scholarly journals Human-in-the-Loop Weight Compensation and Mass Estimation in Upper Limb Wearable Robots Towards Muscles’ Effort Minimization

2020 ◽  
Author(s):  
Rezvan Nasiri ◽  
Hamidreza Aftabi ◽  
Mojtaba Rayati ◽  
Majid Nili Ahmadabadi
Keyword(s):  
Upper Limb ◽  
Cognitive Model ◽  
Realistic Model ◽  
Human In The Loop ◽  
Emg Signal ◽  
The Face ◽  
Effort Reduction ◽  
Point To Point ◽  
The Stability ◽  
Weight Compensation

AbstractIn this paper: (1) We present a novel human-in-the-loop adaptation method for whole arm muscles’ effort minimization by means of weight compensation in the face of an object with unknown mass. (2) This adaptation rule can also be used as a cognitive model for the identification of mass value. (3) This adaptation rule utilizes the EMG signal of only four muscles in the upper limb to minimize the whole muscles’ effort. The method is analyzed from analytical, simulation, and experimental perspectives. We analytically discuss the stability, optimality, and convergence of the proposed method. This method’s effectiveness for whole muscles’ effort reduction is studied by simulations (OpenSim) on a generic and realistic model of the human arm, a model with 7-DOF and 50 Hill-type-muscles. In addition, the applicability of this method in practice is experimented with by a 2-DOF arm assist device for two different tasks; static (holding an object) and cyclic (reaching point-to-point) tasks. The simulations and experimental results show the presented method’s performance and applicability for weight compensation in upper limb assistive exoskeletons. In addition, the simulations in OpenSim completely support that the suggested set of mono-articular muscles are sufficient for whole muscles’ effort reduction.

Em transe-to

2020 ◽  
Vol 2 (1) ◽  
pp. 32-55
Author(s):  
Natalia Christofoletti Barrenha
Keyword(s):  
The Face ◽  
The Stability ◽  
The City

This text seeks to explore the Argentine films Castro (Alejo Moguillansky, 2009) and El asaltante (Pablo Fendrik, 2007) from within the displacement of their characters through the city. This transit configures the organising element of the plots, determining the direction and rhythm of events. The escape motto will structure the film analyses, which are also twinned by the sensory apprehension that comes from the spaces they travel through. The notion of escape, as explored by Esteban Dipaola in Argentine cinema of the 1990s, continues to throb in mid-to-late 2000s production, and in these films represents the means by which the protagonists deploy critical attitudes—sometimes radical and explosive, sometimes silent—in the face of fixed notions, suggesting some scepticism about the “stability” and “order” that they (dis)encounter in normality. RESUMEN Este texto busca explorar los largometrajes argentinos Castro (Alejo Moguillansky, 2009) y El asaltante (Pablo Fendrik, 2007) a partir del desplazamiento de sus personajes por la ciudad. El transitar se configura como elemento organizador de las tramas, determinando la dirección y el ritmo de los acontecimientos. El tema de la fuga irá estructurando los análisis de las películas, las cuales también están relacionadas por la aprehensión sensorial que hacen de los espacios que recorren. La noción de fuga, tal y como fue explorada por Esteban Dipaola en el cine argentino de los años 90, continúa vigente en la producción de mediados/fines de la primera década del siglo XXI, y en estas películas es el recurso por medio del cual los protagonistas despliegan actitudes críticas – a veces radicales y explosivas, y a veces silenciosas – frente a nociones convencionales, lo cual hace pensar que existe un cierto escepticismo con relación a la “estabilidad” y al “orden” que ellos (des)encuentran en la normalidad. RESUMO Este texto busca explorar os longas-metragens argentinos Castro (Alejo Moguillansky, 2009) e El asaltante (Pablo Fendrik, 2007) a partir do deslocamento de seus personagens pela cidade. O transitar configura-se como elemento organizador das tramas, determinando a direção e o ritmo dos acontecimentos. O mote da fuga estruturará as análises dos filmes, os quais também se irmanam pela apreensão sensorial que fazem dos espaços que percorrem. A noção de fuga, conforme explorada por Esteban Dipaola no cinema argentino da década de 1990, continua a pulsar na produção de meados/fins dos anos 2000, e é, nestes filmes, o recurso através do qual os protagonistas desdobram atitudes críticas – às vezes radicais e explosivas, às vezes silenciosas – diante de noções fixas, sugerindo certo ceticismo em relação à “estabilidade” e à “ordem” que eles (des)encontram na normalidade.

