![]() In this study, a fault-tolerant control system was developed and integrated into the control system of a WTSD for the first time. Currently, research in WTSDs has shown successful results with a tremor suppression ratio of up to 99% however, the user safety of WTSDs has not been properly considered, especially in the occurrence of unexpected events, such as faults and disturbances. ![]() Keywords: Wearable robotic systems - Orthotics and Exoskeletons, Exoskeleton applicationsĪbstract: The advent of wearable tremor suppression devices (WTSDs) has provided a promising alternative approach for parkinsonian tremor management, especially for individuals whose tremors are not managed by conventional treatment options. Preliminary Assessment of the Safety of a Fault-Tolerant Control-Based Wearable Tremor Suppression Glove The good performance (R2 > 0.7) of the muscle model used to map on the robot the human stiffness of five healthy subjects indicates the possibility of applying the proposed algorithm for a tele-impedance control. Contrary to literature methods, our portable tele-impedance controller relies only on wearable sensors and enables an easy use in unstructured environments. The human arm impedance and kinematics are estimated respectively from EMG and M-IMU data and then mapped into the avatar arm through an impedance control. We propose a real-time control law reproducing the impedance and kinematic behaviour of a subject’s arm (shoulder and elbow) on a remote avatar in a 2-DoF task. Keywords: Joint biomechanics, Modeling and simulation in musculoskeletal biomechanics, Dynamics in musculoskeletal biomechanicsĪbstract: Tele-operational tasks often suffer from instability issues and limited reliability during unpredictable interactions. Tele-Impedance Control Approach Using Wearable Sensors These preliminary results suggest that the conventional EMG control technologies employed in this paper may be difficult for some impaired individuals to use due to their unreliable muscle control. The average accuracy for contraction identification across employed EMG techniques was 95.4% ± 4.9 for the healthy subjects and 73.9% ± 13.1 for the impaired subjects with a range of 47.0% ± 19.1 - 91.6% ± 8.5. Nine impaired subjects and ten healthy subjects were asked to perform repeated contractions of muscles in their forearm and then onset analysis and feature classification were used to determine the accuracy of the employed EMG techniques. This study was conducted to evaluate the application of conventional EMG control techniques as a robotic orthosis/exoskeleton user input method for individuals with mild to severe hand impairments. However some individuals with an intact but impaired hand may struggle to use a myoelectrically controlled device due to potentially confounding muscle activity. It is common for upper extremity prostheses and orthoses to use electromyography (EMG) sensing as a method for the user to control their device. A robotic hand orthosis or hand exoskeleton can be used to restore partial function of an intact but impaired hand. Hand impairment makes it difficult for individuals to complete activities of daily living, especially bimanual tasks. Keywords: Human machine interfaces and robotics applications, Wearable robotic systems - Orthotics and Exoskeletons, Hardware and control developments in rehabilitation roboticsĪbstract: Neurological trauma, such as stroke, traumatic brain injury (TBI), spinal cord injury, and cerebral palsy can cause mild to severe upper limb impairments. Individuals with Moderate to Severe Hand Impairments May Struggle to Use EMG Control for Assistive Devices Professional caregivers noticed and confirmed the high level of engagement and the positive acceptance of the robot within the session, suggesting future tasks for SAR ![]() The results confirm that participants were positively engaged during the proposed activities and satisfied by the robot, despite the low perception of its usability. In this work, we design and develop a SAR that can be used for cognitive therapy proposing music and game activities. The use of Social Assistive Robots (SARs) for cognitive rehabilitation therapy for disabled people could be a valuable gateway for the residential facility of the future. Keywords: Assistive and cognitive robotics in rehabilitation, Assistive and cognitive robotics in aided living, Home robotsĪbstract: Cognitive disability strongly reduces people’s autonomy in performing desired as well as daily activities. ![]()
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