scholarly journals Development of a Multi-DOF Electromyography Prosthetic System Using the Adaptive Joint Mechanism

2006 ◽  
Vol 3 (2) ◽  
pp. 101-111 ◽  
Author(s):  
A. Hernandez Arieta ◽  
R. Katoh ◽  
H. Yokoi ◽  
Y. Wenwei
Keyword(s):  
Mechanical Design ◽  
Skin Surface ◽  
The Other ◽  
Joint Torque ◽  
Prosthetic Hand ◽  
Simple Pattern ◽  
Information Process ◽  
Nonlinear Properties ◽  
Emg Signal ◽  
Joint Mechanism

This paper describes an electrically powered prosthetic system controlled by electromyography (EMG) signal detected from the skin surface of the human body. The research of electrically powered prosthetic systems is divided into two main subjects. One is the design of the joint mechanism. We propose the use of an adaptive joint mechanism based on the tendon-driven architecture. This mechanism includes mechanical torque–velocity converters and a mechanism to assist the proximal joint torque by distal actuators. The other subject is the recognition of the EMG signal. For the discrimination of many patterns and nonlinear properties of the EMG signal, we propose a controller based on a simple pattern recognition information process. The system also drives 12 servomotors to move the adaptive joint mechanism. In this paper, we show the proposed system and describe the mechanical design of the prosthetic hand. The experimental results show that the electrically powered devices can be controlled using the proposed method.

Multifunctional Electrical Prosthetic Hand -Development of Tendon-driven Mechanism and Controller

2002 ◽  
Vol 14 (6) ◽  
pp. 557-564 ◽  
Author(s):  
Wenwei Yu ◽  
◽  
Daisuke Nishikawa ◽  
Yasuhiro Ishikawa ◽  
Hiroshi Yokoi ◽  
...  
Keyword(s):  
Neural Network ◽  
Time Delay ◽  
Recurrent Neural Network ◽  
Network Models ◽  
Joint Torque ◽  
Prosthetic Hand ◽  
Neural Network Models ◽  
Nonlinear Properties ◽  
The Stability

The purpose of this research was to develop a tendondriven electrical prosthetic hand, which is characterized by its mechanical torque-velocity converter and a mechanism that can assist proximal joint torque by distal actuators. To cope with time-delay and nonlinear properties of the prosthetic hand, a controller based on a Jordan network, recurrent neural network models, is proposed. The results of experiments on the stability of the controller are confirmed when tracking static wire tensions. Finally, the next prototype of prosthetic hand based on these methods is introduced.

scholarly journals Timed ATL: Forget Memory, Just Count

2019 ◽  
Vol 66 ◽  
pp. 197-223
Author(s):  
Michal Jozef Knapik ◽  
Etienne Andre ◽  
Laure Petrucci ◽  
Wojciech Jamroga ◽  
Wojciech Penczek
Keyword(s):  
Model Checking ◽  
Temporal Logic ◽  
Discrete Time ◽  
The Other ◽  
Simple Pattern ◽  
Perfect Recall ◽  
Other Hand ◽  
Compact Representations ◽  
Time Extension ◽  
Number Of Visits

In this paper we investigate the Timed Alternating-Time Temporal Logic (TATL), a discrete-time extension of ATL. In particular, we propose, systematize, and further study semantic variants of TATL, based on different notions of a strategy. The notions are derived from different assumptions about the agents’ memory and observational capabilities, and range from timed perfect recall to untimed memoryless plans. We also introduce a new semantics based on counting the number of visits to locations during the play. We show that all the semantics, except for the untimed memoryless one, are equivalent when punctuality constraints are not allowed in the formulae. In fact, abilities in all those notions of a strategy collapse to the “counting” semantics with only two actions allowed per location. On the other hand, this simple pattern does not extend to the full TATL. As a consequence, we establish a hierarchy of TATL semantics, based on the expressivity of the underlying strategies, and we show when some of the semantics coincide. In particular, we prove that more compact representations are possible for a reasonable subset of TATL specifications, which should improve the efficiency of model checking and strategy synthesis.

