International Journal of Mechatronics and Automation http://www.inderscience.com/browse/index.php?journalID=375&year=2012&vol=2&issue=1 Inderscience Publishers Ltd en-uk International Journal of Mechatronics and Automation 2045-1059 2045-1067 © 2012 Inderscience Publishers Ltd editor@inderscience.com https://www.inderscience.com/images/files/coverImgs/ijma_scoverijma.jpg http://www.inderscience.com/browse/index.php?journalID=375&year=2012&vol=2&issue=1 http://www.inderscience.com/link.php?id=46582 The purpose of this study was to describe muscle activity changes during learning of reaching movements in unpredictable dynamic environments. Healthy subjects and stroke survivors performed reaching tasks with a robotic manipulandum in a force field whose magnitude was randomised. In healthy subjects, electromyographic (EMG) activity of the biceps, triceps, anterior and posterior deltoid showed an effect of training on EMG onset time, peak onset time and integrated EMG. Differences in EMG tuning effects were also observed with training. In stroke survivors, only the biceps muscle showed reduction in EMG onset. Moreover, distinct target direction effects were noted. Differences in EMG tuning effects with training were conserved after stroke. In an unpredictable dynamic environment, healthy human subjects demonstrate motor adaptation by reducing their EMG onset times and stabilising the EMG directional effect of dynamic training. These characteristic effects are compromised albeit present in stroke survivors. Muscle activation patterns in healthy subjects and stroke survivors in an unpredictable robotic environment
Mukul Mukherjee; Wen Liu
International Journal of Mechatronics and Automation, Vol. 2, No. 1 (2012) pp. 1 - 14
The purpose of this study was to describe muscle activity changes during learning of reaching movements in unpredictable dynamic environments. Healthy subjects and stroke survivors performed reaching tasks with a robotic manipulandum in a force field whose magnitude was randomised. In healthy subjects, electromyographic (EMG) activity of the biceps, triceps, anterior and posterior deltoid showed an effect of training on EMG onset time, peak onset time and integrated EMG. Differences in EMG tuning effects were also observed with training. In stroke survivors, only the biceps muscle showed reduction in EMG onset. Moreover, distinct target direction effects were noted. Differences in EMG tuning effects with training were conserved after stroke. In an unpredictable dynamic environment, healthy human subjects demonstrate motor adaptation by reducing their EMG onset times and stabilising the EMG directional effect of dynamic training. These characteristic effects are compromised albeit present in stroke survivors.

]]> 10.1504/IJMA.2012.046582 International Journal of Mechatronics and Automation, Vol. 2, No. 1 (2012) pp. 1 - 14 Mukul Mukherjee; Wen Liu Nebraska Biomechanics Core Facility, University of Nebraska at Omaha, 6001 Dodge Street, Omaha, Nebraska-68182, USA. ' Department Physical Therapy and Rehabilitation Science, University of Kansas Medical Centre, 3901 Rainbow Blvd., Kansas City, Kansas-66160, USA stochastic random force fields robot manipulators motor adaptation upper limbs muscle activation patterns healthy subjects stroke survivors muscle activity reaching movements learning muscle training unpredictable environments dynamic environments electromyographs EMG. 2012-05-01T23:20:50-05:00 2 1 1 14 2012-05-01T23:20:50-05:00 http://www.inderscience.com/link.php?id=46583 This paper proposes a novel master-slave robotic catheter operating system with force feedback and visual feedback for vascular interventional surgery (VIS). The robotic catheter system has good manoeuvrability, it can transmit the surgeon's skill to insert and rotate the catheter and avoids danger during VIS using force and visual feedback. In addition, it can be used to train unskilled surgeons to perform VIS. We performed a simulation experiment to validate our system using an endovascular evaluator (EVE). The experimental results demonstrated that the stability and response of the system were good. The robotic catheter system is suitable for performing VIS. A novel robotic catheter system with force and visual feedback for vascular interventional surgery
Jian Guo; Shuxiang Guo; Nan Xiao; Xu Ma; Shunichi Yoshida; Takashi Tamiya; Masahiko Kawanishi
International Journal of Mechatronics and Automation, Vol. 2, No. 1 (2012) pp. 15 - 24
This paper proposes a novel master-slave robotic catheter operating system with force feedback and visual feedback for vascular interventional surgery (VIS). The robotic catheter system has good manoeuvrability, it can transmit the surgeon's skill to insert and rotate the catheter and avoids danger during VIS using force and visual feedback. In addition, it can be used to train unskilled surgeons to perform VIS. We performed a simulation experiment to validate our system using an endovascular evaluator (EVE). The experimental results demonstrated that the stability and response of the system were good. The robotic catheter system is suitable for performing VIS.

