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https://www.readbyqxmd.com/read/28814017/assessment-of-lower-arm-movements-using-one-inertial-sensor
#1
Fokke B van Meulen, Bert-Jan F van Beijnum, Jaap H Buurke, Peter H Veltink
Reduction of the number of sensors needed to evaluate arm movements, makes a system for the assessment of human body movements more suitable for clinical practice and daily life assessments. In this study, we propose an algorithm to reconstruct lower arm orientation, velocity and position, based on a sensing system which consists of only one inertial measurement unit (IMU) to the forearm. Lower arm movements were reconstructed using a single IMU and assuming that within a measurement there are moments without arm movements...
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
#2
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/28813952/comparative-performance-analysis-of-m-imu-emg-and-voice-user-interfaces-for-assistive-robots
#3
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
#4
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/28813932/quantifying-infant-physical-interactions-using-sensorized-toys-in-a-natural-play-environment
#5
Vatsala Goyal, Wilson Torres, Roshan Rai, Frances Shofer, Daniel Bogen, Phillip Bryant, Laura Prosser, Michelle J Johnson
Infants with developmental delays must be detected early in their development to minimize the progression of motor and neurological impairments. Our objective is to quantify how sensorized toys in a natural play environment can promote infant-toy physical interactions. We created a hanging elephant toy, equipped with an inertial measurement unit (IMU), a pressure transducer, and multiple feedback sensors, to be a hand-grasping toy. We used a 3 DoF robotic model with inputs from the IMU to calculate multiple kinematic metrics and an equation to calculate haptic metrics from the pressure transducer...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813820/design-of-an-exoskeleton-ankle-robot-for-robot-assisted-gait-training-of-stroke-patients
#6
Ling-Fung Yeung, Corinna Ockenfeld, Man-Kit Pang, Hon-Wah Wai, Oi-Yan Soo, Sheung-Wai Li, Kai-Yu Tong
Lower Limb Exoskeleton robot that can facilitate stair walking is a big challenge, most systems could only provide level ground walking. In this study, a lightweight (0.5kg at ankle, 0.5kg at waist for control box) and autonomous exoskeleton Ankle Robot was proposed to provide power assistance for gait training of chronic stroke patients and it can facilitate three walking conditions in real-time: (1) level walking, (2) stair ascending, and (3) stair descending. Chronic stroke patients (n=3) with drop foot gait deficit and moderate motor impairment were recruited to evaluate the system under different walking conditions (Functional Ambulatory Category: FAC=4...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28777323/a-3d-laser-profiling-system-for-rail-surface-defect-detection
#7
Zhimin Xiong, Qingquan Li, Qingzhou Mao, Qin Zou
Rail surface defects such as the abrasion, scratch and peeling often cause damages to the train wheels and rail bearings. An efficient and accurate detection of rail defects is of vital importance for the safety of railway transportation. In the past few decades, automatic rail defect detection has been studied; however, most developed methods use optic-imaging techniques to collect the rail surface data and are still suffering from a high false recognition rate. In this paper, a novel 3D laser profiling system (3D-LPS) is proposed, which integrates a laser scanner, odometer, inertial measurement unit (IMU) and global position system (GPS) to capture the rail surface profile data...
August 4, 2017: Sensors
https://www.readbyqxmd.com/read/28766177/using-needle-orientation-sensing-as-surrogate-signal-for-respiratory-motion-estimation-in-percutaneous-interventions
#8
Momen Abayazid, Takahisa Kato, Stuart G Silverman, Nobuhiko Hata
PURPOSE: To develop and evaluate an approach to estimate the respiratory-induced motion of lesions in the chest and abdomen. MATERIALS AND METHODS: The proposed approach uses the motion of an initial reference needle inserted into a moving organ to estimate the lesion (target) displacement that is caused by respiration. The needles position is measured using an inertial measurement unit (IMU) sensor externally attached to the hub of an initially placed reference needle...
August 1, 2017: International Journal of Computer Assisted Radiology and Surgery
https://www.readbyqxmd.com/read/28731981/technology-in-strength-and-conditioning-assessing-bodyweight-squat-technique-with-wearable-sensors
#9
Martin A OʼReilly, Darragh F Whelan, Tomas E Ward, Eamonn Delahunt, Brian M Caulfield
O'Reilly, MA, Whelan, DF, Ward, TE, Delahunt, E, and Caulfield, BM. Technology in strength and conditioning: assessing bodyweight squat technique with wearable sensors. J Strength Cond Res 31(8): 2303-2312, 2017-Strength and conditioning (S&C) coaches offer expert guidance to help those they work with achieve their personal fitness goals. However, it is not always practical to operate under the direct supervision of an S&C coach and consequently individuals are often left training without expert oversight. Recent developments in inertial measurement units (IMUs) and mobile computing platforms have allowed for the possibility of unobtrusive motion tracking systems and the provision of real-time individualized feedback regarding exercise performance...
