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https://www.readbyqxmd.com/read/28814052/grasp-specific-and-user-friendly-interface-design-for-myoelectric-hand-prostheses
#1
Alireza Mohammadi, Jim Lavranos, Rob Howe, Peter Choong, Denny Oetomo
This paper presents the design and characterisation of a hand prosthesis and its user interface, focusing on performing the most commonly used grasps in activities of daily living (ADLs). Since the operation of a multi-articulated powered hand prosthesis is difficult to learn and master, there is a significant rate of abandonment by amputees in preference for simpler devices. In choosing so, amputees chose to live with fewer features in their prosthesis that would more reliably perform the basic operations...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814051/design-of-a-wearable-hand-exoskeleton-for-exercising-flexion-extension-of-the-fingers
#2
Inseong Jo, Jeongsoo Lee, Yeongyu Park, Joonbum Bae
In this paper, design of a wearable hand exoskeleton system for exercising flexion/extension of the fingers, is proposed. The exoskeleton was designed with a simple and wearable structure to aid finger motions in 1 degree of freedom (DOF). A hand grasping experiment by fully-abled people was performed to investigate general hand flexion/extension motions and the polynomial curve of general hand motions was obtained. To customize the hand exoskeleton for the user, the polynomial curve was adjusted to the joint range of motion (ROM) of the user and the optimal design of the exoskeleton structure was obtained using the optimization algorithm...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814038/design-and-preliminary-assessment-of-vanderbilt-hand-exoskeleton
#3
Benjamin W Gasser, Daniel A Bennett, Christina M Durrough, Michael Goldfarb
This paper presents the design of a hand exoskeleton intended to enable or facilitate bimanual activities of daily living (ADLs) for individuals with chronic upper extremity hemiparesis resulting from stroke. The paper describes design of the battery-powered, self-contained exoskeleton and presents the results of initial testing with a single subject with hemiparesis from stroke. Specifically, an experiment was conducted requiring the subject to repeatedly remove the lid from a water bottle both with and without the hand exoskeleton...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814036/prosthetic-design-directives-low-cost-hands-within-reach
#4
G K Jones, A Rosendo, R Stopforth
Although three million people around the world suffer from the lack of one or both upper limbs 80% of this number is located within developing countries. While prosthetic prices soar with technology 3D printing and low cost electronics present a sensible solution for those that cannot afford expensive prosthetics. The electronic and control design of a low-cost prosthetic hand, the Touch Hand II, is discussed. This paper shows that sensorless techniques can be used to reduce design complexities, costs, and provide easier access to the electronics...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814032/studying-the-implementation-of-iterative-impedance-control-for-assistive-hand-rehabilitation-using-an-exoskeleton
#5
T Martineau, R Vaidyanathan
A positive training synergy can be obtained when two individuals attempt to learn the same motor task while mechanically coupled to one another. In this paper, we have studied how mimicking this interaction through impedance control can be exploited to improve assistance delivered by hand exoskeleton devices during rehabilitation. In this context, the machine and user take complementary roles akin to two coupled individuals. We present the derivation of a dynamic model of the human hand for the purpose of controller development for new hand exoskeleton platforms...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814025/learning-from-demonstration-teaching-a-myoelectric-prosthesis-with-an-intact-limb-via-reinforcement-learning
#6
Gautham Vasan, Patrick M Pilarski
Prosthetic arms should restore and extend the capabilities of someone with an amputation. They should move naturally and be able to perform elegant, coordinated movements that approximate those of a biological arm. Despite these objectives, the control of modern-day prostheses is often nonintuitive and taxing. Existing devices and control approaches do not yet give users the ability to effect highly synergistic movements during their daily-life control of a prosthetic device. As a step towards improving the control of prosthetic arms and hands, we introduce an intuitive approach to training a prosthetic control system that helps a user achieve hard-to-engineer control behaviours...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28814004/biomimetic-finger-extension-mechanism-for-soft-wearable-hand-rehabilitation-devices
#7
Dong Hyun Kim, Si-Hwan Heo, Hyung-Soon Park
For the rehabilitation and assistance of the hand functions, wearable devices have been developed, and the interest in tendon driven mechanisms have especially increased since it allows light weight and compact design. The tendon driven hand rehabilitation devices provides grasping force via exo-tendons routed on the dorsal and palmar sides of the hand pulled by remotely located actuators. However, most of the devices were not able to provide natural joint extension sequence of the finger and showed hyperextension of finger joints because the tendons for extension were fixed at the fingertip, concentrating the torque at the distal interphalangeal joint...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813996/analyzing-at-home-prosthesis-use-in-unilateral-upper-limb-amputees-to-inform-treatment-device-design
#8
Adam J Spiers, Linda Resnik, Aaron M Dollar
New upper limb prosthetic devices are continuously being developed by a variety of industrial, academic, and hobbyist groups. Yet, little research has evaluated the long term use of currently available prostheses in daily life activities, beyond laboratory or survey studies. We seek to objectively measure how experienced unilateral upper limb prosthesis-users employ their prosthetic devices and unaffected limb for manipulation during everyday activities. In particular, our goal is to create a method for evaluating all types of amputee manipulation, including non-prehensile actions beyond conventional grasp functions, as well as to examine the relative use of both limbs in unilateral and bilateral cases...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813985/emg-pattern-classification-to-control-a-hand-orthosis-for-functional-grasp-assistance-after-stroke
#9
Cassie Meeker, Sangwoo Park, Lauri Bishop, Joel Stein, Matei Ciocarlie
Wearable orthoses can function both as assistive devices, which allow the user to live independently, and as rehabilitation devices, which allow the user to regain use of an impaired limb. To be fully wearable, such devices must have intuitive controls, and to improve quality of life, the device should enable the user to perform Activities of Daily Living. In this context, we explore the feasibility of using electromyography (EMG) signals to control a wearable exotendon device to enable pick and place tasks...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813982/validation-of-a-constrained-time-movement-task-for-use-in-rehabilitation-outcome-measures
#10
Daniel H Blustein, Jonathon W Sensinger
Current motor assessment tools can provide numerical indicators of performance but do not provide actionable information to target further improvement in rehabilitation interventions. Psychophysics-based outcome measures show promise to provide more useful information in the laboratory environment but have been limited in clinical implementation. Here we present a constrained-time task to assess paced and non-rhythmic movements. The task's output metrics include trial-by-trial adaptation rate and the just noticeable difference of a perturbation...