]]> 10.1504/IJMA.2012.046583 International Journal of Mechatronics and Automation, Vol. 2, No. 1 (2012) pp. 15 - 24 Jian Guo; Shuxiang Guo; Nan Xiao; Xu Ma; Shunichi Yoshida; Takashi Tamiya; Masahiko Kawanishi Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, Japan. ' Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, Japan; Harbin Engineering University, 145 Nantong Street, Harbin, Heilongjiang, China ' Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, Japan. ' Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, Japan. ' Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu, Kagawa, Japan. ' Department of Neurological Surgery, Faculty of Medicine, Kagawa University, 1750-1 Ikenobe, Miki-cho Kida-gun, Takamatsu, Kagawa, Japan. ' Department of Neurological Surgery, Faculty of Medicine, Kagawa University, 1750-1 Ikenobe, Miki-cho Kida-gun, Takamatsu, Kagawa, Japan robotic catheters endovascular evaluator EVE robotic surgery force feedback visual feedback master-slave systems vascular interventional surgery VIS surgical robots surgeon training simulation. 2012-05-01T23:20:50-05:00 2 1 15 24 2012-05-01T23:20:50-05:00 http://www.inderscience.com/link.php?id=46586 Human tissue oxygenation status can be completely indicated by its hemoglobin concentrations. To detect them non-invasively using continuous-wave near infrared spectroscopy (NIRS), the 'in vivo calibration' algorithm, which was comparing tissue absorption before and after the change of tissue oxygenation, was adopted to obtain its reduced scattering coefficient. The hemoglobin concentrations of forearm muscle of four adults during occlusion, and those of brain cortex of three newborns during oxygen inhalation were detected. For the four adults, the µ<SUP align="right">′</SUP><SUB align="right">s of the forearm muscle were 6.01~7.87 cm<SUP align="right">−1</SUP> under 758 nm, and its total hemoglobin concentration (C<SUB align="right">tHb) was 37.5 ± 3.1 µM at the beginning of occlusion. For the three newborns, the cerebral µ<SUP align="right">′</SUP><SUB align="right">s were 5.46~8.42 cm<SUP align="right">−1</SUP> under 758 nm, and C<SUB align="right">tHb was 50.1 ± 6.1 µM at the beginning of oxygen inhalation. All the results were consistent with most recent reports. In summary, the in vivo calibration algorithm is effective to detect human tissue hemoglobin concentrations. Non-invasive detecting human tissue hemoglobin concentrations using near-infrared spectroscopy with in vivo calibration
Yichao Teng; Yue Li; Xinlin Hou
International Journal of Mechatronics and Automation, Vol. 2, No. 1 (2012) pp. 25 - 33
Human tissue oxygenation status can be completely indicated by its hemoglobin concentrations. To detect them non-invasively using continuous-wave near infrared spectroscopy (NIRS), the 'in vivo calibration' algorithm, which was comparing tissue absorption before and after the change of tissue oxygenation, was adopted to obtain its reduced scattering coefficient. The hemoglobin concentrations of forearm muscle of four adults during occlusion, and those of brain cortex of three newborns during oxygen inhalation were detected. For the four adults, the µ<SUP align="right">′</SUP><SUB align="right">s of the forearm muscle were 6.01~7.87 cm<SUP align="right">−1</SUP> under 758 nm, and its total hemoglobin concentration (C<SUB align="right">tHb) was 37.5 ± 3.1 µM at the beginning of occlusion. For the three newborns, the cerebral µ<SUP align="right">′</SUP><SUB align="right">s were 5.46~8.42 cm<SUP align="right">−1</SUP> under 758 nm, and C<SUB align="right">tHb was 50.1 ± 6.1 µM at the beginning of oxygen inhalation. All the results were consistent with most recent reports. In summary, the in vivo calibration algorithm is effective to detect human tissue hemoglobin concentrations.