August 2017: Journal of Strength and Conditioning Research
https://www.readbyqxmd.com/read/28723096/nickel-particles-selectively-confined-in-the-mesoporous-channels-of-sba-15-yielding-a-very-stable-catalyst-for-drm-reaction
#10
Alberto Rodriguez-Gomez, Rosa Pereñiguez, Alfonso Caballero
A series of four Ni catalysts supported on SBA-15 and on a high surface area SiO2 have been prepared by modified impregnation (ImU) and deposition-precipitation (DP) methods. The catalysts have been extensively characterized, including in situ XAS and XPS techniques, and their catalytic activities evaluated in the dry reforming reaction of methane (DRM). The combined use of a surface sensitive technique (XPS) with a bulk sensitive one (XAS) has allowed to determine the location of nickel particles on each catalyst after reduction at high temperature (750 oC)...
July 19, 2017: Journal of Physical Chemistry. B
https://www.readbyqxmd.com/read/28718788/implementation-of-an-imu-aided-image-stacking-algorithm-in-a-digital-camera-for-unmanned-aerial-vehicles
#11
Ahmad Audi, Marc Pierrot-Deseilligny, Christophe Meynard, Christian Thom
Images acquired with a long exposure time using a camera embedded on UAVs (Unmanned Aerial Vehicles) exhibit motion blur due to the erratic movements of the UAV. The aim of the present work is to be able to acquire several images with a short exposure time and use an image processing algorithm to produce a stacked image with an equivalent long exposure time. Our method is based on the feature point image registration technique. The algorithm is implemented on the light-weight IGN (Institut national de l'information géographique) camera, which has an IMU (Inertial Measurement Unit) sensor and an SoC (System on Chip)/FPGA (Field-Programmable Gate Array)...
July 18, 2017: Sensors
https://www.readbyqxmd.com/read/28683420/shoulder-assessment-according-to-the-international-classification-of-functioning-by-means-of-inertial-sensor-technologies-a-systematic-review
#12
REVIEW
Liesbet De Baets, Rob van der Straaten, Thomas Matheve, Annick Timmermans
This review investigates current protocols using Inertial Measurement Units (IMUs) in shoulder research, and outlines future paths regarding IMU use for shoulder research. Different databases were searched for relevant articles. Criteria for study selection were (1) research in healthy persons or persons with shoulder problems, (2) IMUs applied as assessment tool for the shoulder (in healthy subjects and shoulder patients) or upper limb (in shoulder patients), (3) peer-reviewed, full-text papers in English or Dutch...
June 27, 2017: Gait & Posture
https://www.readbyqxmd.com/read/28678699/turn-intent-detection-for-control-of-a-lower-limb-prosthesis
#13
Corey Pew, Glenn Klute
OBJECTIVE: An adaptable lower limb prosthesis with variable stiffness in the transverse plane requires a control method to effect changes in real time during amputee turning. This study aimed to identify classification algorithms that can accurately predict turning using inertial measurement unit (IMU) signals from the shank with adequate time to enact a change in stiffness during the swing phase of gait when the prosthesis is unloaded. METHODS: To identify if a turning step is imminent, classification models were developed around activities of daily living including 90? spin turns, 90? step turns, 180? turns, and straight walking using simulated IMU data from the prosthesis shank...
June 28, 2017: IEEE Transactions on Bio-medical Engineering
https://www.readbyqxmd.com/read/28657112/design-and-validation-of-a-ct-guided-robotic-system-for-lung-cancer-brachytherapy
#14
Huaisu Dou, Shan Jiang, Zhiyong Yang, Luqing Sun, Xiaodong Ma, Bin Huo
PURPOSE: Currently, lung brachytherapy in clinical setting is a complex procedure. Operation accuracy depends on accurate positioning of the template, however it is difficult to guarantee the positioning accuracy manually. Application of robotic assisted systems can simplify the procedure and improve the manual positioning accuracy. Therefore, a novel CT-guided robotic system was developed to assist the lung cancer brachytherapy. METHODS: A four degree-of-freedom (DOF) robot, controlled by a lung brachytherapy treatment planning system (TPS) software, was designed and manufactured to assist the template positioning...
