相关论文: Functional Variable Selection for EMG-based Contro…
Electromyogram (EMG)-based motion classification using machine learning has been widely employed in applications such as prosthesis control. While previous studies have explored generating synthetic patterns of combined motions to reduce…
Loss of hand function due to conditions like stroke or multiple sclerosis significantly impacts daily activities. Robotic rehabilitation provides tools to restore hand function, while novel methods based on surface electromyography (sEMG)…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
Electromyography (EMG) based hand gesture recognition converts forearm muscle activity into control commands for prosthetics, rehabilitation, and human computer interaction. This paper proposes a novel approach to EMG-based hand gesture…
In this paper we propose a new pre-processing technique of Electroencephalography (EEG) signals produced by motor imagery movements. This technique results to an accelerated determination of the imagery movement and the command to carry it…
Gesture recognition with electromyography (EMG) is a complex problem influenced by gesture sets, electrode count and placement, and machine learning parameters (e.g., features, classifiers). Most existing toolkits focus on streamlining…
Manual material handling tasks have the potential to be highly unsafe from an ergonomic viewpoint. Safety inspections to monitor body postures can help mitigate ergonomic risks of material handling. However, the real effect of awkward…
Robotic devices hold great potential for efficient and reliable assessment of neuromotor abnormalities in post-stroke patients. However, spasticity caused by stroke is still assessed manually in clinical settings. The limited and variable…
Brain computer interface based assistive technology are currently promoted for motor rehabilitation of the neuromuscular ailed individuals. Recent studies indicate a high potential of utilising electroencephalography (EEG) to extract motor…
In this paper, we present a novel kinematic model of the human phalanges based on the elliptical motion of their joints. The presence of the soft elastic tissues and the general anatomical structure of the hand joints highly affect the…
Expressive robotic behavior is essential for the widespread acceptance of robots in social environments. Recent advancements in learned legged locomotion controllers have enabled more dynamic and versatile robot behaviors. However,…
Recognizing sEMG (Surface Electromyography) signals belonging to a particular action (e.g., lateral arm raise) automatically is a challenging task as EMG signals themselves have a lot of variation even for the same action due to several…
Many robotic tasks, such as human-robot interactions or the handling of fragile objects, require tight control and limitation of appearing forces and moments alongside sensible motion control to achieve safe yet high-performance operation.…
One of the most important research challenges in upper-limb prosthetics is enhancing the user-prosthesis communication to closely resemble the experience of a natural limb. As prosthetic devices become more complex, users often struggle to…
We study the task of gesture recognition from electromyography (EMG), with the goal of enabling expressive human-computer interaction at high accuracy, while minimizing the time required for new subjects to provide calibration data. To…
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…
Upper limb and hand functionality is critical to many activities of daily living and the amputation of one can lead to significant functionality loss for individuals. From this perspective, advanced prosthetic hands of the future are…
In this paper we develop an adaptive transform-domain technique based on rational function systems. It is of general importance in several areas of signal theory, including filter design, transfer function approximation, system…
Building robotic prostheses requires a sensor-based interface designed to provide the robotic hand with the control required to perform hand gestures. Traditional Electromyography (EMG) based prosthetics and emerging alternatives often face…
Biomimetic and compliant robotic hands offer the potential for human-like dexterity, but controlling them is challenging due to high dimensionality, complex contact interactions, and uncertainties in state estimation. Sampling-based model…