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control of Upper-Limb Power-Assist Exoskeleton Based on Motion Intention Recognition

Control of Upper-Limb Power-Assist Exoskeleton Based on Moti...

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2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Yongji Wang Jian Huang Weiguang Huo Jun Wu Lei Cheng Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Technol Engineering Research Center of Metallurgical Automation and Measurement Technology Ministry of Educa

Recognizing the user motion intention plays an important role in the study of power-assist robots. An intention-guided control strategy is proposed for the upper-limb power-assist exoskeleton. A force sensor system comprised of force sensing resistors (FSRs) is designed to online estimate the motion intention of user upper limb. A new concept called “intentional reaching direction (IRD)” is proposed to quantitatively describe this intention. Both the state model and the observation model of IRD are obtained by enumerating the upper limb behavior modes and analyzing the relationship between the measured force signals and the motion intention. Based on these two models, the IRD can be online inferred by applying filtering technology. Guided by the estimated IRD, an admittance control strategy is assumed to control the motions of three DC motors in the joints of the robotic arm. The effectiveness of the proposed approaches is finally confirmed by the experiments on a 3-DOF robotic exoskeleton.

关键词： Joints Exoskeletons Force Humans Robot sensing systems Jacobian matrices

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Reduction of Player's Weight by Active Playing Using Motion Sensors

Reduction of Player's Weight by Active Playing Using Motion ...

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The 2011 International Conference on Electric and Electronics(EEIC 2011)

作者： Ondrej Krejcar Dalibor Janckulik University of Hradec Kralove FIM Department of Information Technologies VSB Technical University of Ostrava Center for Applied Cybernetics Department of Measurement and Control Faculty of Electrical Engineering and Computer Science

This project was inspired by the idea of the connection of amusement and useful thing respectively the movement by the playing games, because as is known global problem of the Word is increasing obesity caused by the addiction on the PC games at the young people. This project connects pleasurable with useful, respectively playing of the game with physical effort. By the help of the accelerometer is possible to handle by simple games to whose operating is needed physical impulsion of the player. After it would be possible to take up on this project by the beat measurement of the player in order to check on effectivity of the suggested system. Software was programmed in background C#.

关键词： accelerometer weight reducing mobile device C#

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Optimal Tracking of a sEMG based Force Model for a Prosthetic Hand

Optimal Tracking of a sEMG based Force Model for a Prostheti...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Chandrasekhar Potluri Madhavi Anugolu YimeskerYihun Alex Jensen Steve Chiu Marco P. Schoen D. Subbaram Naidu Measurement and Control Engineering Research Center (MCERC) College of Engineering Idaho State University MCERC College of Engineering Idaho State University Department of Electrical Engineering and Computer Science MCERC Idaho State University Department of Mechanical Engineering MCERC Idaho State University

ISBN: (纸本)9781424441211

This paper presents a surface electromyographic (sEMG)-based, optimal control strategy for a prosthetic hand. System Identification (SI) is used to obtain the dynamic relation between the sEMG and the corresponding skeletal muscle force. The input sEMG signal is preprocessed using a Half-Gaussian filter and fed to a fusion-based Multiple Input Single Output (MISO) skeletal muscle force model. This MISO system model provides the estimated finger forces to be produced as input to the prosthetic hand. Optimal tracking method has been applied to track the estimated force profile of the Fusion based sEMG-force model. The simulation results show good agreement between reference force profile and the actual force.

关键词： SEMA5B gene Prosthetic hand Skeletal muscle multiple-input single-output Fusion reactions Fusion, biological Gaussian filter

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An adaptive hybrid data fusion based identification of skeletal muscle force with ANFIS and smoothing spline curve fitting

An adaptive hybrid data fusion based identification of skele...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Parmod Kumar C. H. Chen Anish Sebastian Madhavi Anugolu Chandrasekhar Potluri Amir Fassih Yimesker Yihun Alex Jensen Yi Tang Steve Chiu Ken Bosworth D. S. Naidu Marco P. Schoen Jim Creelman Alex Urfer Measurement and Control Engineering Research Center College of Science and Engineering Idaho State University Pocatello ID USA Department of Physical and Occupational Therapy Idaho State University Pocatello ID USA