Differences in muscular activation and fatigue for intermittent and constant load

2005 ◽  
Vol 5 (1) ◽  
pp. 43-56
Author(s):  
Danuta Roman-Liu ◽  
Krzysztof Kȩdzior
Keyword(s):  
External Force ◽  
Upper Limb ◽  
Muscle Activation ◽  
Regression Line ◽  
Constant Load ◽  
Median Frequency ◽  
Experimental Conditions ◽  
Emg Signal ◽  
Limb Posture ◽  
Muscular Activation

The aim of this study was to compare the influence of constant or intermittent load on muscle activation and fatigue. The analysis and assessment of muscular activation and fatigue was based on surface EMG measurements from eight muscles (seven muscles of the right upper limb and trapezius muscle). Two EMG signal parameters were analyzed for each of the experimental conditions distinguished by the value of the external force and the character of the load – constant or intermittent. The amplitude related to its maximum (AMP) and the slope of the regression line between time and median frequency (SMF) were the EMG parameters that were analyzed. The results showed that constant load caused higher muscular fatigue than intermittent load despite the lower value of the external force and lower muscle activation. Results suggest that additional external force might influence muscle activation and fatigue more than upper limb posture. The results of the study support the thesis that all biomechanical factors which influence upper limb load and fatigue (upper limb posture, external force and time sequences) should be considered when work stands and work processes are designed. They also indicate that constant load should be especially avoided.

scholarly journals Study on instability failure mode and monitoring early warning standard of surrounding rock in fully weathered argillaceous sandstone section of large section tunnel

2019 ◽  
Vol 136 ◽  
pp. 04023
Author(s):  
Ming Zhao ◽  
Ke Li ◽  
Hong Yan Guo ◽  
KaiCheng Hua
Keyword(s):  
Limit State ◽  
Stable State ◽  
Simulation Software ◽  
Surrounding Rock ◽  
Large Section ◽  
Rock Stability ◽  
Geological Conditions ◽  
Construction Step ◽  
The Face ◽  
The Stability

Based on the special geological conditions of a tunnel in Qingyuan section of Huizhou-Zhanzhou Expressway, FLAC3d numerical simulation software is used to simulate the rheological properties and instability of surrounding rock in large-section fully weathered sandstone section, and the stability and loss of surrounding rock are analyzed. The deformation of the dome and the face at steady state is analyzed. It is found that: 1) when the surrounding rock is in a stable state, the deformation curve of the dome is smooth. When the surrounding rock of the face is unstable, the front of the face appears ahead. Deformation should be first strengthened on the surrounding rock in front of the face. 2) The arched foot is an important part of the instability of the surrounding rock. In order to prevent the expansion of the collapsed part, the arched part should be reinforced. 3) In order to obtain the limit state of surrounding rock stability, the strength of surrounding rock is reduced, and the strength reduction coefficient corresponding to the displacement sudden point is taken as the safety factor of rock stability around the hole, and the stability safety coefficients of surrounding rock of each construction step are greater than 1.2. 4) The dynamic standard values of deformation control in the whole construction stage are obtained by analyzing the deformation curves of each data monitoring point with time in the corresponding time period of each construction step.

INTELLIGENT UPPER-LIMB PROSTHETIC CONTROL (iULP) WITH NOVEL FEATURE EXTRACTION METHOD FOR PATTERN RECOGNITION USING EMG

2021 ◽  
pp. 2150043
Author(s):  
SIDHARTH PANCHOLI ◽  
AMIT M. JOSHI
Keyword(s):  
Pattern Recognition ◽  
Upper Limb ◽  
Classification Accuracy ◽  
Time Derivative ◽  
Machine Learning Algorithms ◽  
Prosthetic Control ◽  
Myoelectric Prosthesis ◽  
Feature Extraction Method ◽  
Similar Work ◽  
Emg Signal

