8,885 research outputs found

    New control strategies for neuroprosthetic systems

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    The availability of techniques to artificially excite paralyzed muscles opens enormous potential for restoring both upper and lower extremity movements with\ud neuroprostheses. Neuroprostheses must stimulate muscle, and control and regulate the artificial movements produced. Control methods to accomplish these tasks include feedforward (open-loop), feedback, and adaptive control. Feedforward control requires a great deal of information about the biomechanical behavior of the limb. For the upper extremity, an artificial motor program was developed to provide such movement program input to a neuroprosthesis. In lower extremity control, one group achieved their best results by attempting to meet naturally perceived gait objectives rather than to follow an exact joint angle trajectory. Adaptive feedforward control, as implemented in the cycleto-cycle controller, gave good compensation for the gradual decrease in performance observed with open-loop control. A neural network controller was able to control its system to customize stimulation parameters in order to generate a desired output trajectory in a given individual and to maintain tracking performance in the presence of muscle fatigue. The authors believe that practical FNS control systems must\ud exhibit many of these features of neurophysiological systems

    Automatic identification of gait events using an instrumented sock

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    Background: textile-based transducers are an emerging technology in which piezo-resistive properties of materials are used to measure an applied strain. By incorporating these sensors into a sock, this technology offers the potential to detect critical events during the stance phase of the gait cycle. This could prove useful in several applications, such as functional electrical stimulation (FES) systems to assist gait. Methods: we investigated the output of a knitted resistive strain sensor during walking and sought to determine the degree of similarity between the sensor output and the ankle angle in the sagittal plane. In addition, we investigated whether it would be possible to predict three key gait events, heel strike, heel lift and toe off, with a relatively straight-forward algorithm. This worked by predicting gait events to occur at fixed time offsets from specific peaks in the sensor signal. Results: our results showed that, for all subjects, the sensor output exhibited the same general characteristics as the ankle joint angle. However, there were large between-subjects differences in the degree of similarity between the two curves. Despite this variability, it was possible to accurately predict gait events using a simple algorithm. This algorithm displayed high levels of trial-to-trial repeatability. Conclusions: this study demonstrates the potential of using textile-based transducers in future devices that provide active gait assistance

    Adaptive Neural Networks for Control of Movement Trajectories Invariant under Speed and Force Rescaling

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    This article describes two neural network modules that form part of an emerging theory of how adaptive control of goal-directed sensory-motor skills is achieved by humans and other animals. The Vector-Integration-To-Endpoint (VITE) model suggests how synchronous multi-joint trajectories are generated and performed at variable speeds. The Factorization-of-LEngth-and-TEnsion (FLETE) model suggests how outflow movement commands from a VITE model may be performed at variable force levels without a loss of positional accuracy. The invariance of positional control under speed and force rescaling sheds new light upon a familiar strategy of motor skill development: Skill learning begins with performance at low speed and low limb compliance and proceeds to higher speeds and compliances. The VITE model helps to explain many neural and behavioral data about trajectory formation, including data about neural coding within the posterior parietal cortex, motor cortex, and globus pallidus, and behavioral properties such as Woodworth's Law, Fitts Law, peak acceleration as a function of movement amplitude and duration, isotonic arm movement properties before and after arm-deafferentation, central error correction properties of isometric contractions, motor priming without overt action, velocity amplification during target switching, velocity profile invariance across different movement distances, changes in velocity profile asymmetry across different movement durations, staggered onset times for controlling linear trajectories with synchronous offset times, changes in the ratio of maximum to average velocity during discrete versus serial movements, and shared properties of arm and speech articulator movements. The FLETE model provides new insights into how spina-muscular circuits process variable forces without a loss of positional control. These results explicate the size principle of motor neuron recruitment, descending co-contractive compliance signals, Renshaw cells, Ia interneurons, fast automatic reactive control by ascending feedback from muscle spindles, slow adaptive predictive control via cerebellar learning using muscle spindle error signals to train adaptive movement gains, fractured somatotopy in the opponent organization of cerebellar learning, adaptive compensation for variable moment-arms, and force feedback from Golgi tendon organs. More generally, the models provide a computational rationale for the use of nonspecific control signals in volitional control, or "acts of will", and of efference copies and opponent processing in both reactive and adaptive motor control tasks.National Science Foundation (IRI-87-16960); Air Force Office of Scientific Research (90-0128, 90-0175