Precise and effective prosthetic control is important for its applicability. Two desired objectives of the prosthetic control are finger position and force control. Variation in skeletal muscle force results in corresponding change of surface electromyographic (sEMG) signals. sEMG signals generated by skeletal muscles are temporal and spatially distributed that result in cross talk between adjacent sEMG signal sensors. To address this issue, an array of nine sEMG sensors is used with a force sensing resistor to capture muscle dynamics in terms of sEMG and skeletal muscle force. sEMG and skeletal muscle force are filtered with a nonlinear Teager-Kaiser Energy (TKE) operator based nonlinear spatial filter and Chebyshev type-II filter respectively. Multiple Takagi-Sugeno-Kang Adaptive Neuro Fuzzy Inference Systems (ANFIS) are obtained using sEMG as input and skeletal muscle force as output. Outputs of these ANFIS systems are fitted with smoothing spline curve fitting. To achieve better estimate of the skeletal muscle force, an adaptive probabilistic Kullback Information Criterion (KIC) for model selection based data fusion algorithm is applied to the smoothing spline curve fitting outputs. Final fusion based output of this approach results in improved skeletal muscle force estimates.

关键词： Force Muscles Smoothing methods Spline Mathematical model Sensors Curve fitting

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The research and design on hardware in the loop of bus-based automotive body control with rule description

The research and design on hardware in the loop of bus-based...

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Chinese control Conference (CCC)

作者： Jiang-Hong Han Lei Liu Xing Wei Wei Xia School of Computer & Information Hefei University of Technology 230009. China Computer Science & Technology Post-doctoral Research Center Hefei University of Technology Hefei China Engineering Research Center of Safety Critical Industrial Measurement & Control Technology Ministry of Education Hefei China

Oriented the design procedures of bus-based automotive body control system, rules are used to describe the control intention of prototype model first. This paper represents the approach of modeling bus-based automotive body control system with rules description, and designed hardware-in-the-loop system based on distributed control, which merges virtual reality into physical simulation on vehicle. The HILS can verify the reliability and safety in the system modeling phase. We made HIL simulation using typical case, and the results shows that HIL approach could quantify the system time delay which affects the reliability, and improve the robustness of body control system.

关键词： Automotive engineering control systems Solid modeling Delay Delay effects Reliability Safety

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Home-Based Mobile Cardio-Pulmonary Rehabilitation Consultant System

Home-Based Mobile Cardio-Pulmonary Rehabilitation Consultant...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Hsu-En Lee Wen-Chih Wang Shao-Wei Lu Bo-Yuan Wu Li-Wei Ko Department of Computer Science and Brain Research Center National Chiao Tung University Institute of electrical Control Engineering and Brain Research Center National Chiao Tung University Brain Research Center and Department of Biological Science and Technology National Chiao Tung University

ISBN: (纸本)9781424441211

Cardiovascular diseases are the most popular cause of death in the world recently. For postoperatives, cardiac rehabilitation is still asked to maintain at home (phase II) to improve cardiac function. However, only one third of outpatients do the exercise regularly, reflecting the difficulty for home-based healthcare: lacking of monitoring and motivation. Hence, a cardio-pulmonary rehabilitation system was proposed in this research to improve rehabilitation efficiency for better prognosis. The proposed system was built on mobile phone and receiving electrocardiograph (ECG) signal from a wireless ECG holter via Bluetooth connection. Apart from heart rate (HR) monitor, an ECG derived respiration (EDR) technique is also included to provide respiration rate (RR). Both HR and RR are the most important vital signs during exercise but only used one physiological signal recorder in this system. In clinical test, there were 15 subjects affording Bruce Task (treadmill) to simulate rehabilitation procedure. Correlation between this system and commercial product (Custo-Med) was up to 98% in HR and 81% in RR. Considering the prevention of sudden heart attack, an arrhythmia detection expert system and healthcare server at the backend were also integrated to this system for comprehensive cardio-pulmonary monitoring whenever and wherever doing the exercise.

关键词： Electrocardiography Heart Rate electrochemical grinding Exercise Clinical Trial Rehabilitation Lake Restoration Mobile phones Cardiovascular Diseases Outpatients Cause of Death Consultant Vital Signs

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Assessing lung volumetric variation to detect and stage COPD

Assessing lung volumetric variation to detect and stage COPD

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2011 1st Middle East Conference on Biomedical engineering, MECBME 2011

作者： Hosseini, M. Parsa Soltanian-Zadeh, Hamid Akhlaghpoor, Shahram Department of Electrical Engineering Islamic Azad University Science and Research Branch of Tehran Tehran Iran Image Analysis Laboratory Department of Radiology Henry Ford Health System Detroit MI United States Department of Radiology Tehran University of Medical Sciences Sina Hospital Tehran Iran Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781424470006

