Lower extremity amputees suffer from mobility limitations which will result in a degradation of their quality life. Wearable sensors are frequently used to assess spatio-temporal, kinematic and kinetic parameters providing the means establish an interactive control amputee-prosthesis-environment system. Gait events gait phase detection amputee's locomotion vital for controlling lower limb prosthetic devices. The paper presents approach real-time event using wireless gyroscope attached shank...

Continuum robots are complex structures that require sophisticated modeling and control methods to achieve accurate position motion tracking along desired trajectories. They highly coupled, nonlinear systems with multiple degrees of freedom pose a significant challenge for conventional approaches. In this paper, we propose system dynamic model based on the Euler-Lagrange formulation assumption piecewise constant curvature (PCC), where accounts elasticity gravity effects continuum robot. We...

Ergonomics has gained attention and take into consideration by the workers in different fields of works recently. It given a huge impact on comfort which directly affects work efficiency productivity. The have claimed to suffer from painful postures injuries their workplace. Musculoskeletal disorders (MSDs) is most common problem frequently reported workers. This occurs due lack knowledge alertness ergonomic surroundings. paper intends review approaches instruments used previous researchers...

This paper presents a novel Human Activity Recognition (HAR) framework using wearable sensors, specifically targeting applications in gait rehabilitation and assistive robots. The new methodology includes the usage of an open-source dataset. dataset surface electromyography (sEMG) inertial measurement units (IMUs) signals for lower limb 22 healthy subjects. Several activities daily living (ADLs) were included, such as walking, stairs up/down ramp walking. A signal conditioning, denoising,...

This paper presents a rule-based real-time gait event/phase detection system (R-GEDS) using shank mounted inertial measurement unit (IMU) for lower limb amputees during the level ground walking. Development of algorithm is based on angular velocity in sagittal plane and linear acceleration signal longitudinal direction. System performance was evaluated with four control subjects (CS) one transfemoral amputee (TFA) results were validated FlexiForce footswitches (FSW). The showed data latency...

Abstract This paper presents a dynamic modeling and trajectory tracking control design for hyper-redundant continuum manipulator (HRM), which is able to continuously bend along its length. The HRM has the advantages of high flexibility, large workspace, low inertia, but also poses challenges complex kinematics, coupling. To address these challenges, kinematics model was developed based on piecewise constant curvature (PCC) assumption that captures relationship between cable lengths, joint...

A motion capture system was constructed with 7- Inertial Measurement Units (IMU) covering the lower limb segments, a wireless connection to PC for data logging. IMU units were used measure segment's angular velocity and linear acceleration as direct biomechanical variables. Meanwhile, Lower Limb joints segments inclination, in sagittal plane, calculated indirectly, using IMUs' outputs. The outputs undergo several signal conditioning phases remove noises bias. Furthermore, misalignment effect...

This paper presents a complete system and algorithm to estimate temporal gait events during stance inner-stance phases using single inertial measurement unit (IMU) in real-time. Validation of the proposed was carried out by placing foot-switches (FSW) directly underneath foot. The performance assessed with eleven control subjects (CS), one unilateral transfemoral amputee (TFA), transtibial (TTA), while performing level ground walk ramp activities. experimental results showed reasonable...

This paper presents a development of semi-active prosthetic knee, which can work in both active and passive modes based on the energy required during gait cycle various activities daily livings (ADLs). The limb is equipped with sensors to measure kinematic kinetic parameters limbs. knee designed be back-drivable mode provide potential use regeneration when there negative across joint. Preliminary test has been performed transfemoral amputee some insight amputee/prosthesis interaction...

This research paper proposes a new implementation of long short-term memory network for active fault-tolerant control subjected to single and multiple undiagnosable sensor faults. There are two networks used: the first performs as diagnosis automated manufacturing systems can identify faulty sensors, while second acts an inverse model these is used determine reconfigured action take when sensors not functioning expected. The Factory I/O simulator interfaced with MATLAB simulate verify...

