scholarly journals Control of Upper Limb Active Prosthesis Using Surface Electromyography

2021 ◽  
Vol 15 ◽  
pp. 92-96
Author(s):  
Muhammad Asim Waris ◽  
Mohsin Jamil ◽  
Syed Omer Gilani ◽  
Yasar Ayaz
Keyword(s):  
Upper Limb ◽  
Neural Activity ◽  
Surface Electromyography ◽  
Degrees Of Freedom ◽  
Noise Levels ◽  
Maximum Surface ◽  
Emg Signal ◽  
Human Arm ◽  
Practical Demonstration ◽  
Flexion And Extension

Electromyographic prosthesis with higher degrees of freedom is an expanding area of research. In this paper, active prosthesis with four degrees of freedom has been investigated, which can be used to fit a limb with amputation below elbow. The system comprises of multichannel inputs which correspond to the flexion and extension as well as supination and pronation. To find maximum surface neural activity, accurate placement of electrodes has been carried out on 10 subjects aged between 22-30 years. Signals (0-500 hertz) acquired from contracting voluntary muscles with minimum cross talk and common mode noise. Clean filtered EMG signal is then amplified precisely. Finally digitization is being done to drive bionic hand. Practical demonstration on a simple DC motor proved providential using this method for the two motions of an actual human arm. EMG Signals emanating from muscles dedicated to individual fingers have been recorded. Moreover modern classifiers; KNN and NN have been investigated carefully with selected features through different time and noise levels.

scholarly journals Development of Multifunctional Myoelectric Hand Prosthesis System with Easy and Effective Mode Change Control Method Based on the Thumb Position and State

2021 ◽  
Vol 11 (16) ◽  
pp. 7295
Author(s):  
Sung-Yoon Jung ◽  
Seung-Gi Kim ◽  
Joo-Hyung Kim ◽  
Se-Hoon Park
Keyword(s):  
Upper Limb ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Effective Control ◽  
Hand Gestures ◽  
Mode Change ◽  
Hand Prosthesis ◽  
Six Dof ◽  
Flexion And Extension

Commercial multi-degrees-of-freedom (multi-DOF) myoelectric hand prostheses can perform various hand gestures and grip motions using multiple DOFs. However, as most upper limb amputees have less than two electromyogram (EMG) signals generated at the amputation site, it is difficult to control various hand gestures and grip motions using multi-DOF myoelectric hand prostheses. This paper proposes a multifunctional myoelectric hand prosthesis system that uses only two EMG sensors while improving the convenience of upper limb amputees in everyday life. The proposed system comprises a six-DOF myoelectric hand prosthesis and an easy and effective control algorithm that enables upper limb amputees to perform various hand gestures and grip motions. More specifically, the hand prosthesis has a multi-DOF five-finger mechanism and a small controller that can be mounted inside the hand, allowing it to perform various hand gestures and grip motions. The control algorithm facilitates four grip motions and four gesture motions using the adduction and abduction positions of the thumb, the flexion and extension state of the thumb, and three EMG signals (co-contraction, flexion, and extension) generated using the two EMG sensors. Experimental results indicate that the proposed system is a versatile, flexible, and effective hand prosthesis system for upper limb amputees.

scholarly journals A Force-Feedback Exoskeleton for Upper-Limb Rehabilitation in Virtual Reality

2009 ◽  
Vol 6 (2) ◽  
pp. 115-126 ◽  
Author(s):  
Antonio Frisoli ◽  
Fabio Salsedo ◽  
Massimo Bergamasco ◽  
Bruno Rossi ◽  
Maria C. Carboncini
Keyword(s):  
Virtual Reality ◽  
Upper Limb ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Full Range ◽  
Upper Limb Rehabilitation ◽  
Reaching Task ◽  
Human Arm ◽  
Performance Error ◽  
Limb Rehabilitation

