Human Upper Limb Experimental Analysis for Assistive Devices in Feeding Process

2021 ◽  
Vol 42 ◽  
pp. 122-127
Author(s):  
Cristian Copilusi ◽  
Ionut Geonea ◽  
Alexandru Margine ◽  
Adrian Rosca
Keyword(s):  
Upper Limb ◽  
Experimental Analysis ◽  
Command And Control ◽  
Disabled Persons ◽  
Assistive Devices ◽  
Upper Arm ◽  
Experimental Process ◽  
Feeding Process ◽  
And Control ◽  
Human Upper Limb

This research addresses attention to human upper limb experimental analysis during feeding process aiding disabled persons. The research core is focused on the experimental process of obtaining the angular amplitudes and trajectories developed by the human upper arm during feeding process. The research originality consists on the obtained results which can be used in further researches for command and control of robotic assisting devices.

Human Upper Limb Experimental Analysis for Complex Motions Used in Robotics

2018 ◽  
Vol 880 ◽  
pp. 136-141
Author(s):  
Mihnea Marin ◽  
Dorin Popescu ◽  
Ligia Rusu ◽  
Petre Cristian Copilusi
Keyword(s):  
Experimental Research ◽  
Upper Limb ◽  
Experimental Analysis ◽  
Human Subject ◽  
Complex Motion ◽  
Upper Arm ◽  
Modern Equipment ◽  
Experimental Activity ◽  
Human Upper Limb ◽  
Human Complex

In this paper an experimental research was performed in case of a human complex motion. The research aim was to evaluate the joint trajectories and angular variations of a human upper limb. Thus an experimental motion analysis was performed, by using a modern equipment called VICON Equipment and the interest joints are: shoulder, elbow and wrist. The experimental activity was developed on a human subject when perform a complex motion from baseball sport. The obtained results will be useful for the temporal recovery of the athletes’ complex motions after a severe injury or to reshape the upper arm behavior when strikes the ball in case of baseball athletes.

scholarly journals U-Limb: A multi-modal, multi-center database on arm motion control in healthy and post-stroke conditions

GigaScience ◽  
2021 ◽  
Vol 10 (6) ◽  
Author(s):  
Giuseppe Averta ◽  
Federica Barontini ◽  
Vincenzo Catrambone ◽  
Sami Haddadin ◽  
Giacomo Handjaras ◽  
...  
Keyword(s):  
Data Collection ◽  
Upper Limb ◽  
Brain Activity ◽  
Rehabilitation Robotics ◽  
Human Machine Interaction ◽  
Post Stroke ◽  
Upper Limb Movements ◽  
Arm Motion ◽  
And Control ◽  
Human Upper Limb

Abstract Background Shedding light on the neuroscientific mechanisms of human upper limb motor control, in both healthy and disease conditions (e.g., after a stroke), can help to devise effective tools for a quantitative evaluation of the impaired conditions, and to properly inform the rehabilitative process. Furthermore, the design and control of mechatronic devices can also benefit from such neuroscientific outcomes, with important implications for assistive and rehabilitation robotics and advanced human-machine interaction. To reach these goals, we believe that an exhaustive data collection on human behavior is a mandatory step. For this reason, we release U-Limb, a large, multi-modal, multi-center data collection on human upper limb movements, with the aim of fostering trans-disciplinary cross-fertilization. Contribution This collection of signals consists of data from 91 able-bodied and 65 post-stroke participants and is organized at 3 levels: (i) upper limb daily living activities, during which kinematic and physiological signals (electromyography, electro-encephalography, and electrocardiography) were recorded; (ii) force-kinematic behavior during precise manipulation tasks with a haptic device; and (iii) brain activity during hand control using functional magnetic resonance imaging.

scholarly journals Concept, Design, Initial Tests and Prototype of Customized Upper Limb Prosthesis

2021 ◽  
Vol 11 (7) ◽  
pp. 3077
Author(s):  
Corina Radu (Frenț) ◽  
Maria Magdalena Roșu ◽  
Lucian Matei ◽  
Liviu Marian Ungureanu ◽  
Mihaiela Iliescu
Keyword(s):  
Control System ◽  
Upper Limb ◽  
Vertical Plane ◽  
Command And Control ◽  
Human Hand ◽  
Vector Method ◽  
Upper Limb Prosthesis ◽  
Geometric Precision ◽  
And Control ◽  
Command And Control System

