scholarly journals A Mirror Bilateral Neuro-Rehabilitation Robot System with the sEMG-Based Real-Time Patient Active Participant Assessment

Life ◽  
2021 ◽  
Vol 11 (12) ◽  
pp. 1290
Author(s):  
Ziyi Yang ◽  
Shuxiang Guo ◽  
Hideyuki Hirata ◽  
Masahiko Kawanishi
Keyword(s):  
Real Time ◽  
Visual Feedback ◽  
Elbow Joint ◽  
Isometric Force ◽  
Estimation Method ◽  
Force Estimation ◽  
Active Participant ◽  
Mirror Visual Feedback ◽  
Affected Side ◽  
Limb Coordination

In this paper, a novel mirror visual feedback-based (MVF) bilateral neurorehabilitation system with surface electromyography (sEMG)-based patient active force assessment was proposed for upper limb motor recovery and improvement of limb inter-coordination. A mirror visual feedback-based human–robot interface was designed to facilitate the bilateral isometric force output training task. To achieve patient active participant assessment, an sEMG signals-based elbow joint isometric force estimation method was implemented into the proposed system for real-time affected side force assessment and participation evaluation. To assist the affected side limb efficiently and precisely, a mirror bilateral control framework was presented for bilateral limb coordination. Preliminary experiments were conducted to evaluate the estimation accuracy of force estimation method and force tracking accuracy of system performance. The experimental results show the proposed force estimation method can efficiently calculate the elbow joint force in real-time, and the affected side limb of patients can be assisted to track output force of the non-paretic side limb for better limb coordination by the proposed bilateral rehabilitation system.

scholarly journals Proposal of the Tire Longitudinal Characteristics Real-Time Estimation Method

2018 ◽  
Vol 30 (5) ◽  
pp. 811-818
Author(s):  
Yuuki Shiozawa ◽  
◽  
Shunsuke Tsukuda ◽  
Hiroshi Mouri
Keyword(s):  
Friction Coefficient ◽  
Real Time ◽  
Vehicle Dynamics ◽  
Surface Condition ◽  
Estimation Method ◽  
Road Surface ◽  
Force Estimation ◽  
The Road ◽  
Significant Difference ◽  
On The Road

For vehicle dynamics control and Autonomous Driving (AD) system, it is important to know the friction coefficient μ of the road surface accurately. It is because the lateral and the longitudinal force characteristics of the tire depend on the road surface condition largely. However, currently, it is difficult to detect tire performance degradation before the deterioration of vehicle dynamics in real time because tire force estimation is usually conducted by comparing the observed vehicle motion with the onboard reference vehicle-model motion. Such conventional estimators do not perform well if there is a significant difference between the vehicle and the model behavior. In this paper, a new tire state estimation method based on this tire longitudinal characteristic is proposed. In addition, the estimator for tire-road surface friction coefficient μ is proposed by using this geometric relationship. Using this method, the friction coefficient value for a real road can be determined from relatively simple calculations. Also, the advantage of this method is that it can be estimated in a small slip region before the tire loses its grip. In addition, this paper explain how to apply and the effect on the actual vehicle.

scholarly journals External force estimation of fracture reduction robot based on force residual method

2020 ◽  
Vol 17 (1) ◽  
pp. 172988141989747
Author(s):  
Jingtao Lei ◽  
Gongliang Zheng ◽  
Lei Hu ◽  
Lihai Zhang ◽  
Tianmiao Wang
Keyword(s):  
Real Time ◽  
External Force ◽  
Estimation Method ◽  
Force Sensor ◽  
Fracture Reduction ◽  
Influence Coefficient ◽  
Force Estimation ◽  
Hill Model ◽  
Vector Method ◽  
Reduction Operation