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
#11
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
#12
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/28813959/-wink-to-grasp-comparing-eye-voice-emg-gesture-control-of-grasp-with-soft-robotic-gloves
#13
Bernardo Noronha, Sabine Dziemian, Giuseppe A Zito, Charalambos Konnaris, A Aldo Faisal
The ability of robotic rehabilitation devices to support paralysed end-users is ultimately limited by the degree to which human-machine-interaction is designed to be effective and efficient in translating user intention into robotic action. Specifically, we evaluate the novel possibility of binocular eye-tracking technology to detect voluntary winks from involuntary blink commands, to establish winks as a novel low-latency control signal to trigger robotic action. By wearing binocular eye-tracking glasses we enable users to directly observe their environment or the actuator and trigger movement actions, without having to interact with a visual display unit or user interface...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813957/an-instrumented-object-for-studying-human-grasping
#14
R A Romeo, F Cordelia, A Davalli, R Sacchetti, E Guglielmelli, L Zollo
This paper proposes the use of an instrumented object for the study of the human grasping strategies. The proposed object is able to measure the grasping forces by means of three Force Sensitive Resistor (FSR) sensors and triaxial acceleration through an accelerometer. The object orientation angles (roll and pitch) can be estimated from the accelerometer output in quasi-static condition, whereas slippage events can be detected through the Power Spectrum Density (PSD) computation of the acceleration on at least one of the three axes...
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
#15
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/28813909/methodologies-for-determining-minimal-grasping-requirements-and-sensor-locations-for-semg-based-assistive-hand-orthosis-for-sci-patients
#16
Youngmok Yun, Paria Esmatloo, Alfredo Serrato, Curtis A Merring, Ashish D Deshpande
In this paper, we address two of the most important challenges in development and control of assistive hand orthosis. First, supported by experimental results, we present a method to determine an optimal set of grasping poses, essential for grasping daily objects. Second, we present a method for determining the minimal number of surface EMG sensors and their locations to carry out EMG-based intention recognition and to control the assistive device by differentiating between the hand poses.
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813905/design-and-characterization-of-the-openwrist-a-robotic-wrist-exoskeleton-for-coordinated-hand-wrist-rehabilitation
#17
Evan Pezent, Chad G Rose, Ashish D Deshpande, Marcia K O'Malley
Robotic devices have been clinically verified for use in long duration and high intensity rehabilitation needed for motor recovery after neurological injury. Targeted and coordinated hand and wrist therapy, often overlooked in rehabilitation robotics, is required to regain the ability to perform activities of daily living. To this end, a new coupled hand-wrist exoskeleton has been designed. This paper details the design of the wrist module and several human-related considerations made to maximize its potential as a coordinated hand-wrist device...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813803/application-of-support-vector-machines-in-detecting-hand-grasp-gestures-using-a-commercially-off-the-shelf-wireless-myoelectric-armband
#18
Farshid Amirabdollahian, Michael L Walters
The propose of this study was to assess the feasibility of using support vector machines in analysing myoelectric signals acquired using an off the shelf device, the Myo armband from Thalmic Lab, when performing hand grasp gestures. Participants (n = 26) took part in the study wearing the armband and producing a series of required gestures. Support vector machines were used to train a model using participant training values, and to classify gestures produced by the same participants. Different Kernel functions and electrode combinations were studied...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813800/the-effects-of-control-signal-noise-on-simultaneous-submovements
#19
Kathleen R Wilson, Kevin B Englehart, Jon W Sensinger
Understanding the stereotypical characteristics of human movement can better inform rehabilitation practices by providing a template of healthy and expected human motor control. Multiplicative noise is inherent in goal-directed movement, such as reaching to grasp an object. Multiplicative noise plays an important role in computational motor control models to help support phenomena such as stereotypical kinematic profiles in time-constrained and unconstrained tasks. Most tasks are not carried out along an isolated degree-of-freedom (DOF), and modelling the contribution of noise can be difficult...
July 2017: IEEE ... International Conference on Rehabilitation Robotics: [proceedings]
https://www.readbyqxmd.com/read/28813431/skeleton-of-an-unusual-cat-sized-marsupial-relative-metatheria-marsupialiformes-from-the-middle-eocene-lutetian-44-43-million-years-ago-of-turkey
#20
A Murat Maga, Robin M D Beck
We describe a near-complete, three-dimensionally preserved skeleton of a metatherian (relative of modern marsupials) from the middle Eocene (Lutetian: 44-43 million years ago) Lülük member of the Uzunçarşıdere Formation, central Turkey. With an estimated body mass of 3-4 kg, about the size of a domestic cat (Felis catus) or spotted quoll (Dasyurus maculatus), it is an order of magnitude larger than the largest fossil metatherians previously known from the Cenozoic of the northern hemisphere. This new taxon is characterised by large, broad third premolars that probably represent adaptations for hard object feeding (durophagy), and its craniodental morphology suggests the capacity to generate high bite forces...
2017: PloS One
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