Archive for Декабрь 15th, 2009

Gait-pattern adaptation algorithms based on neural network for lower limbs active orthoses

Дата: Декабрь 15th, 2009 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 1722
  • Название документа: Gait-pattern adaptation algorithms based on neural network for lower limbs active orthoses
  • Номер (DOI, IBSN, Патент): 10.1109/IROS.2009.5354232
  • Изобретатель/автор: Siqueira, A.A.G., Silveira, G.L.M., Gomes, M.A.
  • Правопреемник/учебное заведение: Dept. of Mech. Eng., Univ. of Sao Paulo at Sao Carlos, Sao Carlos, Brazil
  • Дата публикации документа: 2009-12-15
  • Страна опубликовавшая документ: Бразилия
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Да
  • Аналитик: Дмитрий Соловьев

The this work deals with neural network-based gait-pattern adaptation algorithms for an active lower limbs orthosis. Stable trajectories are generated during the optimization process, considering a stable trajectory generator based on the Zero Moment Point criterion and the inverse dynamic model. Additionally, two neural network (NN) are used to decrease the time-consuming computation of the model and ZMP optimization. The first neural network approximates the inverse dynamics and the ZMP optimization, while the second one works in the optimization procedure, giving the adapting parameter according to orthosis-patient interaction. Also, a robust controller based on the ¿¿ method is designed to attenuate the effects of external disturbances and parametric uncertainties in the trajectory tracking errors. The dynamic model of the actual exoskeleton, with interaction forces included, is used to generate simulation results.

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HANDEXOS: Towards an exoskeleton device for the rehabilitation of the hand

Дата: Декабрь 15th, 2009 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 669
  • Название документа: HANDEXOS: Towards an exoskeleton device for the rehabilitation of the hand
  • Номер (DOI, IBSN, Патент): 10.1109/IROS.2009.5354376
  • Изобретатель/автор: Vitiello, N., Vecchi, F., Roccella, S., Giovacchini, F., Chiri, A., Carrozza, M.C.
  • Правопреемник/учебное заведение: ARTS Lab., Scuola Superiore Sant'Anna, Pisa, Italy
  • Дата публикации документа: 2009-12-15
  • Страна опубликовавшая документ: Италия
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Да
  • Аналитик: Дмитрий Соловьев

This paper introduces a novel exoskeleton device (HANDEXOS) for the rehabilitation of the hand for post-stroke patients. The nature of the impaired hand can be summarized in a limited extension, abduction and adduction leaving the fingers in a flexed position, so the exoskeleton goal is to train a safe extension motion from the typical closed position of the impaired hand. The mechanical design of HANDEXOS offers the possibility to overcome the exoskeleton limits often related to the general high level of complexity of the structure, mechanism and actuation. We describe the mechanical design of the index finger module, the dynamic model and some preliminary experimental results.

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EMG-to-force estimation with full-scale physiology based muscle model

Дата: Декабрь 15th, 2009 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 1376
  • Название документа: EMG-to-force estimation with full-scale physiology based muscle model
  • Номер (DOI, IBSN, Патент): 10.1109/IROS.2009.5354644
  • Изобретатель/автор: Poignet, P., Hayashibe, M., Guiraud, D.
  • Правопреемник/учебное заведение: INRIA Sophia-Antipolis, LIRMM, Montpellier, France
  • Дата публикации документа: 2009-12-15
  • Страна опубликовавшая документ: Франция
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Да
  • Аналитик: Дмитрий Соловьев

EMG-to-force estimation for voluntary muscle contraction has many applications in human-machine interaction, motion analysis, and rehabilitation robotics for prosthetic limbs or exoskeletons. EMG-based model can account for a subject’s individual activation patterns to estimate muscle force. For the estimation, so-called Hill-type model has been used in most of the cases. It already has shown its promising performance, but it is still known as a phenomenological model considering only macroscopic physiology. We have already developed the physiological based muscle model for the use of functional electrical stimulation (FES) which can render the myoelectrical property also in microscopic scale. In this paper we discuss EMG-to-force estimation based on this full physiological based muscle model in voluntary contraction. In addition to Hill macroscopic structure, a microscopic physiology originally designed by Huxley is integrated. It has significant meaning to realize the same kind of EMG-to-force estimation with a physiological based model not with a phenomenological model, because it brings the understanding of the internal biophysical dynamics and new insights about neuromuscular activations. Using same EMG data of isometric muscle contraction, the force estimation results are shown by classical approach and new physiological based approach. Its interpretation is also discussed.

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