International Journal of Biomechatronics and Biomedical Robotics http://www.inderscience.com/browse/index.php?journalID=322&year=2011&vol=1&issue=4 Inderscience Publishers Ltd en-uk International Journal of Biomechatronics and Biomedical Robotics 1757-6792 1757-6806 © 2011 Inderscience Publishers Ltd editor@inderscience.com https://www.inderscience.com/images/files/coverImgs/ijbbr_scoverijbbr.jpg http://www.inderscience.com/browse/index.php?journalID=322&year=2011&vol=1&issue=4 http://www.inderscience.com/link.php?id=43747 A power assist robot system was developed for manipulating objects in cooperation with human. Weight perception was included in robot dynamics and control. The robot was simulated for different conditions. Optimum manoeuvrability conditions for vertical lifting and horizontal manipulation of objects were determined. Psychophysical relationships between actual and perceived weights were determined, and load forces and motion features were analysed for unimanual and bimanual lifting of objects. Then a novel control scheme was implemented that reduced the excessive load forces and accelerations, and thus improved the system performances for unimanual and bimanual lifts. Motions were also analysed for lowering objects with the robot. A feed-forward friction model was introduced that addressed the effects of friction between human's hand and object's surfaces on weight perception and load force. The findings can be used to develop human-friendly power assist robots for manipulating heavy objects in industries. Towards developing a human-friendly power assist robot for manipulating heavy objects: special focus on manoeuvrability and object's surface friction
S.M. Mizanoor Rahman; Ryojun Ikeura; Haoyong Yu
International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 4 (2011) pp. 191 - 205
A power assist robot system was developed for manipulating objects in cooperation with human. Weight perception was included in robot dynamics and control. The robot was simulated for different conditions. Optimum manoeuvrability conditions for vertical lifting and horizontal manipulation of objects were determined. Psychophysical relationships between actual and perceived weights were determined, and load forces and motion features were analysed for unimanual and bimanual lifting of objects. Then a novel control scheme was implemented that reduced the excessive load forces and accelerations, and thus improved the system performances for unimanual and bimanual lifts. Motions were also analysed for lowering objects with the robot. A feed-forward friction model was introduced that addressed the effects of friction between human's hand and object's surfaces on weight perception and load force. The findings can be used to develop human-friendly power assist robots for manipulating heavy objects in industries.

]]> 10.1504/IJBBR.2011.043747 International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 4 (2011) pp. 191 - 205 S.M. Mizanoor Rahman; Ryojun Ikeura; Haoyong Yu Division of Mechanical Engineering, Graduate School of Engineering, Mie University, 1577 Kurimamachiya-cho, Tsu, Mie 514-8507, Japan. ' Division of Mechanical Engineering, Graduate School of Engineering, Mie University, 1577 Kurimamachiya-cho, Tsu, Mie 514-8507, Japan. ' Division of Bioengineering, Faculty of Engineering, National University of Singapore, 9 Engineering Drive 1, 117576, Singapore power-assisted robots PAR object manipulation weight perception psychophysics unimanual lift bimanual lift horizontal manipulation object lowering feedforward friction modelling manoeuvrability surface friction lifting heavy objects human-robot cooperation robot dynamics robot control simulation load force. 2011-11-19T23:20:50-05:00 1 4 191 205 2011-11-19T23:20:50-05:00 http://www.inderscience.com/link.php?id=43748 The movements of the shoulder, elbow, and wrist play a vital role in the performance of essential daily activities. We therefore have developed a 2DOF exoskeleton robot (ExoRob) to rehabilitate the elbow and forearm movements of physically disabled individuals with impaired upper-limb function. The proposed ExoRob is supposed to be worn on the lateral side of forearm in order to provide naturalistic range movements of elbow (flexion/extension) and forearm (pronation/supination) motions. This paper focuses on the modelling, design (electrical and mechanical components), development, and control of the proposed