-of-m-imu-emg-and-voice-user-interfaces-for-assistive-robots
#8
Clemente Laureiti, Francesca Cordella, Francesco Scotto di Luzio, Stefano Saccucci, Angelo Davalli, Rinaldo Sacchetti, Loredana Zollo
People with a high level of disability experience great difficulties to perform activities of daily living and resort to their residual motor functions in order to operate assistive devices. The commercially available interfaces used to control assistive manipulators are typically based on joysticks and can be used only by subjects with upper-limb residual mobilities. Many other solutions can be found in the literature, based on the use of multiple sensory systems for detecting the human motion intention and state...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813947/exploiting-kinematic-constraints-to-compensate-magnetic-disturbances-when-calculating-joint-angles-of-approximate-hinge-joints-from-orientation-estimates-of-inertial-sensors
#9
Daniel Laidig, Thomas Schauer, Thomas Seel
Inertial Measurement Units (IMUs) have become a widely used tool for rehabilitation and other application domains in which human motion is analyzed using an ambulatory or wearable setup. Since the magnetic field is inhomogeneous in indoor environments and in the proximity of ferromagnetic material, standard orientation estimation and joint angle calculation algorithms often lead to inaccurate or even completely wrong results. One approach to circumvent this is to exploit the kinematic constraint that is induced by mechanical hinge joints and also by approximate hinge joints such as the knee joint and the finger (interphalangeal) joints of the human body...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813934/a-hybrid-brain-machine-interface-based-on-eeg-and-emg-activity-for-the-motor-rehabilitation-of-stroke-patients
#10
Andrea Sarasola-Sanz, Nerea Irastorza-Landa, Eduardo Lopez-Larraz, Carlos Bibian, Florian Helmhold, Doris Broetz, Niels Birbaumer, Ander Ramos-Murguialday
Including supplementary information from the brain or other body parts in the control of brain-machine interfaces (BMIs) has been recently proposed and investigated. Such enriched interfaces are referred to as hybrid BMIs (hBMIs) and have been proven to be more robust and accurate than regular BMIs for assistive and rehabilitative applications. Electromyographic (EMG) activity is one of the most widely utilized biosignals in hBMIs, as it provides a quite direct measurement of the motion intention of the user...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813897/design-and-testing-of-an-under-actuated-surface-emg-driven-hand-exoskeleton
#11
A Lince, N Celadon, A Battezzato, A Favetto, S Appendino, P Ariano, M Paleari
Stroke and other neurological pathologies are an increasing cause of hand impairment, involving expensive rehabilitative therapies. In this scenario, robotics applied to hand rehabilitation and assistance appears particularly promising in order to lower therapy costs and boost its efficacy. This work shows a recently conceived hand exoskeleton, from the design and realization to its preliminary evaluation. A control strategy based on surface electromyography (sEMG) signals is integrated: preliminary tests performed on healthy subjects show the validity of this choice...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813885/the-effect-of-robot-dynamics-on-smoothness-during-wrist-pointing
#12
Andrew Erwin, Evan Pezent, Joshua Bradley, Marcia K O'Malley
The improvement of movement smoothness over the course of therapy is one of the positive outcomes observed during robotic rehabilitation. Although movements are generally robust to disturbances, certain perturbations might disrupt an individual's ability to produce these smooth movements. In this paper, we explore how a rehabilitation robot's inherent dynamics impact movement smoothness during pointing tasks. Able-bodied participants made wrist pointing movements under four different operating conditions. Despite the relative transparency of the device, inherent dynamic characteristics negatively impacted movement smoothness...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813854/automated-stand-up-and-sit-down-detection-for-robot-assisted-body-weight-support-training-with-the-float
#13
Mathias Bannwart, Dominique Emst, Chris Easthope, Marc Bolliger, Georg Rauter
Patients with impaired walking function are often dependent on assistive devices to retrain gait and regain independence in life. To provide adequate support, gait rehabilitation devices have to be manually set to the correct support mode or have to recognize the type and starting point of a certain motion automatically. For automated motion type detection, machine learning-based classification algorithms using sensor signals from different body parts can achieve robust performance. However, until today, there is only little work available to detect motion onset...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813843/addition-of-forelimb-training-reduces-gains-from-robotic-gait-training-in-a-rat-model-of-spinal-cord-injury
#14
Nathan D Neckel, Haining Dai, Olga C Rodriguez
To restore locomotor function following spinal cord injury the disrupted descending supraspinal drive needs to be re-connected to regions caudal to the injury. Robotic gait training aims to facilitate recovery by stimulating the proprioceptive networks of the legs in a coordinated walking pattern while the descending supraspinal connections are re-established. In incomplete injuries, it is believed that the interneuronal networks near the injury site form relay circuits to reroute the supraspinal signals through the spared tissue...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813798/a-novel-method-for-muscle-fatigue-assessment-during-robot-based-tracking-tasks