]]> 10.1504/IJMA.2012.046586 International Journal of Mechatronics and Automation, Vol. 2, No. 1 (2012) pp. 25 - 33 Yichao Teng; Yue Li; Xinlin Hou Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing 100084, China. ' Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing 100084, China. ' Department of Pediatrics, Peking University First Hospital, Beijing 100034, China near-infrared spectroscopy NIRS tissue hemoglobin concentration oxygen inhalation absorption coefficient reduced scattering coefficient human tissue oxygenation forearm muscles adults occlusion brain cortex newborns in vivo calibration. 2012-05-01T23:20:50-05:00 2 1 25 33 2012-05-01T23:20:50-05:00 http://www.inderscience.com/link.php?id=46587 Proper functioning of the upper limbs is important to manage essential activities of daily living. To provide assistance and rehabilitation to individuals with upper limb dysfunction due to conditions such as stroke or spinal cord injuries, we have developed a 4DoFs exoskeleton robot (ExoRob). The ExoRob was designed to be worn on the lateral side of the upper arm, to conform to a naturalistic range of movement for the shoulder and elbow joints. This paper focuses on the modelling, design, development, and control of the ExoRob. Experiments were carried out with healthy human subjects where trajectories tracking in the form of passive rehabilitation exercises were performed. Further experiments were carried out with the master exoskeleton arm (mExoArm, an upper-limb prototype exoskeleton arm) where subjects operate the mExoArm (like a joystick) to maneuver the ExoRob to provide passive rehabilitation. Experimental results show that the ExoRob can effectively perform passive rehabilitation exercises. Development of a 4DoFs exoskeleton robot for passive arm movement assistance
Mohammad H. Rahman; Maarouf Saad; Jean P. Kenné; Philippe S. Archambault; Thierry K. Ouimet
International Journal of Mechatronics and Automation, Vol. 2, No. 1 (2012) pp. 34 - 50
Proper functioning of the upper limbs is important to manage essential activities of daily living. To provide assistance and rehabilitation to individuals with upper limb dysfunction due to conditions such as stroke or spinal cord injuries, we have developed a 4DoFs exoskeleton robot (ExoRob). The ExoRob was designed to be worn on the lateral side of the upper arm, to conform to a naturalistic range of movement for the shoulder and elbow joints. This paper focuses on the modelling, design, development, and control of the ExoRob. Experiments were carried out with healthy human subjects where trajectories tracking in the form of passive rehabilitation exercises were performed. Further experiments were carried out with the master exoskeleton arm (mExoArm, an upper-limb prototype exoskeleton arm) where subjects operate the mExoArm (like a joystick) to maneuver the ExoRob to provide passive rehabilitation. Experimental results show that the ExoRob can effectively perform passive rehabilitation exercises.

]]> 10.1504/IJMA.2012.046587 International Journal of Mechatronics and Automation, Vol. 2, No. 1 (2012) pp. 34 - 50 Mohammad H. Rahman; Maarouf Saad; Jean P. Kenné; Philippe S. Archambault; Thierry K. Ouimet Electrical Engineering Department, École de Technologie Superieure, 1100 Notre-dame Ouest, Montreal, Canada. ' Electrical Engineering Department, École de Technologie Superieure, 1100 Notre-dame Ouest, Montreal, Canada. ' Mechanical Engineering Department, École de Technologie Superieure, 1100 Notre-dame Ouest, Montreal, Canada. ' School of Physical and Occupational Therapy, McGill University, 3654 Promenade Sir William Osler, Montreal, Quebec H3G 1Y5, Canada ' Electrical Engineering Department, École de Technologie Superieure, 1100 Notre-dame Ouest, Montreal, Canada exoskeleton robots physical disability arm impairment upper extremity rehabilitation PID control compliance control passive arm movements assistive technology upper limbs strokes spinal cord injuries robot modelling robot design robot control. 2012-05-01T23:20:50-05:00 2 1 34 50 2012-05-01T23:20:50-05:00 http://www.inderscience.com/link.php?id=46588 With the expectation that series configuration would maximise the fuel economy as engine is decoupled from the wheels, a forward-facing, series hydraulic hybrid vehicle (SHHV) powertrain model for medium size trucks is developed in this paper, and is employed to investigate the application of stochastic model predictive control (SMPC) methodology for developing power management strategy. For properly managing all the control variables that arise from the significant freedoms introduced by the SHHV powertrain, two-level hierarchical control architecture is proposed. Simulation results over the urban driving cycle are presented to demonstrate the effectiveness of SMPC compared with other deterministic approaches and the potential of the selected hybrid system to substantially improve vehicle fuel economy. Stochastic model predictive power management strategy for series hydraulic hybrid vehicle
Daiwei Feng; Dagui Huang
International Journal of Mechatronics and Automation, Vol. 2, No. 1 (2012) pp. 51 - 63
With the expectation that series configuration would maximise the fuel economy as engine is decoupled from the wheels, a forward-facing, series hydraulic hybrid vehicle (SHHV) powertrain model for medium size trucks is developed in this paper, and is employed to investigate the application of stochastic model predictive control (SMPC) methodology for developing power management strategy. For properly managing all the control variables that arise from the significant freedoms introduced by the SHHV powertrain, two-level hierarchical control architecture is proposed. Simulation results over the urban driving cycle are presented to demonstrate the effectiveness of SMPC compared with other deterministic approaches and the potential of the selected hybrid system to substantially improve vehicle fuel economy.