ExoRob. The kinematic model of ExoRob has been developed based on modified Denavit-Hartenberg notations. Non-linear modified computed torque control technique is employed to control the proposed ExoRob, where trajectories (i.e., pre-programmed trajectories recommended by therapist/clinician) tracking corresponding to typical rehabilitation (passive) exercises has been carried out to evaluate the performances of the developed ExoRob and controller. Furthermore, experiments were carried out with the master exoskeleton arm [mExoArm, an upper-limb prototype 7DOF (lower scaled) exoskeleton arm] where subjects (robot users) or experimenter operate the mExoArm (like a joystick) to manoeuvre the proposed ExoRob to provide passive rehabilitation. Experimental results show that the controller is able to manoeuvre the ExoRob efficiently to track the desired trajectories. Such movements are widely used in rehabilitation and have been performed efficiently with the developed ExoRob and the controller. Robot assisted rehabilitation for elbow and forearm movements
Mohammad Habibur Rahman; Thierry Kittel-Ouimet; Maarouf Saad; Jean-Pierre Kenné; Philippe S. Archambault
International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 4 (2011) pp. 206 - 218
The movements of the shoulder, elbow, and wrist play a vital role in the performance of essential daily activities. We therefore have developed a 2DOF exoskeleton robot (ExoRob) to rehabilitate the elbow and forearm movements of physically disabled individuals with impaired upper-limb function. The proposed ExoRob is supposed to be worn on the lateral side of forearm in order to provide naturalistic range movements of elbow (flexion/extension) and forearm (pronation/supination) motions. This paper focuses on the modelling, design (electrical and mechanical components), development, and control of the proposed ExoRob. The kinematic model of ExoRob has been developed based on modified Denavit-Hartenberg notations. Non-linear modified computed torque control technique is employed to control the proposed ExoRob, where trajectories (i.e., pre-programmed trajectories recommended by therapist/clinician) tracking corresponding to typical rehabilitation (passive) exercises has been carried out to evaluate the performances of the developed ExoRob and controller. Furthermore, experiments were carried out with the master exoskeleton arm [mExoArm, an upper-limb prototype 7DOF (lower scaled) exoskeleton arm] where subjects (robot users) or experimenter operate the mExoArm (like a joystick) to manoeuvre the proposed ExoRob to provide passive rehabilitation. Experimental results show that the controller is able to manoeuvre the ExoRob efficiently to track the desired trajectories. Such movements are widely used in rehabilitation and have been performed efficiently with the developed ExoRob and the controller.

]]> 10.1504/IJBBR.2011.043748 International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 4 (2011) pp. 206 - 218 Mohammad Habibur Rahman; Thierry Kittel-Ouimet; Maarouf Saad; Jean-Pierre Kenné; Philippe S. Archambault Department of Electrical Engineering, École de Technologie Supérieure, 1100 rue Notre-dame Ouest, Montreal, H3C-1K3, Canada. ' Department of Electrical Engineering, École de Technologie Supérieure, 1100 rue Notre-dame Ouest, Montreal, H3C-1K3, Canada. ' Department of Electrical Engineering, École de Technologie Supérieure, 1100 rue Notre-dame Ouest, Montreal, H3C-1K3, Canada. ' Department of Mechanical Engineering, École de Technologie Supérieure, 1100 rue Notre-dame Ouest, Montreal, H3C-1K3, Canada. ' School of Physical and Occupational Therapy, Davis House, 3654 Promenade Sir William Osler, Montreal, Quebec H3G 1Y5, Canada exoskeleton robots ExoRob nonlinear control physical disability rehabilitation passive exercise biomechatronics elbow movements forearm movements biomedical robots flexion extension pronation supination kinematic modelling robot control computed torque trajectory tracking. 2011-11-19T23:20:50-05:00 1 4 206 218 2011-11-19T23:20:50-05:00 http://www.inderscience.com/link.php?id=43749 Dynamics of charged nanoparticles of green leaf sap or photo synthesised liquid food under interaction of external EMF plays a vital role in the functioning of biomass electrical circuits. Using this concept, we for the first time realised a biomass Champo leaf transistor configuration. The functioning of bio electronic circuit components resistance R, capacitance C and diode have been earlier reported. From the theory of electronics, a transistor consist of two electronic diode connected back to back. This concept was utilised to realise biomass Champo leaf transistor configuration. The measured input characteristics (V<SUB align=“right”>BE vs I<SUB align=“right”>BE) and output characteristics (V<SUB align=“right”>CE vs. I<SUB align=“right”>CE) along with ? are given. Applications towards plant/tree health, soil moisture monitoring and strategic communication are envisaged. Biomass Champo leaf transistor configuration