ROBOT-ASSISTED STROKE REHABILITATION: JOINT TORQUE/FORCE CONVERSION FROM EMG USING GA PROCESS

2011 ◽  
Vol 11 (04) ◽  
pp. 827-843 ◽  
Author(s):  
S. PARASURAMAN ◽  
ARIF WICAKSONO OYONG
Keyword(s):  
Genetic Algorithm ◽  
Basic Principle ◽  
Stroke Rehabilitation ◽  
Real Life ◽  
Joint Torque ◽  
Robot Assisted ◽  
Emg Signal ◽  
Conversion Algorithm

This project focuses on the development of robot-assisted stroke rehabilitation by implementing electromyography (EMG) as the interface between robot and user communication. The key issue in the implementation of EMG in this application is the conversion of EMG signal into torque data. This article presents a methodology of EMG signal to estimated joint torque conversion by using genetic algorithm (GA). The basic principle of GA, formulation, and implementation to the problem are discussed in this article. Experimentation with real-life EMG data has been carried out to assess the feasibility of the methodology in robot-assisted stroke rehabilitation problem. Preliminary investigations show that the methodology can be used in EMG to joint torque conversion algorithm.

scholarly journals The Development of Body-Powered Prosthetic Hand Controlled by EMG Signals Using DSP Processor with Virtual Prosthesis Implementation

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Fathia H. A. Salem ◽  
Khaled S. Mohamed ◽  
Sundes B. K. Mohamed ◽  
Amal A. El Gehani
Keyword(s):  
High Performance ◽  
State Of The Art ◽  
The Body ◽  
Prosthetic Hand ◽  
Prosthetic Hands ◽  
Emg Signal ◽  
Mechanical Hand ◽  
Fast Processing ◽  
Opening And Closing ◽  
Two Stages

The state of the art in the technology of prosthetic hands is moving rapidly forward. However, there are only two types of prosthetic hands available in Libya: the Passive Hand and the Mechanical Hand. It is very important, therefore, to develop the prosthesis existing in Libya so that the use of the prosthesis is as practical as possible. Considering the case of amputation below the elbow, with two movements: opening and closing the hand, this work discusses two stages: developing the operation of the body-powered prosthetic hand by controlling it via the surface electromyography signal (sEMG) through dsPIC30f4013 processor and a servo motor and a software based on fuzzy logic concept to detect and process the EMG signal of the patient as well as using it to train the patient how to control the movements without having to fit the prosthetic arm. The proposed system has been practically implemented, tested, and gave satisfied results, especially that the used processor provides fast processing with high performance compared to other types of microcontrollers.

scholarly journals Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: A Proposal of Dual Structural Actuator

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Hitoshi Kimura ◽  
Takuya Matsuzaki ◽  
Mokutaro Kataoka ◽  
Norio Inou
Keyword(s):  
High Speed ◽  
Virtual Work ◽  
Joint Torque ◽  
Coordinated Motion ◽  
Active Joint ◽  
Power Matching ◽  
Joint Mechanism ◽  
Multiple Actuators ◽  
Different Diameters ◽  
Geometric Relationship

An actuator is required to change its speed and force depending on the situation. Using multiple actuators for one driving axis is one of the possible solutions; however, there is an associated problem of output power matching. This study proposes a new active joint mechanism using multiple actuators. Because the actuator is made of a flexible bag, it does not interfere with other actuators when it is depressurized. The proposed joint achieved coordinated motion of multiple actuators. This report also discusses a new actuator which has dual cylindrical structure. The cylinders are composed of flexible bags with different diameters. The joint torque is estimated based on the following factors: empirical formula for the flexible actuator torque, geometric relationship between the joint and the actuator, and the principle of virtual work. The prototype joint mechanism achieves coordinated motion of multiple actuators for one axis. With this motion, small inner actuator contributes high speed motion, whereas large outer actuator generates high torque. The performance of the prototype joint is examined by speed and torque measurements. The joint showed about 30% efficiency at 2.0 Nm load torque under 0.15 MPa air input.

scholarly journals Optical Nonlinear Properties of Gold Nanoparticles Synthesized by Laser Ablation in Polymer Solution

