Abstract In the last few decades, bio-robotics applications such as exoskeletons, prosthetics and robotic wheelchairs have progressed from machines in science fiction to nearly commercialized products. Though there are still several challenges associated with electromyography (EMG) signals, advances use of EMG signals for controlling been enormous. Similarly, recent trends attempts developing electroencephalography- (EEG) based control methods shown potential this area modern field. However,...

Medical training simulators can provide a safe and controlled environment for medical students to practice their physical examination skills. An important source of information physicians is the visual feedback involuntary pain facial expressions in response palpation on an affected area patient. However, most existing robotic that capture behaviours real-time cannot display comprise limited range patient identities terms ethnicity gender. Together, these limitations restrict utility because...

Meal assistance robots provide disabled individuals the access to one of important activities in daily living, self-feeding. This paper proposes a Steady State Visually Evoked Potential (SSVEP) based Brain Machine Interface (BMI) for controlling meal robot. In proposed system, user has facility select any solid food item that he would like eat from 3 different bowls just by looking at respective LED matrices blinking frequencies. The generated SSVEP signals while LEDs are extracted EEG...

A Meal Assistance Robot is an assistive device that used to aid individuals who cannot independently direct food their mouths for consuming. For undergo loss of upper limb functions due amputations, spinal cord injuries or cerebral palsy, self-feeding can be impossible, and assist such in regaining independence meal assistance robots have been introduced. In this paper we propose a robot controlled using user intentions based on Electroencephalography (EEG) signals while incorporating...

Many animals can move in cluttered environments by conforming their body shape to geometric constraints surroundings such as narrow gaps. Most robots are rigid structures and do not possess these capabilities. Navigation around movable or compliant obstacles results a loss of efficiency—and possible mission failure—compared progression through them. In this letter, we propose the novel design deformable mobile robot; it adopt wider stance for greater stability (and higher payload capacity),...

It may be difficult task for physically weak elderly, disabled and injured individuals to perform the day activities in their life. Therefore, many assistive devices have been developed order improve quality of life those people. Especially upper-limb power-assist exoskeletons since upper limb motions are vital daily activities. Electromyography (EMG) signals muscles sometimes used as a primary signal control power assist EMG directly reflect motion intention user. But one main obstacles...

Lack of forearm muscles in transhumerai amputees is one the major issues when it comes to control upper-limb prosthetic arms using only EMG signals. Brain signal alternative input signals that can be explored recognize motion intention users and subsequently used hands. This paper proposes a transhumeral arm which controlled both EEG The proposed consists 1 DOF elbow joint 6 hand called UOMPro. In system, flexion/extension motions are realized based on biceps triceps muscles. A real time...

Recent technological advances in robotic sensing and actuation methods have prompted development of a range new medical training simulators with multiple feedback modalities. Learning to interpret facial expressions patient during examinations or procedures has been one the key focus areas training. This article reviews expression rendering systems that reported date. Facial approaches other domains are also summarized incorporate knowledge from those works into developing for simulators....

In recent years, many myoelectric arms that are controlled based on electromyogram (EMG) signals of amputee's stump or residual muscles have been proposed. the cases above elbow amputees, however, which generate forearm, wrist and hand motions do not remain. Therefore, most for amputees less degree freedom its dexterity is relatively poor compared with a human upper-limb. To improve quality life to increase their mobility in daily activities, some additional input must be prepared. One...

Assistive robotic technology can play a major role to improve the quality of life physically weak people such as aged, injured, disabled or handicapped. Many assistive devices have been developed according needs individuals. Especially, upper-limb power-assist exoskeletons able draw attention, upper limb motions are very important for daily activities. Electromyography (EMG) signals muscles frequently used primary signal control power assist exoskeletons, because EMG directly reflect motion...

Muscle weakness owing to stroke, spinal cord injuries, or aging can make a person's life sedentary, temporarily as well permanently. Such persons need be motivated break their sedentary postures and attempt independent motion. A key motivator in this aspect is the ability easily transition from seated standing posture. If sit-to-stand (STSt) easy, it will encourage further mobility. soft wearable device that assist STSt, would fill perfectly. should able seamlessly during STSt unobtrusive...

Realtime visual feedback from consequences of actions is useful for future safety-critical human-robot interaction applications such as remote physical examination patients. Given multiple formats to present feedback, using face mediating in remains understudied. Here we describe a mediated approach palpation. It builds upon robodoctor-robopatient platform where user can palpate on the robopatient remotely control robodoctor diagnose patient. A tactile sensor array mounted end effector...

The concept of perception assist has been proposed to not only the daily motion but also safely interact with an environment, by applying a modification force user's in upper-limb power-assist exoskeleton robots. As it is complicated for prepare all proper perception-assist every task, tool, and robots needs learn each tool environment itself. In this process, evaluation performed important, because can results be used learning process would help avoid mistaken commands if there are any. One...

The human foot consists of complex sets joints. adaptive nature the enables it to be stable on any uneven surface. It is important have such capabilities in artificial prosthesis achieve most essential movements for lower-limb amputees. However, many existing prostheses lack nature. This paper reviews prostheses. In order understand design concepts prostheses, biomechanics been explained. Additionally, requirements and challenges are investigated presented. this review, classified according...

Accurate and real-time hand gesture recognition is essential for controlling advanced prostheses. Surface Electromyography (sEMG) signals obtained from the forearm are widely used this purpose. Here, we introduce a novel representation called Temporal Muscle Activation (TMA) maps which captures information about activation patterns of muscles in forearm. Based on these maps, propose an algorithm that can recognize gestures using Convolution Neural Network. The was tested 8 healthy subjects...

Estimation of the correct motion intention user is very important for most Electromyography (EMG) based control applications such as prosthetics, power-assist exoskeletons, rehabilitation and teleoperation robots. On other hand, safety long term reliability are also vital those applications, they interact with human users. By considering these requirements, many EMG-based have been proposed developed. However, there still challenges to be addressed in case EMG systems. One that had not...

Muscle weakness following a stroke, spinal cord injuries or age can make people sedentary temporarily permanently. The best strategy for such patients' recovery is to motivate them break their wheel/chair bound condition and attempt independent motion. ability easily transition from sit-to-stand (STS) would encourage further mobility. Hence, there need wearable assist devices that seamlessly assists STS transition. Such device should be non-obstructive during the seated phase STS. Soft...

This paper presents the development and testing of a tactile display module hat can deliver sensations force vibration to operator. The device is constructed as soft structure consisting six actuators. Therefore it be attached slightly curved areas human body Each actuator has pneumatic balloon type for actuation permanent magnet electromagnetic coil generation. developed in modular fashion so that modules easily combined have larger or replace if damaged. independently actuated by means...

Control of a trans-humeral prosthesis arm with non invasive methods is major challenge, due to the lack signal generation medium such as forearm muscles. Brain signals are an alternative non-invasive input that can be used control upper limb hands. A hybrid method controlling hand motions transhumeral electroencephalography (EEG) and electromyography (EMG) presented in this paper. The use research consists 6 degrees freedom (DOF) called UOMPro 1 DOF elbow joint. In proposed method, EEG motor...

Physicians use pain expressions shown in a patient's face to regulate their palpation methods during physical examination. Training interpret patients' facial with different genders and ethnicities still remains challenge, taking novices long time learn through experience. This letter presents MorphFace: controllable 3D physical-virtual hybrid represent of patients from ethnicity-gender backgrounds. It is also an intermediate step expose trainee physicians the gender ethnic diversity...