#15
Maddalena Mugnosso, Francesca Marini, Matteo Gillardo, Pietro Morasso, Jacopo Zenzeri
In this work we propose a novel method based on sEMG signals, easy and fast to perform, administered with a robotic device to maximize repeatability and objectivity. Muscle fatigue, which is frequently experienced by healthy subjects, can be a highly debilitating symptom in case of neuromuscular disorders. Its assessment provides crucial information on the progression of the disability itself, on patient's muscular function and on the efficacy of the eventual clinical intervention. Hence, a robust and objective protocol for fatigue assessment is fundamental in rehabilitation practice...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813789/simulating-the-impact-of-sensorimotor-deficits-on-reaching-performance
#16
Sean M Sketch, Cole S Simpson, Frederic Crevecoeur, Allison M Okamura
The healthy human nervous system accurately and robustly controls movements despite nonlinear dynamics, noise, and delays. After a stroke, motor ability frequently becomes impaired. To provide insight into the relative impact of specific sensorimotor deficits on motor performance, we modeled neural control of reaching with the human upper limb as a near-optimally feedback-controlled two-degree-of-freedom system with biologically based parameters. We added three sensorimotor impairments commonly associated with post-stroke hemiparesis - abnormal joint coupling, increased noise on internally modeled dynamics, and muscular weakness - and examined the impact on reaching performance...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813786/prediction-of-gait-events-in-walking-activities-with-a-bayesian-perception-system
#17
Uriel Martinez-Hernandez, Mohammed I Awad, Imran Mahmood, Abbas A Dehghani-Sanij
In this paper, a robust probabilistic formulation for prediction of gait events from human walking activities using wearable sensors is presented. This approach combines the output from a Bayesian perception system with observations from actions and decisions made over time. The perception system makes decisions about the current gait events, while observations from decisions and actions allow to predict the most probable gait event during walking activities. Furthermore, our proposed method is capable to evaluate the accuracy of its predictions, which permits to obtain a better performance and trade-off between accuracy and speed...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813689/large-scale-machine-learning-of-media-outlets-for-understanding-public-reactions-to-nation-wide-viral-infection-outbreaks
#18
Sungwoon Choi, Jangho Lee, Min-Gyu Kang, Hyeyoung Min, Yoon-Seok Chang, Sungroh Yoon
From May to July 2015, there was a nation-wide outbreak of Middle East respiratory syndrome (MERS) in Korea. MERS is caused by MERS-CoV, an enveloped, positive-sense, single stranded RNA virus belonging to the family Coronaviridae. Despite expert opinions that the danger of MERS might be exaggerated, there was an overreaction by the public according to the Korean mass media, which led to a noticeable reduction in social and economic activities during the outbreak. To explain this phenomenon, we presumed that machine learning-based analysis of media outlets would be helpful and collected a number of Korean mass media articles and short-text comments produced during the 10-week outbreak...
August 13, 2017: Methods: a Companion to Methods in Enzymology
https://www.readbyqxmd.com/read/28813649/a-case-for-a-human-immuno-peptidome-project-consortium
#19
Etienne Caron, Ruedi Aebersold, Amir Banaei-Esfahani, Chloe Chong, Michal Bassani-Sternberg
A multidisciplinary group of researchers gathered at the Hönggerberg Campus at ETH Zurich, Switzerland, for the first meeting on the Human Immuno-Peptidome Project (https://hupo.org/human-immuno-peptidome-project/). The long-term goal of this project is to map the entire repertoire of peptides presented by human leukocyte antigen molecules using mass spectrometry technologies, and make its robust analysis accessible to any immunologist. Here we outline the specific challenges identified toward this goal, and within this framework, describe the structure of a multipronged program aimed at addressing these challenges and implementing solutions at a community-wide level...
August 15, 2017: Immunity
https://www.readbyqxmd.com/read/28813599/tetraterpene-synthase-substrate-and-product-specificity-in-the-green-microalga-botryococcus-braunii-race-l
#20
Hem Raj Thapa, Su Tang, James C Sacchettini, Timothy P Devarenne
Recently, the biosynthetic pathway for lycopadiene, a C40 tetraterpenoid hydrocarbon, was deciphered from the L race of Botryococcus braunii, an alga that produces hydrocarbon oils capable of being converted into combustible fuels. The lycopadiene pathway is initiated by the squalene synthase (SS)-like enzyme lycopaoctaene synthase (LOS), which catalyzes the head-to-head condensation of two C20 geranylgeranyl diphosphate (GGPP) molecules to produce C40 lycopaoctaene. LOS shows unusual substrate promiscuity for SS or SS-like enzymes by utilizing C15 farnesyl diphosphate (FPP) and C20 phytyl diphosphate in addition to GGPP as substrates...
August 16, 2017: ACS Chemical Biology
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