]]> 10.1504/IJMA.2012.046588 International Journal of Mechatronics and Automation, Vol. 2, No. 1 (2012) pp. 51 - 63 Daiwei Feng; Dagui Huang School of Mechatronics Engineering, University of Electronics Science and Technology of China, Chengdu, 611731, China. ' School of Mechatronics Engineering, University of Electronics Science and Technology of China, Chengdu, 611731, China series hydraulic hybrid vehicles vehicle modelling hierarchical control stochastic model predictive control SMPC fuel economy power management strategy powertrain models medium size trucks simulation urban driving cycle. 2012-05-01T23:20:50-05:00 2 1 51 63 2012-05-01T23:20:50-05:00 http://www.inderscience.com/link.php?id=46589 Based on the transfer-matrix method and taking into consideration the gyroscopic couple, the shear, the variable cross-section and other influential factors, a dynamic model was established for the multi-disk rotor of the rotor-bearing system of the grinder spindle. The critical speeds of first three orders, the modes of variation and other dynamic characteristic parameters of the grinder spindle were calculated. The influences of the axial pre-tightening force of the bearing, the span of the fulcrum bearing as well as the changes in the front and rear overhangs on the critical speed of the rotor-bearing system on the grinder spindle and their pattern of changes were analysed. The results showed that the working speed of the spindle system is much lower than the primary critical speed and can therefore stay away the resonance range effectively. Furthermore, the span of the fulcrum bearing and the overhang had significant influences on the critical speed within a certain range. Effect of structural parameters of spindle system of ultra-high speed grinder on critical speed and vibration mode
C.H. Li; S. Wang; Y.C. Ding
International Journal of Mechatronics and Automation, Vol. 2, No. 1 (2012) pp. 64 - 73
Based on the transfer-matrix method and taking into consideration the gyroscopic couple, the shear, the variable cross-section and other influential factors, a dynamic model was established for the multi-disk rotor of the rotor-bearing system of the grinder spindle. The critical speeds of first three orders, the modes of variation and other dynamic characteristic parameters of the grinder spindle were calculated. The influences of the axial pre-tightening force of the bearing, the span of the fulcrum bearing as well as the changes in the front and rear overhangs on the critical speed of the rotor-bearing system on the grinder spindle and their pattern of changes were analysed. The results showed that the working speed of the spindle system is much lower than the primary critical speed and can therefore stay away the resonance range effectively. Furthermore, the span of the fulcrum bearing and the overhang had significant influences on the critical speed within a certain range.

]]> 10.1504/IJMA.2012.046589 International Journal of Mechatronics and Automation, Vol. 2, No. 1 (2012) pp. 64 - 73 C.H. Li; S. Wang; Y.C. Ding School of Mechanical Engineering, Qingdao Technological University, 266033, China. ' School of Mechanical Engineering, Qingdao Technological University, 266033, China. ' School of Mechanical Engineering, Qingdao Technological University, 266033, China ultra high speed grinding structural parameters spindle systems critical speed vibration mode dynamic modelling rotor bearings. 2012-05-01T23:20:50-05:00 2 1 64 73 2012-05-01T23:20:50-05:00