Download or read book Real time Control of a Multi fingered Robot Hand Using EMG Signals written by Luenin Adriel Barrios and published by . This book was released on 2010 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt: The design and development of a real-time computer program for controlling the anthropomorphic six degrees of freedom robotic hand developed in the Robotics Laboratory at San Diego State University is presented. The program allows the hand to be controlled either manually or via EMG signals received from electrodes attached to the user's forearm. The robot hand's joints can be operated independently or ordered to perform synergetic grasp motions. In particular, this research continues the previous work conducted at the lab of using feature extraction and classification of EMG signals in real-time to determine the user's hand position and command the robot hand to achieve the same motion. The grasp modes studied include: cylindrical, spherical, point, and lateral hand positions, and a first order rational approximation function is used to achieve the synergetic motions of the robot hand. The results demonstrate that feature extraction and classification of EMG signals serve as an adequate method for controlling the motions of a robot hand and that such control systems may be utilized in areas such as prostheses.
Download or read book Control Strategy for Underactuated Multi Fingered Robot Hand Movement Using Electromyography Signal with Wearable Myo Armband written by Ruthber Rodriguez and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main goal of this research is to develop a control strategy for an underactuated robotic hand, based on surface electromyography (sEMG) signal obtained from a wireless Myo gesture armband, to distinguish six, several hand movements. The pattern recognition system is employed to analyze these gestures and consists of three main parts: segmentation, feature extraction, and classification. A series of 150 trials is carried out for each movement and it is established which was most suitable for electromyography signals that can be later used in recognition systems. A backpropagation neural network was used as a classifier. The architecture has a hidden network and six output layers. The number of neurons of the hidden network (20) was determined based on the performance in training progress. The proposed system is tested on datasets extracted from five healthy subjects. A great accuracy (94.94% correct assessment). between the experimentally values and those predicted by the artificial neural network (ANN) was achieved. In addition, kinematic analysis of the proposed underactuated hand has been carried out to verify the motion range of the joints. Simulations and experiments are carried out to verify the effectiveness of the proposed fingers mechanism and the hand prosthesis to generate grasp or postures.
Download or read book Transferring Human Impedance Regulation Skills to Robots written by Arash Ajoudani and published by Springer. This book was released on 2015-11-05 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces novel thinking and techniques to the control of robotic manipulation. In particular, the concept of teleimpedance control as an alternative method to bilateral force-reflecting teleoperation control for robotic manipulation is introduced. In teleimpedance control, a compound reference command is sent to the slave robot including both the desired motion trajectory and impedance profile, which are then realized by the remote controller. This concept forms a basis for the development of the controllers for a robotic arm, a dual-arm setup, a synergy-driven robotic hand, and a compliant exoskeleton for improved interaction performance.
Download or read book Robot Hands And Multi fingered Haptic Interfaces Fundamentals And Applications written by Haruhisa Kawasaki and published by World Scientific. This book was released on 2015-03-04 with total page 352 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot Hands and Multi-Fingered Haptic Interfaces is a monograph focusing on the comparison of human hands with robot hands, the fundamentals behind designing and creating the latter, and robotics' latest advancements in haptic technology.This work discusses the design of robot hands; contact models at grasping; kinematic models of constraint; dynamic models of the multi-fingered hand; the stability theorem of non-linear control systems; robot hand control; design and control of multi-fingered haptic interfaces; application systems using multi-fingered haptic interfaces; and telecontrol of robot hands using a multi-fingered haptic interface.Robot Hands and Multi-Fingered Haptic Interfaces is intended mainly for readers who have a foundation in basic robot arm engineering. To understand robot hand manipulation, readers must study kinematic constraint models of fingers, hand dynamics with constraints, stability theorems of non-linear control, and multi-fingered hand control — this book will benefit readers' understanding of this full range of issues regarding robot hand manipulation.
Download or read book Computational Intelligence in Electromyography Analysis written by Ganesh R. Naik and published by BoD – Books on Demand. This book was released on 2012-10-17 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: Electromyography (EMG) is a technique for evaluating and recording the electrical activity produced by skeletal muscles. EMG may be used clinically for the diagnosis of neuromuscular problems and for assessing biomechanical and motor control deficits and other functional disorders. Furthermore, it can be used as a control signal for interfacing with orthotic and/or prosthetic devices or other rehabilitation assists. This book presents an updated overview of signal processing applications and recent developments in EMG from a number of diverse aspects and various applications in clinical and experimental research. It will provide readers with a detailed introduction to EMG signal processing techniques and applications, while presenting several new results and explanation of existing algorithms. This book is organized into 18 chapters, covering the current theoretical and practical approaches of EMG research.
