Touch-free guided hand gesture recognition for human-robot interactions plays an increasingly significant role in teleoperated surgical robot systems. Indeed, despite depth cameras provide more practical information accuracy enhancement, the instability and computational burden of data represent a tricky problem. In this letter, we propose novel multi-sensor system teleoperation. A fusion model is designed performing interference presence occlusions. multilayer Recurrent Neural Network (RNN)...

Background. The effect of using robots to improve motor recovery has received increased attention, even though the most effective protocol remains a topic study. Objective . objective was compare training effects treatments on wrist joint subjects with chronic stroke an interactive rehabilitation robot and continuous passive motion. Methods. This study single-blinded randomized controlled trial 3-month follow-up. Twenty-seven hemiplegic were randomly assigned receive 20-session...

In some stroke rehabilitation programs, robotic systems have been used to aid the patient train. this study, a myoelectrically controlled system with 1 degree-of-freedom was developed assist elbow training in horizontal plane intention involvement for people after stroke. The could provide continuous assistance extension torque, which proportional amplitude of subject's electromyographic (EMG) signal from triceps, and resistive torques during movement. This study investigated system's effect...

Although the merits of electromyography (EMG)-based control powered assistive systems have been certified, factors that affect performance EMG-based human-robot cooperation, which are very important, received little attention. This study investigates whether a more physiologically appropriate model could improve cooperation for an ankle power-assist exoskeleton robot. To achieve goal, EMG-driven Hill-type neuromusculoskeletal (HNM) and linear proportional (LPM) were developed calibrated...

In this paper, a sensory-motor fusion-based manipulation and grasping control strategy has been developed for robotic hand-eye system. The proposed hierarchical architecture three modules: 1) vision servoing; 2) surface electromyography (sEMG)-based movement recognition; 3) hybrid force motion optimization grasping. A stereo camera is used to obtain the 3-D point cloud of target object provides desired operational position. AdaBoost-based recognition employed discriminate different movements...

Abstract Background Robot-assisted rehabilitation is an advanced new technology in stroke to provide intensive training. Post-stroke motor recovery depends on active by voluntary participation of patient’s paretic system as early possible order promote reorganization brain. However, residual efforts the affected limb have not been involved enough most robot-assisted for patients after stroke. The objective this study evaluate feasibility using myoelectric control upper recovery. Methods In...

In this study, an efficient and mild approach is reported for the facile synthesis of a carbon quantum dot (CQD)-based dual-modal fluorescence (FL)/magnetic resonance (MR) imaging probe by doping Gd(iii) into CQDs through one-pot pyrolysis process at low temperature. The as-prepared Gd-encapsulated (GCDs), which have average diameter ∼15 nm, are highly water-soluble. GCDs observed to high MR response with longitudinal relaxation 57.42 mM-1 s-1 strong brightness absolute yield 40% while...

Various rehabilitation robots have been employed to recover the motor function of stroke patients. To improve effect rehabilitation, should promote patient participation and provide compliant assistance. This paper proposes an adaptive admittance control scheme (AACS) consisting filter, inner position controller, electromyography (EMG)-driven musculoskeletal model (EDMM). The filter generates subject's intended motion according joint torque estimated by EDMM. controller tracks motion, its...

Conventional epidermal bioelectronics usually do not conform well with natural skin surfaces and are susceptible to motion artifact interference, due incompatible dimensions, insufficient adhesion, imperfect compliance, require complex manufacturing high costs. We propose in situ forming hydrogel electrodes or electronics (ISF-HEs) that can establish highly conformal interfaces on curved biological without auxiliary adhesions. The ISF-HEs also have favorable flexibility soft compliance...

The synchronization of output torque is an important issue during human-robot interaction. Since the may be affected by delay between human's voluntary and robot's assistive when a sensor applied to detect human intention, electromyography (EMG)-based admittance controller (EAC) was proposed improve compared with that achieved use torque-sensing-based (TAC). Simulations experiments were conducted investigate performance EAC TAC. simulation results indicated exoskeleton significantly degraded...

Inspired by the development of matrix completion theories and algorithms, a low-rank based motion capture (mocap) data refinement method has been developed, which achieved encouraging results. However, it does not guarantee stable outcome if we only consider property data. To solve this problem, propose to exploit temporal stability human convert mocap problem into robust where both structure properties as well noise effect are considered. An efficient optimization derived from augmented...

Although many studies have certified the advantages of human–robot cooperation control with admittance model (AM), robot compliance, and movement smoothness need to be further improved. In this article, a trajectory deformation algorithm (TDA) is developed as high-level planner, which can plan subject's desired based on interaction force during physical (pHRI). A low-level proportional-derivative (PD) position controller selected ensure lower limb rehabilitation track trajectory. Then,...

The study aimed to investigate changes in corticomuscular coupling during elbow flexion and extension stroke survivors using functional near-infrared spectroscopy (fNIRS) surface electromyography (sEMG), evaluate the relationship between characteristics clinical assessment scales. This recruited 12 age-matched healthy subjects, further divided subjects into affected side group, healthy-side group group. They performed tasks at 30% 70% of maximum voluntary contraction (MVC). cerebral blood...

The paper presents a novel viewpoint to monitor the motor function improvement during robot-aided rehabilitation training. Eight chronic poststroke subjects were recruited attend 20-session training, and in each session, asked perform voluntary movements of elbow flexion extension together with robotic system. system was continuously controlled by electromyographic (EMG) signal from affected triceps. Fuzzy approximate entropy (fApEn) applied investigate complexity EMG segment, maximum...

Control schemes based on electromyography (EMG) have demonstrated their superiority in human-robot cooperation due to the fact that motion intention can be well estimated by EMG signals. However, there are several limitations noisy nature of signals and inaccuracy EMG-force/torque estimation, which might deteriorate stability movement. To improve movement stability, an EMG-based admittance control scheme (EACS) was proposed, comprised EMG-driven musculoskeletal model (EDMM), filter inner...