Knowledge base generation and its implementation for control of above knee prosthetic device based on SEMG and knee flexion angle

Kumar, Neelesh; Kunju, Nissan; Kumar, Amod; Sohi, Balwinder Singh

doi:10.1504/ijbbr.2010.033030

Cited by 4 publications

(3 citation statements)

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“…Bipedal robotic walking is a multidisciplinary research field that involves both biomechanics and robotics. As a result, the application of research in bipedal robotics is far-reaching; it can be applied to prosthetic design (Kumar et al, 2010), orthotic design and testing (Popovic et al, 2004) as well as space exploration (Ambrose et al, 2000). In order to create normal walking with a powered prosthesis or orthosis, it is necessary to mimic the behaviour of human walking (Torrealba et al, 2008;Glaister et al, 2009).…”

Section: Related Workmentioning

confidence: 99%

“…In the field of biomechanics, research related to human walking tends to focus on five major aspects: motion analysis, dynamic electromyography (EMG), force plate analysis, stride analysis and energy expenditure (Perry and Burnfield, 2010). Motion analysis uses joint movements to describe walking behaviours (Nyan et al, 2008;Kumar et al, 2010;Deluzio, 1997). Dynamic EMG is employed to identify muscle functionality (Bojanic et al, 2011;Cifrek et al, 2009).…”

Section: Related Workmentioning

confidence: 99%

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A human-inspired framework for bipedal robotic walking design

Sinnet

Jiang

Ames

2014

IJBBR

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This work seeks virtual constraints, or outputs, that are intrinsic to human walking and utilises these outputs to construct controllers which produce human-like bipedal robotic walking. Beginning with experimental human walking data, human outputs are sought, i.e., functions of the kinematics of the human over time, which provides a low-dimensional representation of human walking. It will be shown that, for these outputs, humans act like linear mass-springdampers; this yields a time representation of the human outputs through canonical walking functions. Combining these formulations leads to human-inspired controllers that, when utilised in an optimisation problem, provably result in robotic walking that is as 'human-like' as possible. This human-inspired approach is applied to multiple human output combinations, from which it is determined which output combination results in the most human-like walking for a robotic model with mean human parameters.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

A human-inspired framework for bipedal robotic walking design

Sinnet

Jiang

Ames

2014

IJBBR

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“…1 Interpretation of SEMG signals using advanced techniques is a very important requirement in biomedical engineering. Recent advances in technologies of signal processing and mathematical models have made it possible to achieve this objective 2 and have encouraged human computer interactions [3][4][5][6][7][8][9][10][11][12][13] for developing myoelectric signal based prosthetic devices.…”

Section: Introductionmentioning

confidence: 99%

Processing and interpretation of surface electromyogram signal to design prosthetic device

2014

Self Cite

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SUMMARYThe study of arm muscles for independent operations leading to prosthetic design was carried out. Feature extraction was done on the recorded signal for investigating the voluntary muscular contraction relationship for different arm motions and then repeated factorial analysis of variance (ANOVA) technique was implemented to analyze effectiveness of signal. The electronic design consisted of analog and digital signal processing and controlling circuit and mechanical assembly consisted of wrist, palm and the fingers to grip the object in addition to a screw arrangement connected to a low power DC motor and gear assembly to open or close the hand. The wrist is mechanically rotated to orient the hand in a direction suitable to pick up/hold the object. The entire set up is placed in a casing which provides a cosmetic appeal to the artificial hand and the connected arm. The design criteria include electronic control, reliability, light weight, variable grip force with ease of attachment for simple operations like opening, grasping and lifting objects of different weight with grip force slightly more than enough just like that of a natural hand.

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