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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Shotaro Okajima Eduardo Iáñez Hiroshi Yamasaki Álvaro Costa García Fady S. Alnajjar Noriaki Hattori Shingo Shimoda Man-Machine Collaboration Research Team Robotics Project Baton Zone Program Science Technology and Innovation Hub RIKEN Nagoya Japan Brain-Machine Interface Systems Lab Miguel Hernández University of Elche Spain Intelligent Behavior Control Unit BTCC CBS RIKEN Nagoya Japan College of IT (CIT) UAE University (UAEU) Global Center for Medical Engineering and Informatics Osaka University

ISBN: (数字)9781728150734

ISBN: (纸本)9781728150741

Surface electromyography(sEMG) measurement has been an essential approach to analyze human behaviors because we can generally consider that sEMG signals represent the muscle activities as the final output of our nerve system. One of the most serious problems for considering sEMG signal as the muscle activity is the shift of the relative position between muscles and skin depending on a posture. The motion of forearm rotation is the prominent example of muscle-skin shifting depending on postural changes. The sEMG signal from a sensor may represent the different muscle activity when the muscle-skin shifting is happened. In this study, we discuss a method to quantify the muscle-skin shift from the sEMG signals in response to the postural changes. We use the high density sEMG sensor that is possible to measure sEMG signal as the potential map. We proposed the computation algorithm to quantify the amount of muscle-skin shifting based on the change of the sEMG signals in response to the postural changes. We conducted the experiments of wrist extension motions under three different forearm postures: forearm pronation, natural posture and forearm supination. Experimental results from three healthy subjects show that we can quantify the extent of muscle-skin shifting as an angle by using proposed algorithm.

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Automatic assessment of facial expressions using fiducial points 12

Automatic assessment of facial expressions using fiducial po...

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13th International Conference on Computer systems and Technologies, CompSysTech 2012

作者： Wojdel, Ana Rothkrantz, Leon Department of Knowledge Based Systems Delft University of Technology Netherlands Department of Man Machine Interaction Delft University of Technology Netherlands Department of Sensors Weapons and Command and Control Netherlands Defense Academy Netherlands

ISBN: (纸本)9781450311939

Facial expressions play an important role in human communication. Accurate recognition of facial expressions is important to understand nonverbal communication. many tools have been developed but to recognize facial impressions in real life communications independent of lighting conditions, posture, occlusion and different intensities is still an unsolved problem. In the underlying paper we researched facial movements in daily interaction by tracking painted markers on the face to assess the displayed facial expressions. We analysed recordings of text based communication and computed the dictionary ofemotional facial expressions and nonverbal grammatical rules. Copyright © 2012 ACM.

关键词： Emotion Recognition

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Selective control of a subtask of walking in a robotic gait trainer(LOPES)

Selective control of a subtask of walking in a robotic gait ...

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IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： E. H.F. Van Asseldonk R. Ekkelenkamp Jan F. Veneman F. C. T. Van der Helm H. van der Kooij Department of Biomechanical Engineering Institute for Biomedical Technology (BMTI) Enschede Netherlands Man-Machine Systems & Control group Biomedical Engineering Group Delft University of Technnology Delft Netherlands

Robotic gait trainers are used all over the world for the rehabilitation of stroke patients, despite relatively little is known about how the robots should be controlled to achieve the optimal improvement. Most devices control complete joint trajectories and assume symmetry between both legs by either a position or an impedance control. However we believe that the control should not be on a joint level but on a subtask level (i.e. foot clearance, balance control). To this end we have chosen for virtual model control(VMC) to define a set of controllers that can assist in each of these tasks. Thus enabling the exoskeleton to offer selective support and evaluation of each substask during rehabilitation training. The aim of this explorative pilot study was to assess the performance of a VMC of the step height and to assess if selective control of the step height left the remaining of the walking pattern unaffected. Four young healthy subjects walked on a treadmill with their legs and pelvis attached to the lopes exoskeleton in 3 different conditions: (1) providing minimal resistance, (2) control of the left step height with a low stiffness (3) control of the step height with a large stiffness. We have shown that it is possible to exert a vertical forces for the support of foot clearance during the swing phase. The higher stiffness of the VMC resulted in a greater change of the step height, which was achieved by a larger increase of the maximal hip and knee flexion compared to the low stiffness condition. The control of the step height resulted in minor changes in the cycle time and swing time. The joint angles also showed only minor changes. The preliminary results suggest that we were able to control a subtask of walking, while leaving the remaining walking trajectory largely unaffected. In the near future, control of other subtask will be implemented and evaluated in isolation and in conjunction with each other.

关键词： Legged locomotion Rehabilitation robotics Leg Foot Exoskeletons Optimal control Robot control Impedance Pelvis Hip

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Assessing the regulatory activity of the paretic leg in balance control

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Gait & Posture 2006年 24卷 S74-S75页

作者： Edwin H.F. Van Asseldonk Jaap H. Buurke Gerbert. J. Renzenbrink Frans C.T. Van der Helm Herman Van der Kooij Institute for Biomedical Technology (BMTI) Department of Biomechanical Engineering Enschede The Netherlands Roessingh Research and Development Enschede The Netherlands Roessingh Rehabilitation Centre Enschede The Netherlands Man-Machine Systems & Control Group Biomedical Engineering Group Delft University of Technology Delft The Netherlands

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Quantification of spinal reflexes in neurological disorders

Quantification of spinal reflexes in neurological disorders

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2004 IEEE International Conference on systems, man and Cybernetics, SMC 2004

作者： Scheuten, Alfred C. De Vlugt, Erwin Van Der Helm, Frans C. T. Man Machine Systems and Control Department of Mechanical Engineering Delft University of Technology 2628 CD Delft Netherlands