Falls are common in older people and individuals with neurological conditions. Parkinson's disease (PD) is known for postural instability causing mobility disabilities, falls reduced quality of life. The fear falling (FOF), a natural response to unstable balance, can worsen control problems. Evaluating FOF relies largely on affected persons' subjective accounts due limited objective assessment methods available. aim this mixed-methods feasibility study develop an method while motion walking...

This study presents an analysis and evaluation of gait asymmetry (GA) based on the temporal parameters identified using a portable event detection system, placed lateral side shank both lower extremities participants. Assessment GA was carried out with seven control subjects (CS), one transfemoral amputee (TFA) transtibial (TTA) while walking at different speeds overground (OG) treadmill (TM). Gait cycle duration (GCD), stance phase (SPD), swing (SwPD), sub-phases (GC) such as...

Diabetes mellitus is one of the deadliest and chronic diseases that affect persons who have an increase in their blood glucose levels.Type 1 Mellitus "T1DM" considered most dangerous types diabetes as it reason why called silent killer.Due to common symptoms type 2 diabetes, specialists face doubts about diagnosis patient where uncertainty disease may lead delays controlling potential complications, especially if they T1DM.The prime motto this work classify accurately.In work, we collected a...

The large number of poststroke recovery patients poses a burden on rehabilitation centers, hospitals, and physiotherapists. advent robotics automated assessment systems can ease this by assisting in the with high level recovery. This assistance will enable medical professionals to either better provide for severe injuries or treat more patients. It also translates into financial as well long run. paper demonstrated an system in-home utilizing data glove, mobile application, machine learning...

Events and phases detection of the human gait are vital for controlling prosthesis, orthosis functional electrical stimulation (FES) systems. Wearable sensors inexpensive, portable have fast processing capability. They frequently used to assess spatio-temporal, kinematic kinetic parameters which in turn provide more details about voluntary control ampute-eprosthesis interaction. This paper presents a reliable real-time event algorithm based on simple heuristics approach, applicable signals...

This article presents a virtual prototyping study of semi-active lower limb prosthesis to improve the functionality an amputee during prosthesis-environment interaction for level ground walking. Articulated ankle-foot and single-axis prosthetic knee with active passive operating modes were considered. Data walking collected using photogrammetric method in order develop base-line simulation model hip kinematics input verify proposed design. The simulated results show that is able move...

Haptic feedback to lower limb amputees is essential maximize the functionality of a prosthetic device by providing information user about interaction with environment and position prostheses in space. Severed sensory pathway absence connection between prosthesis Central Nervous System (CNS) after amputation reduces balance control, increases visual dependency risk falls among amputees. This work describes design wearable haptic for using lateral skin-stretch modality intended serve as cue...

Gait event detection is important for intent predication in lower limb prostheses and exoskeletons during different activities. Human gait cycle divided into two main phases i.e. swing phase stance phase. Initial contact (IC) with the ground indicate start of while Toe Off (TO) This article presents algorithm based on set heuristic rules using a single gyroscope attached shank subjects performing activities daily living such as normal walking, fast ramp ascending descending. The sequentially...

In this paper, The authors considered a human lower limb gait activity recognition algorithm, using an IMU sensory network consisting of 4 IMUs distributed to the limb. proposed algorithm depends on Random Forest for classification and Hybrid Mutual Information Genetic Algorithm (HMIGA) as features selection technique. HMIGA selects most distinguishing from Discrete Wavelet Coefficient (DWT) other statistical physical (self designed) features. is compared with Support Vector Machine (SVM)...

Abstract This study introduces an innovative approach to enhance the energy efficiency and position control performance of electro-hydraulic systems, employing a comprehensive comparative analysis. It presents evaluates three techniques: Proportional-Integral-Derivative (PID) control, Model Predictive Control (MPC), Neural Network (NN-MPC). These methods are systematically assessed across varying load conditions. Notably, our research unequivocally establishes exceptional NN-MPC approach,...

The human locomotion is studied through gait analysis and best observed instrumentally rather than observing visually. Thus, a portable insole pressure mapping system built to assist in studying the cycle. distribution determined by using force sensitive resistive sensors that are connected Arduino UNO via cables. values saved into secure digital card could be post processed. Hardware software design phase executed for development of this project. outcomes match knowledge definitions static...