Shiv Prasad Kosta; Yogesh Prasad Kosta; Jignesh Patoliya; Yogendra Mohan Dubey; Jitendra Prasad Chuadhari; Avinash Gaur; Sanket Patel; Shakti Kosta; Paresh Panchal; Piyush Vaghela; Kalpesh Patel; Bhavin Patel; Bhargav Patel
International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 4 (2011) pp. 219 - 224
Dynamics of charged nanoparticles of green leaf sap or photo synthesised liquid food under interaction of external EMF plays a vital role in the functioning of biomass electrical circuits. Using this concept, we for the first time realised a biomass Champo leaf transistor configuration. The functioning of bio electronic circuit components resistance R, capacitance C and diode have been earlier reported. From the theory of electronics, a transistor consist of two electronic diode connected back to back. This concept was utilised to realise biomass Champo leaf transistor configuration. The measured input characteristics (V<SUB align=“right”>BE vs I<SUB align=“right”>BE) and output characteristics (V<SUB align=“right”>CE vs. I<SUB align=“right”>CE) along with ? are given. Applications towards plant/tree health, soil moisture monitoring and strategic communication are envisaged.

]]> 10.1504/IJBBR.2011.043749 International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 4 (2011) pp. 219 - 224 Shiv Prasad Kosta; Yogesh Prasad Kosta; Jignesh Patoliya; Yogendra Mohan Dubey; Jitendra Prasad Chuadhari; Avinash Gaur; Sanket Patel; Shakti Kosta; Paresh Panchal; Piyush Vaghela; Kalpesh Patel; Bhavin Patel; Bhargav Patel Shri Ram Group of Institutions, Near ITI, Madhotal, Jabapur 482002, MP, India. ' Charotar Institute of Technology, CHARUSAT, Changa 388421, Anand, Gujarat, India. ' Charotar Institute of Technology, CHARUSAT, Changa 388421, Anand, Gujarat, India. ' Electronics Department, Shri Ram Institute of Science and Technology, Near ITI, Madhotal, Jabapur 482002, MP, India. ' Charotar Institute of Technology, CHARUSAT, Changa 388421, Anand, Gujarat, India. ' Shri Ram Institute of Science and Technology, Near ITI, Madhotal, Jabapur 482002, MP, India. ' Charotar Institute of Technology, CHARUSAT, Changa 388421, Anand, Gujarat, India. ' Shri Ram Institute of Science and Technology, Near ITI, Madhotal, Jabapur 482002, MP, India. ' Charotar Institute of Technology, CHARUSAT, Changa 388421, Anand, Gujarat, India. ' Charotar Institute of Technology, CHARUSAT, Changa 388421, Anand, Gujarat, India. ' Charotar Institute of Technology, CHARUSAT, Changa 388421, Anand, Gujarat, India. ' Charotar Institute of Technology, CHARUSAT, Changa 388421, Anand, Gujarat, India. ' Charotar Institute of Technology, CHARUSAT, Changa 388421, Anand, Gujarat, India. human blood memristor transistor configuration input output characteristics charged nanoparticles green leaf sap photosynthesised liquid food biomass electrical circuits leaf transistors bioelectronics plant health tree health soil moisture monitoring strategic communication biomass transistors nanoelectronics. 2011-11-19T23:20:50-05:00 1 4 219 224 2011-11-19T23:20:50-05:00 http://www.inderscience.com/link.php?id=43750 Upper-limb amputees have reported that one of their main dissatisfactions with current commercialised prosthetic arms is a lack of sensory feedback. The current study investigates the feasibility of providing feedback of grip force, slippage, and finger position through vibrotactile stimulators to the prosthetic users. Tests are performed to determine subject's spatial sensitivity as well as their abilities to differentiate discrete vibration intensity levels. We find that human subjects can correctly identify discrete sensory levels (with 90% accuracy) from 62 Hz to 250 Hz for tactors placed at least 3 cm apart. The accuracy of the EMG classifier system would decrease if all three tactors are activated. Even though a multivariable vibrotactile feedback system may not be feasible initially due to information overload, the user performance may improve with training. Multi-tactor system can be implemented with a slight decrease in electromyographic signal classification for the control of a neuroprosthetic hand. The design and evaluation of a multi-sensory vibrotactile feedback system for a myoelectric prosthetic hand