ISBN: (纸本)0780385667

Proprioceptive reflexes play an important role in the control of movement and posture. In this study the involvement of disturbed modulation of proprioceptive reflexes in Parkinson's disease (PD) was investigated. PD is a neurodegenerative disorder characterized by tremor, bradykinesia, rigidity, and impaired postural reflexes. With the gradual loss of dopamine producing brain cells the smooth initiation of movements and fine control of muscles vanish and subsequently the symptoms develop. In this study it is hypothesized that also the modulation of proprioceptive reflexes is involved in the development of the symptoms. The modulation of proprioceptive reflexes at the shoulder joint is assessed during postural control task. Force disturbances were applied via a handle while the subjects were instructed to 'minimize the deviations' of the handle. Several settings for the external damping, imposed by the (haptic) manipulator, are applied. It is found that the intrinsic muscle stiffness is significantly larger in patients compared to healthy control subjects. In patients the position feedback gain does increase with external damping but not as steeply as in controls, indication that the range of reflex gain modulation is confined with PD. © 2004 IEEE.

关键词： Neurology

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Quantification of spinal reflexes in neurological disorders

Quantification of spinal reflexes in neurological disorders

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IEEE International Conference on systems, man and Cybernetics

作者： A.C. Schouten E. de Vlught F.C.T. van der Helm Man Machine Systems and Control Delft University of Technology Delft The Netherlands

关键词： Muscles Damping Parkinson's disease Force feedback Force control Protocols manipulator dynamics control systems Mechanical factors Neurofeedback

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A study on the role of human operators in supervised automation system and its implications

A study on the role of human operators in supervised automat...

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Proceedings of the 4th World Congress on Intelligent control and Automation

作者： Li, K. Thompson, S. Wieringa, P.A. Peng, J.X. School of Mechanical and Mfg. Eng. Queen's University of Belfast Ashby Building Stranmillis Rd. Belfast BT9 5AH United Kingdom Man-Machine Systems and Control Faculty of Design Eng. and Prod. Delft University of Technology Mekelweg 2 2628 CD Delft Netherlands

The role of human operators in supervised automation system is analysed. Human limitations in supervisory control are summarised based on the study of human model and human-machine interaction. Although it is arguably advantageous if some tasks are assigned to a human operator rather than an automation system, it is shown that the number of linked subsystems should be limited. The implications of this study are also discussed.

关键词： Automation

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A study on the role of human operators in supervised automation system and its implications

A study on the role of human operators in supervised automat...

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World Congress on Intelligent control and Automation (WCICA)

作者： K. Li S. Thompson P.A. Wieringa J.X. Peng School of Mechanical and Manufacturing Engineering Queen''s University Belfast Belfast UK Man-Machine Systems & Control Faculty of Design Engineering and Production Delft University of Technnology Delft Netherlands

关键词： Humans Automatic control manufacturing automation man machine systems control systems Design engineering Design automation Supervisory control Predictive models Hardware

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man-machine aspects of minimally invasive surgery

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Annual Reviews in control 2001年 25卷 111-122页

作者： Stassen, Henk G. Dankelman, Jenny Grimbergen, Kees A. Meijer, Dirk W. Man-Machine Systems and Control Group Faculty of Design Construction and Production Delft University of Technology Mekelweg 2 2628 CD Delft Netherlands Academic Medical Center Meibergdreef 9 1105 AZ Amsterdam Netherlands

Minimally invasive surgery is at this moment one of the outstanding developments in surgery. In this type of surgery the actual operation is performed through a number of small incisions in the skin. In the operations special instruments are inserted via trocars, i.e. tubes which allow the surgeon to bring instruments or sensors into the body. The view at the operating field comes from a laparoscope, a camera presenting a two-dimensional image on a monitor. The minimally invasive surgical technique has many potentional benefits for the patients. However, compared to open surgery there are severe disadvantages for the surgeon, such as the loss of three-dimensional visual feed back and proprioception, the disturbed eye-hand coordination, and the poor ergonomic design of the surgical instrumentation, and of the working place. At this moment the differences beween open and minimally invasive surgery can mainly be ascribed to differences in the manual control task. In this paper, the man-machine aspects of the traditional open operation process will be compared with those of the minimally invasive surgery process. Especially the consequences of the restricted perception in minimally invasive surgery will be discussed. Some future developments will be discussed.

关键词： man machine systems

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Biomedical Engineering: An Interesting Multidisciplinary Human-machine systems Field with many Problems and Challenges

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IFAC Proceedings Volumes 2001年第16期34卷 441-450页

作者： H.G. Stassen Man-Machine Systems and Control Delft University of Technology Delft The Netherlands http://www.ocp.tudelft.nl/mms

Biomedical engineering is one of the most promising multidisciplinary fields which yields many problems, but which also offers great challenges. The problems can be distinguished into human factors and technological factors, challenges are among others the progress due to the integration of the different disciplines and the transfer of knowledge from industry to the medical field. Some applications will be discussed, e.g. in the field of the rehabilitation of quadriplegics, and the diagnosis of severe diseases in neurology. Two research approaches will be recognized: The technologicallydriven and the clinically-driven approach. The paper will elucidate that the clinically-driven approach is the most successful in biomedical engineering. It will be elucidated that the introduction of new biomedical developments may lead to ethical discussions in society. Important items to be discussed are methodologies for life saving versus the value of human beings, the influence of cultures and underdeveloped regions, and politics. Some conclusions and recommendations will be given with regard to (1) multidisciplinary research, (2) human-centered design, (3) transfer of knowledge to medicine, and (4) ethics.

关键词： Biomedical engineering multidisciplinary research transfer of industrial knowledge human-centered design ethics

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