This paper presents aspects of the concept and design of prostheses for the upper limb. The objective of this research is that of prototyping a customized prosthesis, with EMG signals that initiate the motion. The prosthesis’ fingers’ motions (as well as that of its hand and forearm parts) are driven by micro-motors, and assisted by the individualized command and control system. The software and hardware tandem concept of this mechatronic system enables complex motion (in the horizontal and vertical plane) with accurate trajectory and different set rules (gripping pressure, object temperature, acceleration towards the object). One important idea is regarding customization via reverse engineering techniques. Due to this, the dimensions and appearance (geometric characteristics) of the prosthesis would look like the human hand itself. The trajectories and motions of the fingers, thumbs, and joints have been studied by kinematic analysis with the matrix–vector method aided by Matlab. The concept and design of the mechanical parts allow for complex finger motion—rotational motion in two planes. The command and control system is embedded, and data received from the sensors are processed by a micro-controller for managing micro-motor control. Preliminary testing of the sensors and micro-motors on a small platform, Arduino, was performed. Prototyping of the mechanical components has been a challenge because of the high accuracy needed for the geometric precision of the parts. Several techniques of rapid prototyping were considered, but only DLP (digital light processing) proved to be the right one.

Human Upper Limb Robotic System Experimental Analysis by Using CONTEMPLAS Motion Software

2013 ◽  
Vol 325-326 ◽  
pp. 1062-1066 ◽  
Author(s):  
Petre Cristian Copilusi ◽  
Valentin Grecu ◽  
Nicolae Dumitru
Keyword(s):  
Experimental Research ◽  
Upper Limb ◽  
Experimental Analysis ◽  
High Speed ◽  
Robotic System ◽  
Special Equipment ◽  
Upper Limb Rehabilitation ◽  
System Type ◽  
Limb Rehabilitation ◽  
Human Upper Limb

In this paper a human upper limb robotic system is analyzed through an experimental study. The experimental analysis aim is to validate this robotic system type in order to use it in some kinetotherapy programs for the human upper limb recovery. The robotic system experimental research was performed by using special equipment called CONTEMPLAS which enables to evaluate angular variations in 3D environment. The equipment used in this research has two high-speed cameras which can record and establish the angular variations developed at the robotic system joints level. This paper consists of three main parts. In the first part there is an actual study of the robotic systems specially designed for the human upper limb rehabilitation, where the robotic system proposed for this experimental research is described. The second part includes some literature aspects regarding the movements developed by the human upper limb, and in the third part the experimental research is described in detail.

scholarly journals Bio-Inspired Conceptual Mechanical Design and Control of a New Human Upper Limb Exoskeleton

Robotics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 123
Author(s):  
Narek Zakaryan ◽  
Mikayel Harutyunyan ◽  
Yuri Sargsyan
Keyword(s):  
Upper Limb ◽  
Mechanical Design ◽  
Artificial Muscle ◽  
Design Parameters ◽  
Upper Limb Exoskeleton ◽  
System A ◽  
Rehabilitation Robots ◽  
Point Control ◽  
And Control ◽  
Human Upper Limb

Safe operation, energy efficiency, versatility and kinematic compatibility are the most important aspects in the design of rehabilitation exoskeletons. This paper focuses on the conceptual bio-inspired mechanical design and equilibrium point control (EP) of a new human upper limb exoskeleton. Considering the upper limb as a multi-muscle redundant system, a similar over-actuated but cable-driven mechatronic system is developed to imitate upper limb motor functions. Additional torque adjusting systems at the joints allow users to lift light weights necessary for activities of daily living (ADL) without increasing electric motor powers of the device. A theoretical model of the “ideal” artificial muscle exoskeleton is also developed using Hill’s natural muscle model. Optimal design parameters of the exoskeleton are defined using the differential evolution (DE) method as a technique of a multi-objective optimization. The proposed cable-driven exoskeleton was then fabricated and tested on a healthy subject. Results showed that the proposed system fulfils the desired aim properly, so that it can be utilized in the design of rehabilitation robots. Further studies may include a spatial mechanism design, which is especially important for the shoulder rehabilitation, and development of reinforcement learning control algorithms to provide more efficient rehabilitation treatment.

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