Computers in Biology and Medicine, ( ISI ), Volume (75), No (1), Year (2016-5) , Pages (243-256)

Title : ( TowardsanSEMG-basedtele-operatedrobotformasticatory rehabilitation )

Authors: Hadi Kalani , Sahar Moghimi , Alireza Akbarzadeh Tootoonchi ,
File:

Access to full-text not allowed by authors

Citation: BibTeX | EndNote

This paperproposesareal-timetrajectorygenerationforamasticatoryrehabilitationrobotbasedon surface electromyography(SEMG)signals.WeusedtwoGough-Stewartrobots.The first robotwasused as arehabilitationrobotwhilethesecondrobotwasdevelopedtomodelthehumanjawsystem.Thelegs of therehabilitationrobotwerecontrolledbytheSEMGsignalsofatele-operatortoreproducethe masticatory motioninthehumanjaw,supposedlymountedonthemovingplatform,throughpredicting the locationofareferencepoint.ActualjawmotionsandtheSEMGsignalsfromthemasticatorymuscles wererecordedandusedasoutputandinput,respectively.Threedifferentmethods,namelytime-delayed neural networks,timedelayedfastorthogonalsearch,andtime-delayedLaguerreexpansiontechnique, wereemployedandcomparedtopredictthekinematicparameters.Theoptimalmodelstructuresaswell as theinputdelayswereobtainedforeachmodelandeachsubjectthroughageneticalgorithm.Equa- tions ofmotionwereobtainedbythevirtualworkmethod.Fuzzymethodwasemployedtodevelopa fuzzy impedancecontroller.Moreover,ajawmodelwasdevelopedtodemonstratethetime-varying behaviorofthemusclelengthsduringtherehabilitationprocess.Thethreemodelingmethodswere capable ofprovidingreasonablyaccurateestimationsofthekinematicparameters,althoughtheaccuracy and training/validationspeedoftime-delayedfastorthogonalsearchwerehigherthanthoseoftheother two aforementionedmethods.Also,duringasimulationstudy,thefuzzyimpedanceschemeproved successful incontrollingthemovingplatformfortheaccuratenavigationofthereferencepointinthe desired trajectory.SEMGhasbeenwidelyusedasacontrolcommandforprosthesesandexoskeleton robots.However,inthecurrentstudybyemployingtheproposedrehabilitationrobotthecomplete continuous profile oftheclenchingmotionwasreproducedinthesagittalplane.

Keywords

, Clenching movement SEMG, based control Rehabilitationrobot Fuzzy impedancecontrol Fastorthogonalsearch Laguerre estimationtechnique Artificial
برای دانلود از شناسه و رمز عبور پرتال پویا استفاده کنید.

@article{paperid:1058736,
author = {Kalani, Hadi and Moghimi, Sahar and Akbarzadeh Tootoonchi, Alireza},
title = {TowardsanSEMG-basedtele-operatedrobotformasticatory rehabilitation},
journal = {Computers in Biology and Medicine},
year = {2016},
volume = {75},
number = {1},
month = {May},
issn = {0010-4825},
pages = {243--256},
numpages = {13},
keywords = {Clenching movement SEMG-based control Rehabilitationrobot Fuzzy impedancecontrol Fastorthogonalsearch Laguerre estimationtechnique Artificial neuralnetworks},
}

[Download]

%0 Journal Article
%T TowardsanSEMG-basedtele-operatedrobotformasticatory rehabilitation
%A Kalani, Hadi
%A Moghimi, Sahar
%A Akbarzadeh Tootoonchi, Alireza
%J Computers in Biology and Medicine
%@ 0010-4825
%D 2016

[Download]