Pinpointed control of muscles by using power-assisting device

Ueda, Jun; Ding, Ming; Matsugashita, Masayuki; Oya, Reishi; Ogasawara, Tsukasa

doi:10.1109/robot.2007.364033

Cited by 9 publications

(15 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The research group led by Prof. Ogasawara later developed a similar tensile, McKibben-powered exomuscle [67]. Fully embracing the idea of the robot as a layer of external muscles, Ueda et al used a bio-inspired topology of the actuators for the elbow and wrist: they arranged the McKibben muscles so that they ran in parallel to their biological counterparts.…”

Section: A Tensile Robotic Suitsmentioning

confidence: 99%

Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges

Xiloyannis¹,

Alicea

Georgarakis³

et al. 2022

IEEE Trans. Robot.

136

View full text Add to dashboard Cite

Wearable robots are undergoing a disruptive transition, from the rigid machines that populated the science-fiction world in the early eighties to lightweight robotic apparel, hardly distinguishable from our daily clothes. In less than a decade of development, soft robotic suits have achieved important results in human motor assistance and augmentation. In this paper, we start by giving a definition of soft robotic suits and proposing a taxonomy to classify existing systems. We then critically review the modes of actuation, the physical human-robot interface and the intention-detection strategies of state of the art soft robotic suits, highlighting the advantages and limitations of different approaches. Finally, we discuss the impact of this new technology on human movements, for both augmenting human function and supporting motor impairments, and identify areas that are in need of further development.

show abstract

Section: A Tensile Robotic Suitsmentioning

confidence: 99%

Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges

Xiloyannis¹,

Alicea

Georgarakis³

et al. 2022

IEEE Trans. Robot.

136

View full text Add to dashboard Cite

show abstract

“…The solution of this interaction problem would lead to a more sophisticated application of exoskeleton robots in terms of muscle-level force assistance/resistance for future muscle function testing. Ueda et al have proposed the concept of individual muscle control using an exoskeleton [17], [18], [19], [20]. The key idea of this concept is to calculate the torque commands of an exoskeleton using a musculoskeletal model that mathematically solves the above-mentioned interaction problem.…”

Section: A Motivationmentioning

confidence: 99%

“…This paper presents the concept of individual muscle-force control technique using an exoskeleton robot [17], [18], [19], [20]. An arbitrary muscle activation pattern is induced in subjects by performing robot-assisted motor tasks, which is expected to be applicable for future muscle function testing.…”

Section: Introductionmentioning

confidence: 99%

Individual Muscle Control Using an Exoskeleton Robot for Muscle Function Testing

Ueda

Ding

Krishnamoorthy

et al. 2010

IEEE Trans. Neural Syst. Rehabil. Eng.

Self Cite

105

View full text Add to dashboard Cite

Healthy individuals modulate muscle activation patterns according to their intended movement and external environment. Persons with neurological disorders (e.g., stroke and spinal cord injury), however, have problems in movement control due primarily to their inability to modulate their muscle activation pattern in an appropriate manner. A functionality test at the level of individual muscles that investigates the activity of a muscle of interest on various motor tasks may enable muscle-level force grading. To date there is no extant work that focuses on the application of exoskeleton robots to induce specific muscle activation in a systematic manner. This paper proposes a new method, named "individual muscle-force control" using a wearable robot (an exoskeleton robot, or a power-assisting device) to obtain a wider variety of muscle activity data than standard motor tasks, e.g., pushing a handle by hand. A computational algorithm systematically computes control commands to a wearable robot so that a desired muscle activation pattern for target muscle forces is induced. It also computes an adequate amount and direction of a force that a subject needs to exert against a handle by his/her hand. This individual muscle control method enables users (e.g., therapists) to efficiently conduct neuromuscular function tests on target muscles by arbitrarily inducing muscle activation patterns. This paper presents a basic concept, mathematical formulation, and solution of the individual muscle-force control and its implementation to a muscle control system with an exoskeleton-type robot for upper extremity. Simulation and experimental results in healthy individuals justify the use of an exoskeleton robot for future muscle function testing in terms of the variety of muscle activity data.

show abstract

“…At a fixed posture, the stiffness can also be regulated by changing the muscle activation, but an explicit stiffness formulation about the muscle co-contraction remains unclear. Prior work by Ueda et al (2007, 2008, 2010) involves developing a computer model of the human musculoskeletal system in the upper body and arms. Evaluating human hand stiffness through electromyographic (EMG) signals to modify the damping parameters in pHRI has been researched by Gallagher et al (2014) and Grafakos et al (2016).…”

Section: Introductionmentioning

confidence: 99%

Improving stability in physical human–robot interaction by estimating human hand stiffness and a vibration index

Bian

Ren²,

et al. 2019

View full text Add to dashboard Cite

Purpose The purpose of this paper is to eliminate instability which may occur when a human stiffens his arms in physical human–robot interaction by estimating the human hand stiffness and presenting a modified vibration index. Design/methodology/approach Human hand stiffness is first estimated in real time as a prior indicator of instability by capturing the arm configuration and modeling the level of muscle co-contraction in the human’s arms. A time-domain vibration index based on the interaction force is then modified to reduce the delay in instability detection. The instability is confirmed when the vibration index exceeds a given threshold. The virtual damping coefficient in admittance controller is adjusted accordingly to ensure stability in physical human–robot interaction. Findings By estimating the human hand stiffness and modifying the vibration index, the instability which may occur in stiff environment in physical human–robot interaction is detected and eliminated, and the time delay is reduced. The experimental results demonstrate significant improvement in stabilizing the system when the human operator stiffens his arms. Originality/value The originality is in estimating the human hand stiffness online as a prior indicator of instability by capturing the arm configuration and modeling the level of muscle co-contraction in the human’s arms. A modification of the vibration index is also an originality to reduce the time delay of instability detection.

show abstract

Pinpointed control of muscles by using power-assisting device

Cited by 9 publications

References 8 publications

Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges

Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges

Individual Muscle Control Using an Exoskeleton Robot for Muscle Function Testing

Improving stability in physical human–robot interaction by estimating human hand stiffness and a vibration index

Contact Info

Product

Resources

About