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Robotic Prosthesis Control
Robotic prosthesis control is a method for controlling a prosthesis in such a way that the controlled robotic prosthesis restores a biologically accurate gait to a person with a loss of limb. This is a special branch of control that has an emphasis on the interaction between humans and robotics. Background In the 1970s several researchers developed a tethered electrohydraulic transfemoral prosthesis.Grimes, D. L. (1979). An active multi-mode above knee prosthesis controller. PhD Thesis, Cambridge, MA, MIT, Department of Mechanical Engineering. It only included a hydraulically actuated knee joint controlled by off-board electronics using a type of control called echo control. Echo control tries to take the kinematics from the sound leg and control the prosthetic leg to match the intact leg when it reaches that part of the gait cycle. In 1988 a battery-powered active knee joint powered by DC motors and controlled by a robust position tracking control algorithm was created by Popovic a ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Prosthesis
In medicine, a prosthesis (plural: prostheses; from grc, πρόσθεσις, prósthesis, addition, application, attachment), or a prosthetic implant, is an artificial device that replaces a missing body part, which may be lost through trauma, disease, or a condition present at birth (congenital disorder). Prostheses are intended to restore the normal functions of the missing body part. Amputee rehabilitation is primarily coordinated by a physiatrist as part of an inter-disciplinary team consisting of physiatrists, prosthetists, nurses, physical therapists, and occupational therapists. Prostheses can be created by hand or with computer-aided design (CAD), a software interface that helps creators design and analyze the creation with computer-generated 2-D and 3-D graphics as well as analysis and optimization tools. Types A person's prosthesis should be designed and assembled according to the person's appearance and functional needs. For instance, a person may need a transra ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Block Diagram
A block diagram is a diagram of a system in which the principal parts or functions are represented by blocks connected by lines that show the relationships of the blocks.SEVOCAB: Software and Systems Engineering Vocabulary Term: ''block diagram''. retrieved 31 July 2008. They are heavily used in engineering in , , software design, and [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Impedance Control
Impedance control is an approach to dynamic control relating force and position. It is often used in applications where a manipulator interacts with its environment and the force position relation is of concern. Examples of such applications include humans interacting with robots, where the force produced by the human relates to how fast the robot should move/stop. Simpler control methods, such as position control or torque control, perform poorly when the manipulator experiences contacts. Thus impedance control is commonly used in these settings. Mechanical impedance is the ratio of force output to motion input. This is analogous to electrical impedance that is the ratio of voltage output to current input (e.g. resistance is voltage divided by current). A "spring constant" defines the force output for a displacement (extension or compression) of the spring. A "damping constant" defines the force output for a velocity input. If we control the impedance of a mechanism, we are co ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Hugh Herr, TED 2014
Hugh may refer to: *Hugh (given name) Noblemen and clergy French * Hugh the Great (died 956), Duke of the Franks * Hugh Magnus of France (1007–1025), co-King of France under his father, Robert II * Hugh, Duke of Alsace (died 895), modern-day France * Hugh of Austrasia (7th century), Mayor of the Palace of Austrasia * Hugh I, Count of Angoulême (1183–1249) * Hugh II, Count of Angoulême (1221–1250) * Hugh III, Count of Angoulême (13th century) * Hugh IV, Count of Angoulême (1259–1303) * Hugh, Bishop of Avranches (11th century), France * Hugh I, Count of Blois (died 1248) * Hugh II, Count of Blois (died 1307) * Hugh of Brienne (1240–1296), Count of the medieval French County of Brienne * Hugh, Duke of Burgundy (d. 952) * Hugh I, Duke of Burgundy (1057–1093) * Hugh II, Duke of Burgundy (1084–1143) * Hugh III, Duke of Burgundy (1142–1192) * Hugh IV, Duke of Burgundy (1213–1272) * Hugh V, Duke of Burgundy (1294–1315) * Hugh Capet (939–996), King of France * ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Electromyography
Electromyography (EMG) is a technique for evaluating and recording the electrical activity produced by skeletal muscles. EMG is performed using an instrument called an electromyograph to produce a record called an electromyogram. An electromyograph detects the electric potential generated by muscle cells when these cells are electrically or neurologically activated. The signals can be analyzed to detect abnormalities, activation level, or recruitment order, or to analyze the biomechanics of human or animal movement. Needle EMG is an electrodiagnostic medicine technique commonly used by neurologists. Surface EMG is a non-medical procedure used to assess muscle activation by several professionals, including physiotherapists, kinesiologists and biomedical engineers. In Computer Science, EMG is also used as middleware in gesture recognition towards allowing the input of physical action to a computer as a form of human-computer interaction. Clinical uses EMG testing has a variety of ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Skeletal Muscles