2017 ◽  
Vol 2017 ◽  
pp. 1-9 ◽  
Author(s):  
M. Tajdidzadeh ◽  
A. B. Zakaria ◽  
Z. Abidin Talib ◽  
A. S. Gene ◽  
S. Shirzadi
Keyword(s):  
Particle Size ◽  
Gold Nanoparticles ◽  
Polyethylene Glycol ◽  
Laser Ablation ◽  
Volume Fraction ◽  
Chitosan Solution ◽  
The Other ◽  
Distilled Water ◽  
Nonlinear Properties ◽  
Glycol Solution

In the present study, gold nanoparticles were synthesized in various polymer solutions by means of employing laser ablation technique at the same ablation time. Specifically, gold nanoparticles were synthesized in polyethylene glycol and chitosan solutions, in order to compare the effects of the liquid media which served as stabilizers for particle size and volume fraction of nanoparticles. In addition, this experiment was repeated in distilled water for reference purposes. As the findings indicated, the particle size which was obtained in polyethylene glycol was about 7.49 nm, that is, smaller than those of chitosan solution and distilled water, respectively. In contrast, it was observed that the volume fraction of gold nanoparticles increased in polyethylene glycol in comparison with the other media which indicated an effect on the formation of NPs. On the other hand,Z-scan technique was employed to measure the nonlinear refractive index and nonlinear absorption coefficient of nanofluids containing gold nanoparticles. Consequently, the nonlinear properties of nanofluids pointed to a significant contribution with the number of nanoparticles observed in fluids and both optical nonlinear parameters were observed to increase by means of a prior increase in the volume fraction of Au-NPs in polyethylene glycol solution.

"Theory of Machines and Mechanism" Teaching Reform to Inspire Mechanical Design Thinking

2014 ◽  
Vol 678 ◽  
pp. 627-631
Author(s):  
Yang Fang Wu
Keyword(s):  
Professional Education ◽  
Mechanical Engineering ◽  
Design Thinking ◽  
Mechanical Design ◽  
The Other ◽  
Classroom Teaching ◽  
Teaching Mode ◽  
Teaching Reform ◽  
Technology Foundation

Theory of Machines and Mechanism as a major technology foundation course of mechanical engineering plays an important role in connecting professional education. From the perspective of inspiring mechanical design thinking, put forward the idea of classroom teaching reform for the curriculum. The knowledge of the curriculum is combed; the target ability of the curriculum is specified; the teaching plans are designed to inspire design thinking; the teaching mode is reformed, and the extracurricular learning mode is enhanced. This paper provides a reference for the classroom teaching reform in the other mechanical course.

scholarly journals Model-based mechanical design of a passive lower-limb exoskeleton for assisting workers in shotcrete projection

Meccanica ◽  
2020 ◽  
Author(s):  
Stefano L. Capitani ◽  
Matteo Bianchi ◽  
Nicola Secciani ◽  
Marco Pagliai ◽  
Enrico Meli ◽  
...  
Keyword(s):  
Construction Industry ◽  
Lower Limb ◽  
Mechanical Design ◽  
The Other ◽  
Whole Body ◽  
Site Assessment ◽  
Lower Limb Exoskeleton ◽  
Heavy Loads ◽  
Assistance Tool ◽  
Concrete Reinforcement

AbstractDespite the current industrial trend towards automation, many workers are still daily exposed to heavy loads during their duties. Regarding the construction industry, the shotcrete projection results in a particularly arduous whole-body effort for the so-called “concrete reinforcement workers”. In this paper, the design of a passive robotic human assistance tool to assist workers in dealing with the specific task of shotcrete projection will be described. If the design of an effective aid plays a crucial role in improving the job’s quality, following the guidelines given by the French company Eiffage Infrastructures; besides, the acceptance of the proposed solution shall have special consideration. Therefore, starting from an in-site assessment of the scenario, the presented solution has been profoundly adjusted to address the issues coming from this particular task. The exoskeleton adaptability to different lower-limb activities has been preserved without lowering its comfort during daily life in the working area. The developed solution’s operation range has been specifically optimized to assist the worker during specific efforts without hindering the other movements.

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