Chronic obstructive pulmonary disease (COPD) is a devastating disease. In this paper, we propose a novel method for scoring of air trapping in the lungs for detection and evaluation of COPD. The proposed method finds volumetric changes of the lungs from inspiration to expiration. To this end, trachea CT images at full inspiration and expiration are compared. For this comparison, the lungs parenchyma in the inspiration and expiration images are found and changes in the surface and volume of the lungs between inspiration and expiration are used to define quantitative measures (features). Using these features, the subjects are classified into two groups of normal class and COPD patients using a Bayesian classifier. In addition, t-tests are applied to evaluate discrimination powers of the features for this classification. The main advantage of the proposed method is its ability to estimate air trapping in the lungs from CT images without human intervention. The proposed method may assists radiologists in the detection of COPD as a computer aided diagnosis (CAD) system. It may also assist them with the scoring of the disease (severity of air trapping in the lungs). © 2011 IEEE.

关键词： computerized tomography

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A novel method for identification of COPD in inspiratory and expiratory states of CT images

A novel method for identification of COPD in inspiratory and...

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2011 1st Middle East Conference on Biomedical engineering, MECBME 2011

ISBN: (纸本)9781424470006

Chronic obstructive pulmonary disease (COPD) refers to a group of lung diseases that block airflow and cause a huge degree of human suffering. While there is no cure for COPD and the lung damage that results in this disease cannot be reversed, it is very important to diagnose it as early as possible. Additional to diagnosis, using a mathematical model to estimate severity of disease would be helpful for evaluation of treatment effects. This paper presents a new method for identifying COPD from three-dimensional (3-D) pulmonary X-ray CT images. The method has five main steps. First, corresponding positions of lungs in inspiration and expiration are found based on anatomical structures. Then, lung regions are segmented from the CT images by active contours. Next, the left and right lungs are separated using a sequence of morphological operations. Then, parenchyma variations in each lung are found as a relationship between inspiratory and expiratory states. Finally, a classifier is used to decide about the disease and its severity. A t-test is done to evaluate the results. Twelve patients with variable severity of COPD and twelve normal adults were included in this study. The proposed method may assist radiologists in the detection of COPD as a computer aided diagnosis (CAD) system. © 2011 IEEE.

关键词： Pulmonary diseases

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sEMG based real-time embedded force control strategy for a prosthetic hand prototype

sEMG based real-time embedded force control strategy for a p...

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IEEE International Conference on Electro-Information Technology

作者： Chandrasekhar Potluri Yimesker Yihun Parmod Kumar Jeff Molitor Steve C. Chiu D. Subbaram Naidu S. Hossein Mousavinezhad Measurement and Control Engineering Research Center (MCERC) School of Engineering Idaho State University Pocatello ID USA MCERC School of Engineering Idaho State University Pocatello ID USA Department of Electrical Engineering and Computer Science MCERC Idaho State University Pocatello ID USA

This paper presents a real-time force control strategy for a prosthetic hand. The proposed design is capable of decoding the prerecorded surface electromyographic (sEMG) signal as well as the sensory force feedback from the sensors to control the force of the prosthetic hand prototype. The input sEMG signal is preprocessed using a Half-Gaussian filter with optimized parameters and Chebyshev type II filter. Entropy of the sEMG signal is used as a threshold value to establish the correlation between the sEMG signal and the skeletal muscle force. A simple proportional integral controller along with a two-stage embedded design is used for the force control of the prosthetic hand. The results are transmitted to the computer through the universal asynchronous receiver/ transmitter (UART)interface of the proposed embedded design. The results demonstrate good performance in controlling the force of the prosthetic hand.

关键词： Force Entropy Prosthetic hand Prototypes Fingers Microcontrollers Muscles

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The research and design on hardware in the loop of bus-based automotive body control with rule description

The research and design on hardware in the loop of bus-based...

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作者： Han, Jiang-Hong Liu, Lei Wei, Xing Xia, Wei School of Computer and Information Hefei University of Technology Hefei 230009 China Computer Science and Technology Post-doctoral Research Center Hefei University of Technology Hefei 230009 China Engineering Research Center of Safety Critical Industrial Measurement and Control Technology Ministry of Education Hefei 230009 China

ISBN: (纸本)9789881725592

关键词： Hardware-in-the-loop simulation

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