This paper presents the design and the clinical validation of an upper-limb force-feedback exoskeleton, the L-EXOS, for robotic-assisted rehabilitation in virtual reality (VR). The L-EXOS is a five degrees of freedom exoskeleton with a wearable structure and anthropomorphic workspace that can cover the full range of motion of human arm. A specific VR application focused on the reaching task was developed and evaluated on a group of eight post-stroke patients, to assess the efficacy of the system for the rehabilitation of upper limb. The evaluation showed a significant reduction of the performance error in the reaching task (pairedt-test, p < 0.02)

scholarly journals Development of an armored upper limb exoskeleton

2019 ◽  
pp. 109-117
Author(s):  
Santiago López-Méndez ◽  
Hader Vladimir Martínez-Tejada ◽  
Marco Fidel Valencia-García
Keyword(s):  
Upper Limb ◽  
Metal Matrix ◽  
Degrees Of Freedom ◽  
New Technologies ◽  
Personal Safety ◽  
Critical Aspect ◽  
Upper Limb Exoskeleton ◽  
The Military ◽  
Three Degrees Of Freedom ◽  
Flexion And Extension

Personal safety is a critical aspect of daily life, but also in the military. Active soldiers often have to carry heavy gear during missions, which puts pressure on their backs. Therefore, the military must come up with new technologies that allow both protection and movement. In this paper, it is explaining the development of an armored upper limb exoskeleton with three degrees of freedom. To ensure portability, it is used battery-fed DC actuators. The system was encased in a metal matrix that doubles up as a protective plate. The exoskeleton, the control system, the actuators, and the plate are integrated so that they offer protection while supporting the flexion and extension of the upper limb.

scholarly journals A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

2021 ◽  
Vol 11 (13) ◽  
pp. 5865
Author(s):  
Muhammad Ahsan Gull ◽  
Mikkel Thoegersen ◽  
Stefan Hein Bengtson ◽  
Mostafa Mohammadi ◽  
Lotte N. S. Andreasen Struijk ◽  
...  
Keyword(s):  
Upper Limb ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Trajectory Tracking Control ◽  
Upper Limb Exoskeleton ◽  
And Performance ◽  
Physically Disabled People ◽  
Human Upper Limb

Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

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 BIOMIMETIC DESIGN OF LOW STIFFNESS ACTUATOR SYSTEMS FOR PROSTHETIC LIMBS

2011 ◽  
Author(s):  
D. L. Russell ◽  
M. McTavish
Keyword(s):  
Mechanical Properties ◽  
Degrees Of Freedom ◽  
Analytical Techniques ◽  
Energetic Costs ◽  
Multiple Degrees Of Freedom ◽  
Prosthetic Limbs ◽  
Limb Stiffness ◽  
Human Arm ◽  
Biomimetic Approach ◽  
Low Stiffness

The various relationships that are possible between the mechanical properties of single actuators and the overall mechanism (in this case a human arm with or without a prosthetic elbow) are discussed. Graphical and analytical techniques for describing the range of overall limb stiffnesses that are achievable and for characterizing the overall limb stiffness have been developed. Using a biomimetic approach and, considering energetic costs, stability and complexity, the implications of choosing passive or active implementations of stiffness are discussed. These techniques and approaches are particularly applicable with redundant (agonist - antagonist) actuators and multiple degrees of freedom. Finally, a novel biomimetic approach for control is proposed.

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.

Design Human-Robot Collaborative Lifting Task Using Optimization

2021 ◽  
Author(s):  
Asif Arefeen ◽  
Yujiang Xiang
Keyword(s):  
Degrees Of Freedom ◽  
Joint Angle ◽  
Joint Torque ◽  
Robotic Arm ◽  
Inverse Dynamic ◽  
Floating Base ◽  
Grasping Forces ◽  
Design Variables ◽  
Human Arm ◽  
Lifting Task

Abstract In this paper, an optimization-based dynamic modeling method is used for human-robot lifting motion prediction. The three-dimensional (3D) human arm model has 13 degrees of freedom (DOFs) and the 3D robotic arm (Sawyer robotic arm) has 10 DOFs. The human arm and robotic arm are built in Denavit-Hartenberg (DH) representation. In addition, the 3D box is modeled as a floating-base rigid body with 6 global DOFs. The interactions between human arm and box, and robot and box are modeled as a set of grasping forces which are treated as unknowns (design variables) in the optimization formulation. The inverse dynamic optimization is used to simulate the lifting motion where the summation of joint torque squares of human arm is minimized subjected to physical and task constraints. The design variables are control points of cubic B-splines of joint angle profiles of the human arm, robotic arm, and box, and the box grasping forces at each time point. A numerical example is simulated for huma-robot lifting with a 10 Kg box. The human and robotic arms’ joint angle, joint torque, and grasping force profiles are reported. These optimal outputs can be used as references to control the human-robot collaborative lifting task.

Sign in / Sign up

Export Citation Format

Share Document