Robot-assisted fracture reduction surgery should be highly safe and accurate. It is necessary to accurately determine and control the reduction force of the reduction robot. In this article, a fracture reduction robot is designed with the configuration of the 6-universal-prismatic-universal (6-UPU). The vector method is used to analyze the kinematics of the reduction robot. The Jacobian matrix of the reduction robot and the second-order influence coefficient matrix of the acceleration are obtained. The Lagrangian method is adopted to analyze the dynamic of the reduction robot. The muscle contraction force of the femoral shaft fracture is analyzed based on the Hill model to determine the fracture reduction force. According to changing of the reduction force during the fracture reduction operation, a kind of external force estimation method based on force residual analysis is proposed. When there is no external force sensor at the end of the reduction robot, this method can be used to detect the reduction force in real time. According to the displacement, velocity, and output torque of each branch chain, the reduction force during the reduction operation of the reduction robot can be estimated. A simulation system is conducted and the simulation results show that the fracture reduction force can be estimated and accurately tracked in real time, which is of great significance for the safe operation of the fracture reduction robot.

JOINT ESTIMATION OF THE TRANSMISSIBILITY AND SEVERITY OF EBOLA VIRUS DISEASE IN REAL TIME

2017 ◽  
Vol 25 (04) ◽  
pp. 587-603 ◽  
Author(s):  
YUSUKE ASAI ◽  
HIROSHI NISHIURA
Keyword(s):  
Real Time ◽  
Ebola Virus ◽  
Virus Disease ◽  
Critical Role ◽  
Estimation Method ◽  
Case Fatality ◽  
Ascertainment Bias ◽  
Joint Estimation ◽  
Ebola Virus Disease ◽  
Strong Impact

The effective reproduction number [Formula: see text], the average number of secondary cases that are generated by a single primary case at calendar time [Formula: see text], plays a critical role in interpreting the temporal transmission dynamics of an infectious disease epidemic, while the case fatality risk (CFR) is an indispensable measure of the severity of disease. In many instances, [Formula: see text] is estimated using the reported number of cases (i.e., the incidence data), but such report often does not arrive on time, and moreover, the rate of diagnosis could change as a function of time, especially if we handle diseases that involve substantial number of asymptomatic and mild infections and large outbreaks that go beyond the local capacity of reporting. In addition, CFR is well known to be prone to ascertainment bias, often erroneously overestimated. In this paper, we propose a joint estimation method of [Formula: see text] and CFR of Ebola virus disease (EVD), analyzing the early epidemic data of EVD from March to October 2014 and addressing the ascertainment bias in real time. To assess the reliability of the proposed method, coverage probabilities were computed. When ascertainment effort plays a role in interpreting the epidemiological dynamics, it is useful to analyze not only reported (confirmed or suspected) cases, but also the temporal distribution of deceased individuals to avoid any strong impact of time dependent changes in diagnosis and reporting.

scholarly journals Electrical stimulator with mechanomyography-based real-time monitoring, muscle fatigue detection, and safety shut-off: a pilot study

2020 ◽  
Vol 65 (4) ◽  
pp. 461-468
Author(s):  
Jannatul Naeem ◽  
Nur Azah Hamzaid ◽  
Amelia Wong Azman ◽  
Manfred Bijak
Keyword(s):  
Muscle Fatigue ◽  
Real Time ◽  
Isometric Force ◽  
Mean Square ◽  
Clear Indication ◽  
Initial Value ◽  
Cord Injury ◽  
The Mean ◽  
Electrical Stimulator ◽  
Fatigue Detection

AbstractFunctional electrical stimulation (FES) has been used to produce force-related activities on the paralyzed muscle among spinal cord injury (SCI) individuals. Early muscle fatigue is an issue in all FES applications. If not properly monitored, overstimulation can occur, which can lead to muscle damage. A real-time mechanomyography (MMG)-based FES system was implemented on the quadriceps muscles of three individuals with SCI to generate an isometric force on both legs. Three threshold drop levels of MMG-root mean square (MMG-RMS) feature (thr50, thr60, and thr70; representing 50%, 60%, and 70% drop from initial MMG-RMS values, respectively) were used to terminate the stimulation session. The mean stimulation time increased when the MMG-RMS drop threshold increased (thr50: 22.7 s, thr60: 25.7 s, and thr70: 27.3 s), indicating longer sessions when lower performance drop was allowed. Moreover, at thr70, the torque dropped below 50% from the initial value in 14 trials, more than at thr50 and thr60. This is a clear indication of muscle fatigue detection using the MMG-RMS value. The stimulation time at thr70 was significantly longer (p = 0.013) than that at thr50. The results demonstrated that a real-time MMG-based FES monitoring system has the potential to prevent the onset of critical muscle fatigue in individuals with SCI in prolonged FES sessions.

