Influence of lift walker for human walk and suggestion of walker device with power assistance

Kubo, Kazuya; Miyoshi, Takanori; Terashima, Kazuhiko

doi:10.1109/mhs.2009.5351844

Cited by 2 publications

(2 citation statements)

References 5 publications

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“…People rarely, if ever, fought against the mode change that the robot performed. They trusted the robot's behavior enough to take the robots suggestions [35]–[37]. We found no significant difference between the forced and automatic mode switching in terms of user preference t (76) = 0.37, p = 0.71.…”

Section: Time-optimal Mode Switchingmentioning

confidence: 74%

Assistive teleoperation of robot arms via automatic time-optimal mode switching

Herlant

Holladay

Srinivasa

2016

2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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Assistive robotic arms are increasingly enabling users with upper extremity disabilities to perform activities of daily living on their own. However, the increased capability and dexterity of the arms also makes them harder to control with simple, low-dimensional interfaces like joysticks and sip-and-puff interfaces. A common technique to control a high-dimensional system like an arm with a low-dimensional input like a joystick is through switching between multiple control modes. However, our interviews with daily users of the Kinova JACO arm identified mode switching as a key problem, both in terms of time and cognitive load. We further confirmed objectively that mode switching consumes about 17.4% of execution time even for able-bodied users controlling the JACO. Our key insight is that using even a simple model of mode switching, like time optimality, and a simple intervention, like automatically switching modes, significantly improves user satisfaction.

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Section: Time-optimal Mode Switchingmentioning

confidence: 74%

Assistive teleoperation of robot arms via automatic time-optimal mode switching

Herlant

Holladay

Srinivasa

2016

2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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“…Its posterior has the tough oblique ligament expanding from the insertion of the semimembranosus and blending into the joint capsule. [26][27][28][29][30][31][32][33] To generate EMG records of the calf muscles and the forces at the joints, the ankle joints are normally subjected to sinusoidal movements at various amplitudes and frequencies. When the leg relaxes, the ankle joint resists an imposed sinusoidal movement through a small, approximately sinusoidal force.…”

Section: Movements Of the Kneementioning

confidence: 99%

Real-time controller for foot-drop correction by using surface electromyography sensor

Mashhadany

Rahim

2013

Proc Inst Mech Eng H

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Foot drop is a disease caused mainly by muscle paralysis, which incapacitates the nerves generating the impulses that control feet in a heel strike. The incapacity may stem from lesions that affect the brain, the spinal cord, or peripheral nerves. The foot becomes dorsiflexed, affecting normal walking. A design and analysis of a controller for such legs is the subject of this article. Surface electromyography electrodes are connected to the skin surface of the human muscle and work on the mechanics of human muscle contraction. The design uses real surface electromyography signals for estimation of the joint angles. Various-speed flexions and extensions of the leg were analyzed. The two phases of the design began with surface electromyography of real human leg electromyography signal, which was subsequently filtered, amplified, and normalized to the maximum amplitude. Parameters extracted from the surface electromyography signal were then used to train an artificial neural network for prediction of the joint angle. The artificial neural network design included various-speed identification of the electromyography signal and estimation of the angles of the knee and ankle joints by a recognition process that depended on the parameters of the real surface electromyography signal measured through real movements. The second phase used artificial neural network estimation of the control signal, for calculation of the electromyography signal to be stimulated for the leg muscle to move the ankle joint. Satisfactory simulation (MATLAB/Simulink version 2012a) and implementation results verified the design feasibility.

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Influence of lift walker for human walk and suggestion of walker device with power assistance

Cited by 2 publications

References 5 publications

Assistive teleoperation of robot arms via automatic time-optimal mode switching

Assistive teleoperation of robot arms via automatic time-optimal mode switching

Real-time controller for foot-drop correction by using surface electromyography sensor

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