Skeletal muscles (commonly referred to as muscles) are organs of the vertebrate muscular system and typically are attached by tendons to bones of a skeleton. The muscle cells of skeletal muscles are much longer than in the other types of muscle tissue, and are often known as muscle fibers. The muscle tissue of a skeletal muscle is striated – having a striped appearance due to the arrangement of the sarcomeres. Skeletal muscles are voluntary muscles under the control of the somatic nervous system. The other types of muscle are cardiac muscle which is also striated and smooth muscle which is non-striated; both of these types of muscle tissue are classified as involuntary, or, under the control of the autonomic nervous system. A skeletal muscle contains multiple muscle fascicle, fascicles – bundles of muscle fibers. Each individual fiber, and each muscle is surrounded by a type of connective tissue layer of fascia. Muscle fibers are formed from the cell fusion, fusion of dev ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Pattern Recognition
Pattern recognition is the automated recognition of patterns and regularities in data. It has applications in statistical data analysis, signal processing, image analysis, information retrieval, bioinformatics, data compression, computer graphics and machine learning. Pattern recognition has its origins in statistics and engineering; some modern approaches to pattern recognition include the use of machine learning, due to the increased availability of big data and a new abundance of processing power. These activities can be viewed as two facets of the same field of application, and they have undergone substantial development over the past few decades. Pattern recognition systems are commonly trained from labeled "training" data. When no labeled data are available, other algorithms can be used to discover previously unknown patterns. KDD and data mining have a larger focus on unsupervised methods and stronger connection to business use. Pattern recognition focuses more on the s ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Hybrid System
A hybrid system is a dynamical system that exhibits both continuous and discrete dynamic behavior – a system that can both ''flow'' (described by a differential equation) and ''jump'' (described by a state machine or automaton). Often, the term "hybrid dynamical system" is used, to distinguish over hybrid systems such as those that combine neural nets and fuzzy logic, or electrical and mechanical drivelines. A hybrid system has the benefit of encompassing a larger class of systems within its structure, allowing for more flexibility in modeling dynamic phenomena. In general, the ''state'' of a hybrid system is defined by the values of the ''continuous variables'' and a discrete ''mode''. The state changes either continuously, according to a flow condition, or discretely according to a ''control graph''. Continuous flow is permitted as long as so-called ''invariants'' hold, while discrete transitions can occur as soon as given ''jump conditions'' are satisfied. Discrete trans ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Control-Lyapunov Function
In control theory, a control-Lyapunov function (CLF) is an extension of the idea of Lyapunov function V(x) to systems with control inputs. The ordinary Lyapunov function is used to test whether a dynamical system is ''(Lyapunov) stable'' or (more restrictively) ''asymptotically stable''. Lyapunov stability means that if the system starts in a state x \ne 0 in some domain ''D'', then the state will remain in ''D'' for all time. For ''asymptotic stability'', the state is also required to converge to x = 0. A control-Lyapunov function is used to test whether a system is ''asymptotically stabilizable'', that is whether for any state ''x'' there exists a control u(x,t) such that the system can be brought to the zero state asymptotically by applying the control ''u''. The theory and application of control-Lyapunov functions were developed by Zvi Artstein and Eduardo D. Sontag in the 1980s and 1990s. Definition Consider an autonomous dynamical system with inputs where x\in\mathbb ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Levenberg–Marquardt Algorithm
In mathematics and computing, the Levenberg–Marquardt algorithm (LMA or just LM), also known as the damped least-squares (DLS) method, is used to solve non-linear least squares problems. These minimization problems arise especially in least squares curve fitting. The LMA interpolates between the Gauss–Newton algorithm (GNA) and the method of gradient descent. The LMA is more robust than the GNA, which means that in many cases it finds a solution even if it starts very far off the final minimum. For well-behaved functions and reasonable starting parameters, the LMA tends to be slower than the GNA. LMA can also be viewed as Gauss–Newton using a trust region approach. The algorithm was first published in 1944 by Kenneth Levenberg, while working at the Frankford Army Arsenal. It was rediscovered in 1963 by Donald Marquardt, who worked as a statistician at DuPont, and independently by Girard, Wynne and Morrison. The LMA is used in many software applications for solving gen ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Prosthetics
In medicine, a prosthesis (plural: prostheses; from grc, πρόσθεσις, prósthesis, addition, application, attachment), or a prosthetic implant, is an artificial device that replaces a missing body part, which may be lost through trauma, disease, or a condition present at birth (Congenital, congenital disorder). Prostheses are intended to restore the normal functions of the missing body part. amputation, Amputee rehabilitation is primarily coordinated by a Physical medicine and rehabilitation, physiatrist as part of an inter-disciplinary team consisting of physiatrists, prosthetists, nurses, physical therapists, and occupational therapists. Prostheses can be created by hand or with computer-aided design (CAD), a software interface that helps creators design and analyze the creation with computer-generated Technical drawing, 2-D and 3D computer graphics, 3-D graphics as well as analysis and optimization tools. Types A person's prosthesis should be designed and assembled ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
