Arm Movement Experiments with Joint Space Force Fields Using an Exoskeleton Robot

Abstract In order to assist patients with lower limb disabilities in normal walking, a new trajectory learning scheme of limb exoskeleton robot based on dynamic movement primitives (DMP) combined with reinforcement learning (RL) was proposed. The developed exoskeleton robot has six degrees of freedom (DOFs). The hip and knee of each artificial leg can provide two electric-powered DOFs for flexion/extension. And two passive-installed DOFs of the ankle were used to achieve the motion of inversion/eversion and plantarflexion/dorsiflexion. The five-point segmented gait planning strategy is proposed to generate gait trajectories. The gait Zero Moment Point stability margin is used as a parameter to construct a stability criteria to ensure the stability of human-exoskeleton system. Based on the segmented gait trajectory planning formation strategy, the multiple-DMP sequences were proposed to model the generation trajectories. Meanwhile, in order to eliminate the effect of uncertainties in joint space, the RL was adopted to learn the trajectories. The experiment demonstrated that the proposed scheme can effectively remove interferences and uncertainties.

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Temporal Development of Anticipatory Reflex Modulation to Dynamical Interactions During Arm Movement

Journal of Neurophysiology ◽

10.1152/jn.90907.2008 ◽

2009 ◽

Vol 102 (4) ◽

pp. 2220-2231 ◽

Cited By ~ 20

Author(s):

Toshitaka Kimura ◽

Hiroaki Gomi

Keyword(s):

Force Field ◽

Force Fields ◽

Arm Movement ◽

Spatial Distance ◽

Reflex Modulation ◽

Dependent Manner ◽

Flexor Reflex ◽

Dynamical Interaction ◽

Reflex Amplitude ◽

Reflex Responses

It is known that somatosensory reflex during voluntary arm movement is modulated anticipatorily according to given tasks or environments. However, when and how reflex amplitude is set remains controversial. Is the reflex modulation completed preparatorily before movement execution or does it vary with the movement? Is the reflex amplitude coded in a temporal manner or in a spatial (or state-dependent) manner? Here we studied these issues while subjects performed planar reaching movements with upcoming opposite (rightward/leftward) directions of force fields. Somatosensory reflex responses of shoulder muscles induced by a small force perturbation were evaluated at several points before the arm encountered predictable force fields after movement start. We found that the shoulder flexor reflex responses were generally higher for the rightward than for the leftward upcoming force fields, whereas the extensor reflex responses were higher for the leftward force field. This reflex amplitude depending on the upcoming force field direction became prominent as the reflex was evoked closer to the force fields, indicating continuous changes in reflex modulation during movement. An additional experiment further showed that the reflex modulation developed as a function of the temporal distance to the force fields rather than the spatial distance. Taken together, the results suggest that, in the force field interaction task, somatosensory reflex amplitude during the course of movement is set anticipatorily on the basis of an estimate of the time-to-contact rather than the state-to-contact, to upcoming dynamical interaction during voluntary movement.

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Use of the Magnetostatic Analogue In Electromagnetic Lens Engineering

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100068795 ◽

1970 ◽

Vol 28 ◽

pp. 360-361

Author(s):

John W. Coleman

Keyword(s):

Boundary Conditions ◽

High Performance ◽

Force Fields ◽

Optical Design ◽

Direct Conversion ◽

Design Engineering ◽

Design Data ◽

Scalar Potentials ◽

Geometric Elements ◽

At Will

In the design engineering of high performance electromagnetic lenses, the direct conversion of electron optical design data into drawings for reliable hardware is oftentimes difficult, especially in terms of how to mount parts to each other, how to tolerance dimensions, and how to specify finishes. An answer to this is in the use of magnetostatic analytics, corresponding to boundary conditions for the optical design. With such models, the magnetostatic force on a test pole along the axis may be examined, and in this way one may obtain priority listings for holding dimensions, relieving stresses, etc..The development of magnetostatic models most easily proceeds from the derivation of scalar potentials of separate geometric elements. These potentials can then be conbined at will because of the superposition characteristic of conservative force fields.

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