    A robust vector autoregressive model for forecasting economic growth in Malaysia

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    Economic indicator measures how solid or strong an economy of a country is. Basically, economic growth can be measured by using the economic indicators as they give an account of the quality or shortcoming of an economy. Vector Auto-regressive (VAR) method is commonly useful in forecasting the economic growth involving a bounteous of economic indicators. However, problems arise when its parameters are estimated using least square method which is very sensitive to the outliers existence. Thus, the aim of this study is to propose the best method in dealing with the outliers data so that the forecasting result is not biased. Data used in this study are the economic indicators monthly basis starting from January 1998 to January 2016. Two methods are considered, which are filtering technique via least median square (LMS), least trimmed square (LTS), least quartile difference (LQD) and imputation technique via mean and median. Using the mean absolute percentage error (MAPE) as the forecasting performance measure, this study concludes that Robust VAR with LQD filtering is a more appropriate model compare to others model

    Influence of material composition on flame spread behavior over combustible solid of paper/bagasse

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    Fire Safety Engineering is an application of science to improve the safety from the destructive effect of the fire. Paper is one of sources that easily catch fire, however, research on flame spread towards paper is still not enough to describe about the phenomenon. Inspiration from this, the behavior of downward flame spread over paper/bagasse is experimentally investigated. Composition of 0%, 30%, 50%, 70% and 100% bagasse is chosen for this research. Flame spread behavior for each composition is analyzed from the observation. Results show for each composition, the flame spreads with “U” shape at the beginning of combustion until the whole specimen. The result shows that the flame spread rate decreases as bagasse composition increases. The highest flame spread is 0.813 mm/s for pure paper and the lowest one is 0.481 mm/s for pure bagasse. Not only that, it also shows the flame spread rate decreases as the density increases. It is clarified that density for bagasse is higher than paper. Result infers that the flame spread shape and rate are not only influenced by the bagasse composition but also by the densit

    Adaptive hybrid robotic system for rehabilitation of reaching movement after a brain injury: a usability study

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    BACKGROUND: Brain injury survivors often present upper-limb motor impairment affecting the execution of functional activities such as reaching. A currently active research line seeking to maximize upper-limb motor recovery after a brain injury, deals with the combined use of functional electrical stimulation (FES) and mechanical supporting devices, in what has been previously termed hybrid robotic systems. This study evaluates from the technical and clinical perspectives the usability of an integrated hybrid robotic system for the rehabilitation of upper-limb reaching movements after a brain lesion affecting the motor function. METHODS: The presented system is comprised of four main components. The hybrid assistance is given by a passive exoskeleton to support the arm weight against gravity and a functional electrical stimulation device to assist the execution of the reaching task. The feedback error learning (FEL) controller was implemented to adjust the intensity of the electrical stimuli delivered on target muscles according to the performance of the users. This control strategy is based on a proportional-integral-derivative feedback controller and an artificial neural network as the feedforward controller. Two experiments were carried out in this evaluation. First, the technical viability and the performance of the implemented FEL controller was evaluated in healthy subjects (N = 12). Second, a small cohort of patients with a brain injury (N = 4) participated in two experimental session to evaluate the system performance. Also, the overall satisfaction and emotional response of the users after they used the system was assessed. RESULTS: In the experiment with healthy subjects, a significant reduction of the tracking error was found during the execution of reaching movements. In the experiment with patients, a decreasing trend of the error trajectory was found together with an increasing trend in the task performance as the movement was repeated. Brain injury patients expressed a great acceptance in using the system as a rehabilitation tool. CONCLUSIONS: The study demonstrates the technical feasibility of using the hybrid robotic system for reaching rehabilitation. Patients’ reports on the received intervention reveal a great satisfaction and acceptance of the hybrid robotic system
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