scholarly journals Real-time Array Shape Estimation Method of Horizontal Suspended Linear Array Based on Non-acoustic Auxiliary Sensors

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Zonglun Che ◽  
Jun Wang ◽  
Jing Zhu ◽  
Bingbing Zhang ◽  
Yang Zhang ◽  
...  
Keyword(s):  
Real Time ◽  
Linear Array ◽  
Estimation Method ◽  
Shape Estimation ◽  
Array Shape Estimation

scholarly journals Improvement of Reliability Determination Performance of Real Time Kinematic Solutions Using Height Trajectory

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 657
Author(s):  
Aoki Takanose ◽  
Yoshiki Atsumi ◽  
Kanamu Takikawa ◽  
Junichi Meguro
Keyword(s):  
Real Time ◽  
Urban Areas ◽  
Estimation Method ◽  
Tall Buildings ◽  
Autonomous Driving ◽  
Reliability Estimation ◽  
Height Variation ◽  
Position Information ◽  
Real Time Kinematic ◽  
Evaluation Test

Autonomous driving support systems and self-driving cars require the determination of reliable vehicle positions with high accuracy. The real time kinematic (RTK) algorithm with global navigation satellite system (GNSS) is generally employed to obtain highly accurate position information. Because RTK can estimate the fix solution, which is a centimeter-level positioning solution, it is also used as an indicator of the position reliability. However, in urban areas, the degradation of the GNSS signal environment poses a challenge. Multipath noise caused by surrounding tall buildings degrades the positioning accuracy. This leads to large errors in the fix solution, which is used as a measure of reliability. We propose a novel position reliability estimation method by considering two factors; one is that GNSS errors are more likely to occur in the height than in the plane direction; the other is that the height variation of the actual vehicle travel path is small compared to the amount of movement in the horizontal directions. Based on these considerations, we proposed a method to detect a reliable fix solution by estimating the height variation during driving. To verify the effectiveness of the proposed method, an evaluation test was conducted in an urban area of Tokyo. According to the evaluation test, a reliability judgment rate of 99% was achieved in an urban environment, and a plane accuracy of less than 0.3 m in RMS was achieved. The results indicate that the accuracy of the proposed method is higher than that of the conventional fix solution, demonstratingits effectiveness.

High-precision roll attitude estimation of decoupled canards relative to the projectile body using bipolar hall-effect sensors

2021 ◽  
pp. 1-9
Author(s):  
Tingting Yin ◽  
Zhong Yang ◽  
Youlong Wu ◽  
Fangxiu Jia
Keyword(s):  
Hall Effect ◽  
Real Time ◽  
High Precision ◽  
Solution Method ◽  
Estimation Method ◽  
Estimation Algorithm ◽  
Attitude Estimation ◽  
Fuzzy Algorithms ◽  
Positioning Method ◽  
Hall Effect Sensors

The high-precision roll attitude estimation of the decoupled canards relative to the projectile body based on the bipolar hall-effect sensors is proposed. Firstly, the basis engineering positioning method based on the edge detection is introduced. Secondly, the simplified dynamic relative roll model is established where the feature parameters are identified by fuzzy algorithms, while the high-precision real-time relative roll attitude estimation algorithm is proposed. Finally, the trajectory simulations and grounded experiments have been conducted to evaluate the advantages of the proposed method. The positioning error is compared with the engineering solution method, and it is proved that the proposed estimation method has the advantages of the high accuracy and good real-time performance.

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