Assistant force compensation for hand movement of patients by using exogenous signals and/or neurophysiological signals |
| |
Authors: | Ou Bai Masatoshi Nakamura Hiroshi Shibasaki |
| |
Affiliation: | (1) Department of Advanced Systems Control Engineering, Saga University, Honjomachi, 840-8502 Saga, Japan;(2) Department of Neurology and Human Brain Research Center, Kyoto University Graduate School of Medicine, Kyoto, Japan |
| |
Abstract: | Because functional diseases of the brain can cause disabilities related to human movement control, a compensation method was developed for improving the performance of hand movements. The compensation for human hand movements can be carried out by adding an assistant force that is generated from artificial equipment attached to a human arm. From the experiment on visual target tracking, it was found that the tracking trajectory was adequately represented by a dynamic model of the motion of an articulated industrial robot arm, and the different abilities for movement control among healthy people and patients were classified by different model parameters as position loop gain, velocity loop gain, and response delay. Dynamic force compensation was approached by considering the different control features of the patients. The effectiveness of the proposed compensation method was verified in a simulation study on an actual industrial robot arm. A human-machine interface, e.g., a brain-computer interface (BCI), for realizing the control of artificial equipment to compensate for human hand movements is also presented and discussed. |
| |
Keywords: | Hand movement disability Compensation for hand movement control Visual target tracking Industrial articulated robot arm Equipment for generating assistant force |
本文献已被 SpringerLink 等数据库收录! |
|