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This paper describes the development of an ankle training robot force visualization for eccentric contraction training. In the mechanism of walking, the eccentric contraction of the tibialis anterior muscle plays an important part in the phase between heel-strike and foot-flat as a shock absorber. However, the eccentric contraction has not been reported in previous research on ankle rehabilitation...
The haptic modality is a direct and informative communication channel when manipulating objects jointly, but it may also be difficult to interpret. Indeed, the forces generated by the partner and the environment are summed together. This work uses techniques from psychophysics to investigate the ability of humans to untangle these two sources when collaborating in a joint perceptual task where one...
Error feedback is critical for supporting motor adaptation in rehabilitation, sports, piloting, and skilled manual tasks. Error augmentation interventions, in which participants' errors are amplified with either visual or haptic feedback during training has shown success over repetitive practice. Here we show that the statistical tendencies arising from free movement exploration can improve error...
This paper deals with the stabilizing control of the double spherical inverted pendulum using a planer manipulator and a vision sensor. It has some interesting features as a nonlinear system with many degrees of freedom. The authors focus especially on its systematic modeling, nonlinear controller design based on the linearization method, and the visual measurement. Experiments have been successfully...
This paper proposes a novel set-point control method of a musculoskeletal system by combining a feedforward and feedback manner to complement each drawback each other. In our previous work, a feedforward positioning method of the musculoskeletal arm model was proposed which does not need any realtime sensory information. Its performance, however, depends on a muscular arrangement and an attitude of...
In a robot-assisted tele-operation, the operator uses a hand controller to maneuver a tool attached to the robot's end-effector. The performance in such tele-operation may depend on perceptual information about the operating site as well as the design of the hand-controller. A hand-controller that provides haptic information as force feedback during the interaction in tele-operation may be beneficial...
Human-humanoid haptic joint actions are collaborative tasks requiring a sustained haptic interaction between both parties. As such, most research in this field has concentrated on how to use solely the robot's haptic sensing to extract the human partners' intentions. With this information, interaction controllers are designed. In this paper, the addition of visual sensing is investigated and a suitable...
Robots in human living areas need to recognize their changing environment, be safe for humans, and versatile to do various tasks. For this purpose, we propose in this paper an application of Linear-Visual-Servo (LVS) on a musculoskeletal arm. In LVS, displacement transformation is expressed as a constant matrix and converts from work space to joint space is used. On the other hand, for the control...
In this research, we successfully demonstrated dexterous manipulation of sheet-like elastic objects, namely, playing cards, using a high-speed robot system. In particular, our goal was to achieve card flicking by vibrating a fingertip of a robot hand at high speed and card catching by using high-speed visual feedback based on a high-speed vision system. We discuss card grasping in the initial state...
Virtual Reality environments have the ability to present users with rich visual representations of simulated environments. However, means to interact with these types of illusions are generally unnatural in the sense that they do not match the methods humans use to grasp and move objects in the physical world. We demonstrate a system that enables users to interact with virtual objects with natural...
Stroke survivors strongly rely on visual feedback to control their movements, since segmental reflexes are characterized by an inherent hyper-excitability. To test the effect of visual feedback on the modulation of arm stability we estimated the stiffness of the paretic arm in nine stroke survivors during robot mediated therapy, where subjects trained with and without vision. While several studies...
It has been widely accepted that the CNS develops a representation (model) of the environment, but what is not entirely clear is the coordinate reference frame used. We explored how visual feedback influenced the coordinate frame in which the CNS stores and recalls these memories of learned skills in a reaching-generalization task. Four groups of subjects trained to perform reaching movements in a...
Although many papers have been published on visual tracking, visual servoing of the vision-based robotics, there are only few research study on using vision to improve the standing and walking stabilization for legged robots. In this paper, we set two cameras as the humanoid's eyes, to observe a static object in front, and using the visual measured information to control the robot keeping a desired...
Many daily tasks require that a person use both hands simultaneously, such as moving a large book or opening the lid on a jar. Such bimanual tasks are difficult for people who have a stroke, but the tight neural coupling across the body has been hypothesized to allow individuals to self-rehabilitate by physically coupling their hands. To examine potential methods for robot-assisted bimanual rehabilitation,...
In situations where generating in internal representation of an object's shape can not be carried out via visual methods, such as in low light conditions or due to a hardware fault, an internal representation of the object must be built from tactile information alone. Existing methods for doing so rely on the availability of a complete force sensitive skin. The work described in this paper shows a...
This study compares the Weber fraction for human perception of stiffness among three conditions: vision, proprioceptive motion feedback, and their combination. To make comparisons between these feedback conditions, a novel haptic device was designed that senses the spring behavior through encoder and force measurements, and implements a controller to render linear virtual springs so that the stimuli...
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