China
Africa
Explore chapters and articles related to this topic
Human–Machine Force Interactive Interface and Exoskeleton Robot Techniques Based on Biomechanical Model of Skeletal Muscle
Published in Yuehong Yin, Biomechanical Principles on Force Generation and Control of Skeletal Muscle and their Applications in Robotic Exoskeleton, 2020
This section will start with the closed-loop control mechanism of human motor control system, then simulate human closed-loop control system, propose the FNN controller integrating sEMG sensor and proprioceptor, and develop the motor control pathway from human to exoskeleton robot. The FNN controller fuses the sEMG signals which are able to reflect human motion intention in advance and human–machine interactive force and joint angle which accurately reflect lower-extremity motion information. Meanwhile, through the extended physiological proprioception (EPP) feedback, we can achieve information feedback (such as joint angle and moment), complete the information feedback pathway from exoskeleton robot to human, and develop the real-time bidirectional human–machine information interaction interface and rebuild human closed-loop motor control system. Based on this human–machine interaction interface, the kinematic and dynamic models of exoskeleton robot can be developed; we can further determine the control strategy for exoskeleton robot control system, thus achieving the coordinated control of human–exoskeleton robot system. At last, one needs to analyze, compare, and verify the effectiveness of the developed human–machine interaction interface and the coordinated control strategy through experiments. The details are as follows.
Future Possibilities for Interface Technologies that Enhance Universal Access to Health Care Devices and Services
Published in Jack M. Winters, Molly Follette Story, Medical Instrumentation, 2006
Interfaces involving physical contact, for instance between the hand and device, are often inherently two-way unless the device impedance is either really high (e.g., pushing against a wall) or really low (pushing against air). Such interfaces exist in physical space, and have locations and orientations. One example is hand tools. With experience and practice, the body can often discover such two-way interfaces to the point where they can become an almost subconscious extension of the body. This is the extended physiological proprioception (EPP) concept that was first proposed by Simpson [4], which although originally applied to body-powered upper extremity prostheses, also applies to use of products such as a tennis racquet, a pencil, or many machine tools. It turns out that the key criteria are: (1) that a pair of signals (e.g., a force–velocity pair, whose product is mechanical power) cross the interface, (2) that the mechanical behavior on the other side of the interface be predictable so that it can be discoverable by the neuromotor system, and (3) that there be enough richness in the interaction so as to assist this discovery process. The result can be wonderful — a technology that is assistive, functioning essentially as a subconscious extension of the body. Similarly, other types of well-designed physical interfaces are subconsciously forgotten, for instance forgetting that one is sitting in a comfortable chair or wearing a hat. Thus, a well-designed two-way interface becomes subconscious; either it is used as a subconscious extension of self, or its existence is forgotten. The most effective designs exhibit both features.
A review on the advancements in the field of upper limb prosthesis
Published in Journal of Medical Engineering & Technology, 2018
Nilanjan Das, Nikita Nagpal, Shailee Singh Bankura
One reason for their popularity is that these devices are relatively cheap, simple and durable; another reason is that these prosthetics have sensory feedback, a concept which is often referred to as extended physiological proprioception [21]. This allows for precise handling of small or fragile objects but not able to grab and could not be of much use.