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Modeling and Taylormade Training Method Using Neural Network for Specific Muscle of the Upper Limb |
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Kazuhiko Terashima(Toyohashi University of Technology, Japan) |
| In this paper, we present modeling and taylormade training method using neural network for specific muscle of the upper limb. Validity of neural network model is demonstrated by comparing with the previous musculo - skeletal model in actual experiments. Applying the neural network model, an optimum path maximizing the activity of an agonist muscle and minimizing that of other muscles is designed by using an optimization method. The degree of muscles
revitalization is evaluated by the amplitude of EMG signal, and the effectiveness of the proposed method is demonstrated |
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Implementation of Skin Manipulation in a Haptic Interface of Needle Intervention Simulation |
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Seung Gyu Kang, Doo Yong Lee(KAIST, Republic of Korea) |
| The skin around an inserted needle can be sometimes moved to adjust the insertion angle of the needle in the needle-based intervention. This technique can resolve a difficulty in the targeting and should be implemented in a training simulation. This paper proposes the required haptic rendering algorithm to implement the skin manipulation for a specially developed haptic interface for the training simulation. |
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Development of an Apparatus for Measurement and Supporting Human Standup Motions |
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Nobuto Matsuhira, Taigi Suzuki, Yuta Hongo(Shibaura Institute of Technology, Japan) |
| An apparatus measuring and supporting human standup motions has been developed and is intended for use by elderly people in daily life. It consists of a force plate, a 6-axis force sensor, a motion sensor, and pressure sensors to measure human movement as they stand from a sitting position on a chair. Electric sliders are added to drive the position of the handle. Results from a basic experiment find that there is a suitable time of drive against the apparatus’s handle. The apparatus’s suitable supporting motion has the potential to reduce the pulling force and burden on subjects. |
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Organ Rupture Detection Algorithm of Surgical Robot |
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JU SEOK KANG, Nahian Rahman, Sung Min Yoon, Gm Gang Cha, Min Cheol Lee(Pusan National University, Republic of Korea) |
| SMCSPO is used to estimate the reaction force in the sensor-less system. Moreover, a fuzzy-SPO method is also proposed to separate actual reaction force in presence of dynamic disturbances. However, in both those research, some physical constraints determined the SMCSPO parameters, which play a vital role in the force estimation sensitivity. The force sensitivity of the algorithm is equally important because extra force can cause organ impairment, rupture during surgery. In this study, the force resolutions of the SPO and fuzzy-SPO for a robotic model have studied by Matlab simulation. |
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Fall detection using smart phone and ubiquitous pulse wave sensor |
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Wan Azizul Wan Kamaruzaman, Tadahiro Hasegawa, Shinnosuke Imai(Shibaura Instite of Technology, Japan) |
| Fall detection using smart phone and ubiquitous pulse wave sensor
Wan Azizul, Shinnosuke Imai and Tadahiro Hasegawa
We have proposed the fall detection method using acceleration and angular velocity sensor in android device as well as pulse wave sensor in other device. Acceleration and angular velocity are measured by smartphone’s sensors while pulse wave is measured by an external sensor. The application software for detecting the start to fall using smartphone, and the ubiquitous pulse wave sensor that can measure a human pulse even during fall motion was developed successfully. |
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MODELING AND SLIDING MODE CONTROL OF FLEXIBLE STRUCTURE |
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SANKET KAILAS GORADE, SHAILAJA RAVINDRA KURODE(COLLEGE OF ENGINEERING PUNE (COEP), MAHARASHTRA, India), PRASANNA S. GANDHI(INDIAN INSTITUTE OF TECHNOLOGY BOMBAY (IITB), MAHARASHTRA, India) |
| A new mechanical modeling idea assuming multibody-spring-structure has been proposed for the system of Flexible Inverted Pendulum (FIP) on cart with tip mass. The formulated mathematical model also explains and accounts existence of multiple dynamic equilibria phenomenon, observed practically in actual FIP on cart with tip mass system plant. Experimental validation proofs are presented for proposed model. Sliding Mode Control is developed to stabilize FIP in vertical inverted upright configuration (unstable equilibrium). Robustness of controller designed is confirmed from simulation results. |
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