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In this paper, a pneumatically-driven walking assistive device is proposed. Since the structure of the exoskeleton is different from users' legs, it is not required to attach the exoskeleton links to the user's knee and adjust the length of the links. McKibben type pneumatic artificial muscles are adopted as the actuators, realizing back-drivability. We proposed a control method with the detection...
This interdisciplinary team focused on the development of an active exoskeleton for augmented hand gripping. An exoskeleton linger was modeled in computer-aided design software and printed with a three-dimensional printer. Forearm flexor and extensor muscle surface electromyography signals were used as input to a microcomputer controller. Flexion and extension of the exoskeleton was accomplished by...
Exoskeleton of lower extremity, as a kind of wearable robot, can help people who have walking problems and offer rehabilitation training. In this work, through the analysis of human walking, the mechanical structure of an exoskeleton system was studied. By judging the user's intended movement with the measured pressure of the feet, the exoskeleton system works to assist the user. Then, surface EMG...
Upper Limb Work-related Musculo Skeletal Disorders (ULWMSD) are constantly increasing every year in developed countries. It is estimated that in Italy, in 2007 ULWMSD were the 41,6% of all the work-related pathologies. In this context, the importance to correctly diagnose and treat this kind of pathology is growing. Traditionally the assessment is done using pen-and-paper observational techniques...
Integrity analysis of knee joint involves a detail study of several anatomical parts such as bones, cartilage, tendons etc. The disorderness or damage of these anatomical parts causes several knee diseases, like osteoarthritis (OA), which is generally found in an increasing tendency particularly, in an aged society. Although, the reasoning of OA in knee joint does not concentrated to the present paper,...
Control of transhumeral prosthetic devices can effectively be performed using the predicted joint torques at the elbow. The joint torque values are generally predicted using the Electromyography (EMG) signals taken from upper arm muscles of the amputee. This paper uses a Bagnoli-16 EMG system to extract EMG signals from the biceps and triceps. The EMG signals are complex to handle mainly due to the...
Dislocation of an artificial hip joint is one of the most serious problems for Total Hip Arthroplasty (THA). In order to analyze the phenomenon of the artificial hip joint dislocation, a hip joint simulator has been developed. Although the hip joint motion and the hip joint contact force (the resultant muscle force around muscles of hip joint and the floor reaction force) during the daily life motion...
A knee brace with a locking mechanism has been designed and tested for leg muscles to reduce the applied load to the knee during walking on a flat surface. The system function consists of locking leg movement at the “heel strike” phase of walking cycle. The user can not bend his knee more than the locking angle from this phase and the brace supports excessive load applied to his knee so as to minimize...
A five-fingered, multi-sensory biomechatronic hand with sEMG interface is presented. The cambered palm is specially designed to enhance the stability while grasping. The location of the thumb is designed by maximizing interaction area between the thumb and other fingers. The opposite thumb could grasp along a cone surface, while maintaining its function. By taken the advantage of coupling linkage...
A prototype for a walking assistance apparatus for the elderly or motor palsy patients was developed, using a novel spatial parallel link mechanism. The flat steps of the apparatus move in parallel with the ground; the apparatus can support entire leg alignment (including soles) and assist; walking behavior at ankle, knee and hip joints simultaneously. By using a flexible link, constructed of stainless...
Games-based biofeedback training uses augmented feedback signals to control the action of computer games. The NeuroGymreg system of games-based biofeedback has been used to improve the muscle activation and gait pattern of a patient with spinal cord injury. Training with this system also improved functional balance in a group of active older adults.
Body sensor network-related applications such as assistive-living environment, orthopedic, physical medicines, and rehabilitation use wearable body sensors like motion trackers to track joint movements and electromyogram sensors to track muscular activities. These sensors provide information in the form of multidimensional time series data. Generally, for these applications, classification or similarity...
Previously a Kalman filter has been developed to estimate joint angle of the tremulous upper limb using data from accelerometer (ACC) and surface electromyography (sEMG). Results have shown that the fused information can be useful for actively compensating the tremor and helping the clinicians in tremor diagnostics. In this paper, an improvement for the current algorithm is proposed by implementing...
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