Download or read book Dextrous Robot Hands written by Subramanian T. Venkataraman and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 349 pages. Available in PDF, EPUB and Kindle. Book excerpt: Manipulation using dextrous robot hands has been an exciting yet frustrating research topic for the last several years. While significant progress has occurred in the design, construction, and low level control of robotic hands, researchers are up against fundamental problems in developing algorithms for real-time computations in multi-sensory processing and motor control. The aim of this book is to explore parallels in sensorimotor integration in dextrous robot and human hands, addressing the basic question of how the next generation of dextrous hands should evolve. By bringing together experimental psychologists, kinesiologists, computer scientists, electrical engineers, and mechanical engineers, the book covers topics that range from human hand usage in prehension and exploration, to the design and use of robotic sensors and multi-fingered hands, and to control and computational architectures for dextrous hand usage. While the ultimate goal of capturing human hand versatility remains elusive, this book makes an important contribution to the design and control of future dextrous robot hands through a simple underlying message: a topic as complex as dextrous manipulation would best be addressed by collaborative, interdisciplinary research, combining high level and low level views, drawing parallels between human studies and analytic approaches, and integrating sensory data with motor commands. As seen in this text, success has been made through the establishment of such collaborative efforts. The future will hold up to expectations only as researchers become aware of advances in parallel fields and as a common vocabulary emerges from integrated perceptions about manipulation.
Download or read book Electrodiagnosis in New Frontiers of Clinical Research written by Dr.Hande Turker and published by BoD – Books on Demand. This book was released on 2013-05-22 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt: Utilization of electrodiagnosis; namely electromyography (EMG), nerve conduction studies, late responses, repetitive nerve stimulation techniques, quantitative EMG and evoked potentials, has long been discussed in many text books as basic principles. However the usage of electroneuromyography is rather new in some aspects when compared with tasks of daily practise. This book, we believe, will cover and enlighten those aspects where electrodiagnosis has begun to play important roles nowadays.
Download or read book Neural Engineering written by Chris Eliasmith and published by MIT Press. This book was released on 2003 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: A synthesis of current approaches to adapting engineering tools to the study of neurobiological systems.
Download or read book Smart Control of a Soft Robotic Hand Prosthesis written by Astrid Rubiano Fonseca and published by . This book was released on 2016 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The target of this thesis disertation is to develop a new Smart control of a soft robotic hand prosthesis for the soft robotic hand prosthesis called ProMain Hand, which is characterized by:(i) flexible interaction with grasped object, (ii) and friendly-intuitive interaction between human and robot hand. Flexible interaction results from the synergies between rigid bodies and soft bodies, and actuation mechanism. The ProMain hand has three fingers, each one is equipped with three phalanges: proximal, medial and distal. The proximal and medial are built with rigid bodies,and the distal is fabricated using a deformable material. The soft distal phalange has a new smart force sensor, which was created with the aim to detect contact and force in the fingertip, facilitating the control of the hand. The friendly intuitive human-hand interaction is developed to facilitate the hand utilization. The human-hand interaction is driven by a controller that uses the superficial electromyographic signals measured in the forearm employing a wearable device. The wearable device called MyoArmband is placed around the forearm near the elbow joint. Based on the signals transmitted by the wearable device, the beginning of the movement is automatically detected, analyzing entropy behavior of the EMG signals through artificial intelligence. Then, three selected grasping gesture are recognized with the following methodology: (i) learning patients entropy patterns from electromyographic signals captured during the execution of selected grasping gesture, (ii) performing a support vector machine classifier, using raw entropy data extracted in real time from electromyographic signals.
Download or read book The Human Hand as an Inspiration for Robot Hand Development written by Ravi Balasubramanian and published by Springer. This book was released on 2014-01-03 with total page 573 pages. Available in PDF, EPUB and Kindle. Book excerpt: “The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.
Download or read book Fusion of Hard and Soft Control Strategies for the Robotic Hand written by Cheng-Hung Chen and published by John Wiley & Sons. This book was released on 2017-09-13 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: An in-depth review of hybrid control techniques for smart prosthetic hand technology by two of the world’s pioneering experts in the field Long considered the stuff of science fiction, a prosthetic hand capable of fully replicating all of that appendage’s various functions is closer to becoming reality than ever before. This book provides a comprehensive report on exciting recent developments in hybrid control techniques—one of the most crucial hurdles to be overcome in creating smart prosthetic hands. Coauthored by two of the world’s foremost pioneering experts in the field, Fusion of Hard and Soft Control Strategies for Robotic Hand treats robotic hands for multiple applications. Itbegins withan overview of advances in main control techniques that have been made over the past decade before addressing the military context for affordable robotic hand technology with tactile and/or proprioceptive feedback for hand amputees. Kinematics, homogeneous transformations, inverse and differential kinematics, trajectory planning, and dynamic models of two-link thumb and three-link index finger are discussed in detail. The remainder of the book is devoted to the most promising soft computing techniques, particle swarm optimization techniques, and strategies combining hard and soft controls. In addition, the book: Includes a report on exciting new developments in prosthetic/robotic hand technology, with an emphasis on the fusion of hard and soft control strategies Covers both prosthetic and non-prosthetic hand designs for everything from routine human operations, robotic surgery, and repair and maintenance, to hazardous materials handling, space applications, explosives disposal, and more Provides a comprehensive overview of five-fingered robotic hand technology kinematics, dynamics, and control Features detailed coverage of important recent developments in neuroprosthetics Fusion of Hard and Soft Control Strategies for Robotic Hand is a must-read for researchers in control engineering, robotic engineering, biomedical sciences and engineering, and rehabilitation engineering.