June 28, 2017: Medical Physics
https://www.readbyqxmd.com/read/28638335/quantification-of-head-movement-predictability-and-implications-for-suppression-of-vestibular-input-during-locomotion
#15
Paul R MacNeilage, Stefan Glasauer
Achieved motor movement can be estimated using both sensory and motor signals. The value of motor signals for estimating movement should depend critically on the stereotypy or predictability of the resulting actions. As predictability increases, motor signals become more reliable indicators of achieved movement, so weight attributed to sensory signals should decrease accordingly. Here we describe a method to quantify this predictability for head movement during human locomotion by measuring head motion with an inertial measurement unit (IMU), and calculating the variance explained by the mean movement over one stride, i...
2017: Frontiers in Computational Neuroscience
https://www.readbyqxmd.com/read/28629191/a-new-filtering-and-smoothing-algorithm-for-railway-track-surveying-based-on-landmark-and-imu-odometer
#16
Qingan Jiang, Wenqi Wu, Mingming Jiang, Yun Li
High-accuracy railway track surveying is essential for railway construction and maintenance. The traditional approaches based on total station equipment are not efficient enough since high precision surveying frequently needs static measurements. This paper proposes a new filtering and smoothing algorithm based on the IMU/odometer and landmarks integration for the railway track surveying. In order to overcome the difficulty of estimating too many error parameters with too few landmark observations, a new model with completely observable error states is established by combining error terms of the system...
June 19, 2017: Sensors
https://www.readbyqxmd.com/read/28617338/indoor-autonomous-control-of-a-two-wheeled-inverted-pendulum-vehicle-using-ultra-wide-band-technology
#17
Dunzhu Xia, Yanhong Yao, Limei Cheng
In this paper, we aimed to achieve the indoor tracking control of a two-wheeled inverted pendulum (TWIP) vehicle. The attitude data are acquired from a low cost micro inertial measurement unit (IMU), and the ultra-wideband (UWB) technology is utilized to obtain an accurate estimation of the TWIP's position. We propose a dual-loop control method to realize the simultaneous balance and trajectory tracking control for the TWIP vehicle. A robust adaptive second-order sliding mode control (2-RASMC) method based on an improved super-twisting (STW) algorithm is investigated to obtain the control laws, followed by several simulations to verify its robustness...
June 15, 2017: Sensors
https://www.readbyqxmd.com/read/28612890/technology-in-rehabilitation-comparing-personalised-and-global-classification-methodologies-in-evaluating-the-squat-exercise-with-wearable-imus
#18
Martin A O'Reilly, Darragh Whelan, Tomás E Ward, Eamonn Delahunt, Brian Caulfield
BACKGROUND: The barbell squat is a popularly used lower limb rehabilitation exercise. It is also an integral exercise in injury risk screening protocols. To date athlete/patient technique has been assessed using expensive laboratory equipment or subjective clinical judgement; both of which are not without shortcomings. Inertial measurement units (IMUs) may offer a low cost solution for the objective evaluation of athlete/patient technique. However, it is not yet known if global classification techniques are effective in identifying naturally occurring, minor deviations in barbell squat technique...
June 14, 2017: Methods of Information in Medicine
https://www.readbyqxmd.com/read/28587178/survey-of-motion-tracking-methods-based-on-inertial-sensors-a-focus-on-upper-limb-human-motion
#19
REVIEW
Alessandro Filippeschi, Norbert Schmitz, Markus Miezal, Gabriele Bleser, Emanuele Ruffaldi, Didier Stricker
Motion tracking based on commercial inertial measurements units (IMUs) has been widely studied in the latter years as it is a cost-effective enabling technology for those applications in which motion tracking based on optical technologies is unsuitable. This measurement method has a high impact in human performance assessment and human-robot interaction. IMU motion tracking systems are indeed self-contained and wearable, allowing for long-lasting tracking of the user motion in situated environments. After a survey on IMU-based human tracking, five techniques for motion reconstruction were selected and compared to reconstruct a human arm motion...
June 1, 2017: Sensors
https://www.readbyqxmd.com/read/28578138/static-and-dynamic-validation-of-inertial-measurement-units
#20
Leah Taylor, Emily Miller, Kenton R Kaufman
Optical motion capture systems are used to assess human motion. While these systems provide a reliable analysis, they limit collection to a laboratory based setting. Devices such as Inertial Measurement Units (IMUs) have been developed as alternative tools. Commercially available IMUs are utilized for a variety of applications; however limited work has been done to determine the reliability of these devices. The objective of this study was to assess the accuracy and precision of a commercially available IMU, containing tri-axial accelerometers, gyroscopes, and magnetometers, under controlled static and dynamic conditions...
May 26, 2017: Gait & Posture
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