Edward D. Sellers; Alan W.L. Chiu
International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 4 (2011) pp. 225 - 231
Upper-limb amputees have reported that one of their main dissatisfactions with current commercialised prosthetic arms is a lack of sensory feedback. The current study investigates the feasibility of providing feedback of grip force, slippage, and finger position through vibrotactile stimulators to the prosthetic users. Tests are performed to determine subject's spatial sensitivity as well as their abilities to differentiate discrete vibration intensity levels. We find that human subjects can correctly identify discrete sensory levels (with 90% accuracy) from 62 Hz to 250 Hz for tactors placed at least 3 cm apart. The accuracy of the EMG classifier system would decrease if all three tactors are activated. Even though a multivariable vibrotactile feedback system may not be feasible initially due to information overload, the user performance may improve with training. Multi-tactor system can be implemented with a slight decrease in electromyographic signal classification for the control of a neuroprosthetic hand.

]]> 10.1504/IJBBR.2011.043750 International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 4 (2011) pp. 225 - 231 Edward D. Sellers; Alan W.L. Chiu Biomedical Engineering, Louisiana Tech University, 818 Nelson Ave, Room 152, Ruston, LA, 71270, USA. ' Biomedical Engineering, Louisiana Tech University, 818 Nelson Ave, Room 152, Ruston, LA, 71270, USA vibrotactile motors sensory feedback stimulation prosthesis spatial sensitivity electromyography biomedical engineering myoelectric prosthetic hands grip force slippage finger position neuroprosthetic hands neuroprosthetic control biomechatronics. 2011-11-19T23:20:50-05:00 1 4 225 231 2011-11-19T23:20:50-05:00 http://www.inderscience.com/link.php?id=43751 The technology for terrain detection and walking support system for blind people has rapidly been improved the last couple of decades but to assist visually impaired people may have started long ago. Currently, a variety of portable or wearable navigation systems is available in the market to help the blind for navigating their way in his local or remote area. The focused category in this work can be subgroups as electronic travel aids (ETAs), electronic orientation aids (EOAs) and position locator devices (PLDs). However, we will focus mainly on electronic travel aids (ETAs). This paper presents a comparative survey among the various portable or wearable walking support systems as well as informative description (a subcategory of ETAs or early stages of ETAs) with its working principal advantages and disadvantages so that the researchers can easily get the current stage of assisting blind technology along with the requirement for optimising the design of walking support system for its users. State of the art review on walking support system for visually impaired people
Eklas Hossain; Md Raisuddin Khan; Riza Muhida; Ahad Ali
International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 4 (2011) pp. 232 - 251
The technology for terrain detection and walking support system for blind people has rapidly been improved the last couple of decades but to assist visually impaired people may have started long ago. Currently, a variety of portable or wearable navigation systems is available in the market to help the blind for navigating their way in his local or remote area. The focused category in this work can be subgroups as electronic travel aids (ETAs), electronic orientation aids (EOAs) and position locator devices (PLDs). However, we will focus mainly on electronic travel aids (ETAs). This paper presents a comparative survey among the various portable or wearable walking support systems as well as informative description (a subcategory of ETAs or early stages of ETAs) with its working principal advantages and disadvantages so that the researchers can easily get the current stage of assisting blind technology along with the requirement for optimising the design of walking support system for its users.

