OBJECTIVE: In a previous study we demonstrated continuous translation, orientation and one-dimensional grasping control of a prosthetic limb (seven degrees of freedom) by a human subject with tetraplegia using a brain-machine interface (BMI). The cur...
This paper proposes a scheme for human force manipulability (HFM) based on the use of isometric joint torque properties to simulate the spatial characteristics of human operation forces at an end-point of a limb with feasible magnitudes for a specifi...
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
Oct 31, 2014
Poststroke hemiparesis limits the ability to reach, in part due to involuntary muscle co-activation (synergies). Robotic approaches are being developed for both therapeutic benefit and continuous assistance during activities of daily living. Robotic ...
Facing and pointing toward moving targets is a usual and natural behavior in daily life. Social robots should be able to display such coordinated behaviors in order to interact naturally with people. For instance, a robot should be able to point and ...
Clinical research has demonstrated that stroke patients benefit from active participation during robot-assisted training. However, the weight of the arm impedes the execution of tasks and movements due to the functional disability. The purpose of thi...
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Jul 1, 2024
This work studied the effect of arm kinematics on human arm stiffness modulation during overground physical human-robot interaction (pHRI). Previously, using a pHRI robot OPHRIE, it was shown that humans decreased their arm stiffness to enhance sensi...
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Jul 1, 2024
Over the last decade, myoelectric prosthesis control has witnessed considerable advancements, yet there remain significant challenges. Two key constraints have been the limited range of movements and the lack of simultaneous control capabilities. Thi...
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Jul 1, 2024
Motor cortex modeling is crucial for understanding movement planning and execution. While interconnected recurrent neural networks have successfully described the dynamics of neural population activity, most existing methods utilize continuous signal...
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Jul 1, 2023
To build a physically interactive robot for overground applications, it is crucial to first understand the biomechanics of humans underlying overground physical human-robot interaction (pHRI) tasks. Estimating human arm stiffness during overground in...
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