NDLI: Design of Soft Human-Robot Interface Based on Neuro-Muscular-Skeletal Model

Content Provider	IEEE Xplore Digital Library
Author	Lei Shi Zhen Liu
Copyright Year	2014
Description	Author affiliation: Grad. Sch. of Eng., Nagasaki Inst. of Appl. Sci., Nagasaki, Japan (Lei Shi; Zhen Liu)
Abstract	In the design of rehabilitation robots aiming at people with special needs (i.e., elderly, people with impairments, or people with disabilities), the human-robot interface (HRI) is considered to be one of most difficult and important parts. It directly determines the patient safety, operation convenience and rehabilitation effectiveness of the whole system. The interface design mainly consists of two main parts, that is, hard and soft human-robot interface design that are labeled hHRI and sHRI respectively in the paper. hHRI is the physical human-robot interaction which transfers the power from robot to the patient or vice-versa. And sHRI is mainly a control interface between human and robot. After the robot mechanical structures being established, system function and performance is largely decided by sHRI. In the paper, in order to be able to do continuous control for robot motion and generate the desired supporting torque for patients with the actuation of the robot, the present work proposes a new sHRI that based on surface electromyography (sEMG) and human neuro-musculo-skeletal model. It can transform the body's own neural command signal of sEMG recordings to kinematic variables that were used to control the rehabilitation robot. Under the work of sHRI, rehabilitation robot can offer assistance to patients during rehabilitation by guiding motions on correct training rehabilitation trajectories, or give force support to be able to perform certain motions at all. The mechanism is compelling from the standpoint of biomechanical analysis of human motion as well as the synthesis of artificial control. It may lead to seamless integration and an intuitive control of the controlled robot.
Sponsorship	IEEE Comput. Soc.
Starting Page	536
Ending Page	541
File Size	664126
Page Count	6
File Format	PDF
e-ISBN	9781479950799
DOI	10.1109/DASC.2014.104
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-24
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Frequency modulation Force Muscles Mathematical model Joints Robots Tendons
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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