]]> 10.1504/IJBBR.2011.043751 International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 4 (2011) pp. 232 - 251 Eklas Hossain; Md Raisuddin Khan; Riza Muhida; Ahad Ali Department of Electrical Engineering, University of Wisconsin Milwaukee, 2200 N. Cramer St., WI 53211, USA. ' Department of Mechatronics Engineering, International Islamic University of Malaysia, Kuala Lumpur 53100, Malaysia. ' Department of Mechatronics Engineering, International Islamic University of Malaysia, Kuala Lumpur 53100, Malaysia. ' Department of Mechanical Engineering, Lawrence Technological University, MI 21000, USA electric assistive technologies EATs review navigation systems walking support systems obstacle avoidance visually impaired visual impairment blind people electronic travel aids portable technology wearable technology. 2011-11-19T23:20:50-05:00 1 4 232 251 2011-11-19T23:20:50-05:00 http://www.inderscience.com/link.php?id=43752 The measurement of ground reaction force (GRF) is important in biomechanical analysis for clinical gait assessment and gait research. The GRF measured by the force plate, along with the gravity, are the only significant external forces acting on the body during gait. The purpose of this study is to show the effects of walking speed on vertical ground reaction force (VGRF) F<SUB align=“right”>z using Kistler quartz force platform embedded on the floor. Since considerable differences in the gait of normal subjects arises due to 'constrained' walking, so subject are made to walk with their self-selected walking speed in the walkway. Vertical component of the GRF was analysed from the recorded data using Bioware software. It was clearly observed that with increasing walking speed VGRF increased at F<SUB align=“right”>z1 and F<SUB align=“right”> z3 whereas decreased at F<SUB align=“right”> z2. Estimation of effects of walking speed to vertical ground reaction force
Neelesh Kumar; Gautam Sharma; Sahiba Sahi; Amod Kumar; B.S. Sohi
International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 4 (2011) pp. 252 - 257
The measurement of ground reaction force (GRF) is important in biomechanical analysis for clinical gait assessment and gait research. The GRF measured by the force plate, along with the gravity, are the only significant external forces acting on the body during gait. The purpose of this study is to show the effects of walking speed on vertical ground reaction force (VGRF) F<SUB align=“right”>z using Kistler quartz force platform embedded on the floor. Since considerable differences in the gait of normal subjects arises due to 'constrained' walking, so subject are made to walk with their self-selected walking speed in the walkway. Vertical component of the GRF was analysed from the recorded data using Bioware software. It was clearly observed that with increasing walking speed VGRF increased at F<SUB align=“right”>z1 and F<SUB align=“right”> z3 whereas decreased at F<SUB align=“right”> z2.

]]> 10.1504/IJBBR.2011.043752 International Journal of Biomechatronics and Biomedical Robotics, Vol. 1, No. 4 (2011) pp. 252 - 257 Neelesh Kumar; Gautam Sharma; Sahiba Sahi; Amod Kumar; B.S. Sohi Central Scientific Instruments Organisation (CSIR-CSIO), Sector 30-C, Chandigarh 160030, India. ' Central Scientific Instruments Organisation (CSIR-CSIO), Sector 30-C, Chandigarh 160030, India. ' Central Scientific Instruments Organisation (CSIR-CSIO), Sector 30-C, Chandigarh 160030, India. ' Central Scientific Instruments Organisation (CSIR-CSIO), Sector 30-C, Chandigarh 160030, India. ' University Institute of Engineering and Technology (UIET), Sector 14, Chandigarh 160014, India vertical ground reaction force VGRF walking speed clinical gait analysis biomechanics. 2011-11-19T23:20:50-05:00 1 4 252 257 2011-11-19T23:20:50-05:00