Download or read book Fusion of Hard and Soft Control Strategies for the Robotic Hand written by Cheng-Hung Chen and published by John Wiley & Sons. This book was released on 2017-08-31 with total page 260 pages. Available in PDF, EPUB and Kindle. Book excerpt: An in-depth review of hybrid control techniques for smart prosthetic hand technology by two of the world’s pioneering experts in the field Long considered the stuff of science fiction, a prosthetic hand capable of fully replicating all of that appendage’s various functions is closer to becoming reality than ever before. This book provides a comprehensive report on exciting recent developments in hybrid control techniques—one of the most crucial hurdles to be overcome in creating smart prosthetic hands. Coauthored by two of the world’s foremost pioneering experts in the field, Fusion of Hard and Soft Control Strategies for Robotic Hand treats robotic hands for multiple applications. Itbegins withan overview of advances in main control techniques that have been made over the past decade before addressing the military context for affordable robotic hand technology with tactile and/or proprioceptive feedback for hand amputees. Kinematics, homogeneous transformations, inverse and differential kinematics, trajectory planning, and dynamic models of two-link thumb and three-link index finger are discussed in detail. The remainder of the book is devoted to the most promising soft computing techniques, particle swarm optimization techniques, and strategies combining hard and soft controls. In addition, the book: Includes a report on exciting new developments in prosthetic/robotic hand technology, with an emphasis on the fusion of hard and soft control strategies Covers both prosthetic and non-prosthetic hand designs for everything from routine human operations, robotic surgery, and repair and maintenance, to hazardous materials handling, space applications, explosives disposal, and more Provides a comprehensive overview of five-fingered robotic hand technology kinematics, dynamics, and control Features detailed coverage of important recent developments in neuroprosthetics Fusion of Hard and Soft Control Strategies for Robotic Hand is a must-read for researchers in control engineering, robotic engineering, biomedical sciences and engineering, and rehabilitation engineering.
Download or read book Surface Electromyography written by Roberto Merletti and published by John Wiley & Sons. This book was released on 2016-05-02 with total page 592 pages. Available in PDF, EPUB and Kindle. Book excerpt: Reflects on developments in noninvasive electromyography, and includes advances and applications in signal detection, processing and interpretation Addresses EMG imaging technology together with the issue of decomposition of surface EMG Includes advanced single and multi-channel techniques for information extraction from surface EMG signals Presents the analysis and information extraction of surface EMG at various scales, from motor units to the concept of muscle synergies.
Download or read book EMG EEG Signals based Control of Assistive and Rehabilitation Robots written by R. A. R. C. Gopura and published by Frontiers Media SA. This book was released on 2022-03-07 with total page 156 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Multi Robot Systems written by and published by BoD – Books on Demand. This book was released on 2023-12-13 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics is an important part of modern engineering involving electricity and electronics, computers, mathematics, and mechanism design. In recent years, in addition to serial robots, multi-robot systems have begun to attract the attention of students, academics, and industry workers. This interest has directly impacted the development of novel theoretical research areas and products. This book explores new developments in multi-robot systems, such as trajectory planning, control algorithms, and programming.
Download or read book Biosensors written by and published by BoD – Books on Demand. This book was released on 2021-05-05 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers novel and current strategies for biosensing, from the use of nanomaterials and biological functionalized surfaces to the mathematical assessment of novel biosensors and their potential use as wearable devices for continuous monitoring. Biosensing technologies can be used in the medical field for the early detection of disease, monitoring effectiveness of treatments, detecting nervous system signals for controlling robotic prosthesis, and much more. This book includes eleven chapters that examine and discuss several strategies of biosensing, proposing mathematical designs that address the latest reported technologies.
Download or read book Advanced planning control and signal processing methods and applications in robotic systems volume II written by Zhan Li and published by Frontiers Media SA. This book was released on 2023-05-25 with total page 207 pages. Available in PDF, EPUB and Kindle. Book excerpt:
