AIMC Topic: Joints
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Evolution of Joint-Level Control for Quadrupedal Locomotion.
Artificial life
Jan 31, 2017
We investigate a hierarchical approach to robot control inspired by joint-level control in animals. The method combines a high-level controller, consisting of an artificial neural network (ANN), with joint-level controllers based on digital muscles. ...
Estimation of Full-Body Poses Using Only Five Inertial Sensors: An Eager or Lazy Learning Approach?
Sensors (Basel, Switzerland)
Dec 15, 2016
Human movement analysis has become easier with the wide availability of motion capture systems. Inertial sensing has made it possible to capture human motion without external infrastructure, therefore allowing measurements in any environment. As high...
A design concept of parallel elasticity extracted from biological muscles for engineered actuators.
Bioinspiration & biomimetics
Aug 23, 2016
Series elastic actuation that takes inspiration from biological muscle-tendon units has been extensively studied and used to address the challenges (e.g. energy efficiency, robustness) existing in purely stiff robots. However, there also exists anoth...
Control of Redundant Kinematic Degrees of Freedom in a Closed-Loop Brain-Machine Interface.
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
Jul 21, 2016
Brain-machine interface (BMI) systems use signals acquired from the brain to directly control the movement of an actuator, such as a computer cursor or a robotic arm, with the goal of restoring motor function lost due to injury or disease of the nerv...
Bio-inspired flexible joints with passive feathering for robotic fish pectoral fins.
Bioinspiration & biomimetics
May 4, 2016
In this paper a novel flexible joint is proposed for robotic fish pectoral fins, which enables a swimming behavior emulating the fin motions of many aquatic animals. In particular, the pectoral fin operates primarily in the rowing mode, while undergo...
A Human Activity Recognition System Using Skeleton Data from RGBD Sensors.
Computational intelligence and neuroscience
Mar 16, 2016
The aim of Active and Assisted Living is to develop tools to promote the ageing in place of elderly people, and human activity recognition algorithms can help to monitor aged people in home environments. Different types of sensors can be used to addr...
Estimation of Human Arm Joints Using Two Wireless Sensors in Robotic Rehabilitation Tasks.
Sensors (Basel, Switzerland)
Dec 4, 2015
This paper presents a novel kinematic reconstruction of the human arm chain with five degrees of freedom and the estimation of the shoulder location during rehabilitation therapy assisted by end-effector robotic devices. This algorithm is based on th...
On extracting design principles from biology: II. Case study-the effect of knee direction on bipedal robot running efficiency.
Bioinspiration & biomimetics
Feb 2, 2015
Comparing the leg of an ostrich to that of a human suggests an important question to legged robot designers: should a robot's leg joint bend in the direction of running ('forwards') or opposite ('backwards')? Biological studies cannot answer this que...
Ten-dimensional anthropomorphic arm control in a human brain-machine interface: difficulties, solutions, and limitations.
Journal of neural engineering
Dec 16, 2014
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...
An assistive control approach for a lower-limb exoskeleton to facilitate recovery of walking following stroke.
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
Aug 12, 2014
This paper presents a control approach for a lower-limb exoskeleton intended to facilitate recovery of walking in individuals with lower-extremity hemiparesis after stroke. The authors hypothesize that such recovery is facilitated by allowing the pat...
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