EMG signal-based pattern recognition (EMG-PR) techniques have gained lots of focus to develop myoelectric prosthesis. The performance of the prosthesis control-based applications mainly depends on extraction of eminent features with minimum neural information loss. The machine learning algorithms have a significant role to play for the development of Intelligent upper-limb prosthetic control (iULP) using EMG signal. This paper proposes a new technique of extracting the features known as advanced time derivative moments (ATDM) for effective pattern recognition of amputees. Four heterogeneous datasets have been used for testing and validation of the proposed technique. Out of the four datasets, three datasets have been taken from the standard NinaPro database and the fourth dataset comprises data collected from three amputees. The efficiency of ATDM features is examined with the help of Davies–Bouldin (DB) index for separability, classification accuracy and computational complexity. Further, it has been compared with similar work and the results reveal that ATDM features have excellent classification accuracy of 98.32% with relatively lower time complexity. The lower values of DB criteria prove the good separation of features belonging to various classes. The results are carried out on 2.6[Formula: see text]GHz Intel core i7 processor with MATLAB 2015a platform.

scholarly journals INVESTIGATION OF THE GEOMECHANICAL STATE OF SOFT ADJOINING ROCKS UNDER PROTECTIVE CONSTRUCTIONS

2021 ◽  
Vol 36 (4) ◽  
pp. 61-71
Author(s):  
Serhii Nehrii ◽  
Tetiana Nehrii ◽  
Oksana Zolotarova ◽  
Serhii Volkov
Keyword(s):  
Physical And Mechanical Properties ◽  
New Approach ◽  
Soft Rocks ◽  
The Face ◽  
Geomechanical State ◽  
Rock Mass Failure ◽  
The Stability ◽  
Seam Mining ◽  
Mine Roadways

The conditions of coal seam mining in the mines of Ukraine have been considered. The problem of conducting coal mining by longwalls in the conditions of soft adjoining rocks, which concerns the protection of mine roadways located near the face, has been revealed. In such conditions, the existing protective constructions are ineffective due to the fact that they yield and get pressed into the soft rocks of the footwall. This indicated the need for research into the geomechanical state of soft rocks of the footwall. According to the results of known studies on the mechanism of rock mass failure around roadways and the data of physical and mechanical properties of the coal mass, which is represented by soft rocks, the correlation dependence has been obtained, the use of which allowed for the determination of the parameters of the rock deformation diagram and the establishment of the stability criterion of footwall rocks under the protection means and stability conditions of the geotechnical system “protective construction – adjoining rocks.” They are the basis of a new approach to ensure the stability of the roadways, which are supported behind the faces, by controlling the stress state in the system “protective construction – adjoining rocks.” This may be the basis for the development of new methods of protecting roadways in conditions of soft adjoining rocks.

Optimum Active Vehicle Suspensions With Actuator Time Delay

2000 ◽  
Vol 123 (1) ◽  
pp. 54-61 ◽  
Author(s):  
Nader Jalili ◽  
Ebrahim Esmailzadeh
Keyword(s):  
Optimal Control ◽  
Time Delay ◽  
Wide Band ◽  
Fixed Time ◽  
Realistic Model ◽  
Vertical Acceleration ◽  
Band Frequency ◽  
The Road ◽  
Stability Chart ◽  
The Stability

A new approach to optimal control of vehicle suspension systems, incorporating actuator time delay, is presented. The inclusion of time delay provides a more realistic model for the actuators, and the problem is viewed from a different perspective rather than the conventional optimal control techniques. The objective here is to select a set of feedback gains such that the maximum vertical acceleration of the sprung mass is minimized, over a wide band frequency range and when subjected to certain constraints. The constraints are dictated by the vehicle stability characteristics and the physical bounds placed on the feedback gains. Utilizing a Simple Quarter Car model, the constrained optimization is then carried out in the frequency domain with the road irregularities described as random processes. Due to the presence of the actuator time delay, the characteristic equation is found to be transcendental rather than algebraic, which makes the stability analysis relatively complex. A new scheme for the stability chart strategy with fixed time delay is introduced in order to address the stability issue. The stability characteristics are also verified utilizing other conventional methods such as the Michailov technique. Results demonstrate that the suspension system, when considering the effect of the actuator time delay, exhibits a completely different behavior.

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