Weight and power consumption of variable stiffness actuation mechanism are critical for its implementation in a portable assistive device combined with an actuator, gearhead, elastic element, batteries. Therefore, we present modulation Ankle Foot Orthosis (AFO) utilizing pneumatic stiffness. The consists two units: driving unit that controls air pump AFO performs free motion functions. from the to via hose makes effective weight light compared direct driven at ankle joint. We derived...

Involuntary movements such as heart beating in surgical environment and surgeon's tremor disturb a micro manipulation cause risk of patient wound. Although the delicate operation is performed by skilled surgeon, sensitivity surgeon limited to quantify range safe contact forces. In this paper, we developed compact hand-held device maintain required force using custom sensor linear delta mechanism. The optical measured tip mechanism compensated undesired forces consistent force. proposed...

Predicting the motion intentions of a user is very challenging when controlling an exoskeleton robot. When only mechanical sensor used, change in detected during user's movement. An electromyographic (EMG) signal, which biological by activation muscles before actual movement person. Using EMG intention can be identified movement, and delay time exoskeletal robot shortened to reduce resistance felt user. In this paper, surface (sEMG) signal used together with identify walking environment...

Although many hand exoskeletons have been developed to provide natural movements for patients, extraction of motion intents is one the challenging issues perform activities daily living (ADLs). This paper describes a noninvasive electromyography (EMG)-based proportional control grasping tasks. To tasks in ADLs, three degree freedoms (DOFs) thumb adduction/abduction, flexion/extension, and four fingers flexion/extension are required at least. In this work, 2-D Fitts' Law test designed as...

Despite the advantages of electromyography (EMG), which can grasp intent before actual movement, there have not been many studies on use EMG in exoskeletons. In this paper, we conducted an experiment to analyze characteristics when signals are used exoskeleton robots. We integrated sensors and physical control robots using signals. The walking environment was defined surface (sEMG) signal accuracy 88% or more. To compensate for limitations sensors, sEMG distinguish changes load during...

Recognizing human intentions from the counterpart is very important in human-robot interaction applications. Surface electromyography(sEMG) has been considered as a potential source for motion intention because signal represents on-set timing and amplitude of muscle activation. It also reported that sEMG advantage knowing body movements ahead actual movement. However, based applications suffer electrode location variation shows different characteristics whenever skin condition different....

In the robotics and rehabilitation engineering fields, surface electromyography (sEMG) signals have been widely studied to estimate muscle activation utilized as control inputs for robotic devices because of their advantageous noninvasiveness. However, stochastic property sEMG results in a low signal-to-noise ratio (SNR) impedes from being used stable continuous input devices. As traditional method, time-average filters (e.g., low-pass filters) can improve SNR sEMG, but suffer latency...

Grasping an object in the scene with multiple unknown objects requires both knowledge of which to be target and planning grasping pose. However, teleoperating a robot hand find proper pose unstructured environment is often too complicated time-consuming perform. In this study, we propose aided-grasping algorithm autonomously corrects using eye-in-hand camera. We used cameras for natural vision-based teleoperation interface algorithm. Experiments placed arbitrary positions angles have shown...

We present a portable forearm mirror image training device for the hemiplegic stroke patients to rehabilitate with own intension. The consists of two units sensing unaffected arm motion and assisting affected according motion. designed suit utilizing IMUs an actuating unit equipped BLDC motors driving harmonic drive. performed experiments validate range device.

Stroke is a debilitating condition that leads to loss of motor function, inability perform daily life activities, and ultimately worsening quality life. Robot-based rehabilitation more effective method than conventional but needs accurately recognize the patient's intention so robot can assist voluntary motion. This study focuses on recognizing hand grasp motion using high-density electromyography (HD-EMG) in patients with chronic stroke. The was conducted three stroke involved recording...