RESUMO
In recent years, the exploitation of assistive robotics has experienced significant growth, mostly based on the development of sensor and processing technologies with the increasing interest in improving the interactions between robots and humans and making them more natural [...].
RESUMO
This Special Issue is focused on breakthrough developments in the field of assistive and rehabilitation robotics. The selected contributions include current scientific progress from biomedical signal processing and cover applications to myoelectric prostheses, lower-limb and upper-limb exoskeletons and assistive robotics.
Assuntos
Técnicas Biossensoriais , Robótica , Eletroencefalografia , Eletromiografia , Exoesqueleto Energizado , Próteses e ImplantesRESUMO
This Special Issue is focused on breakthrough developments in the field of biosensors and current scientific progress in biomedical signal processing. The papers address innovative solutions in assistance robotics based on bioelectrical signals, including: Affordable biosensor technology, affordable assistive-robotics devices, new techniques in myoelectric control and advances in brainâ»machine interfacing.
Assuntos
Técnicas Biossensoriais/métodos , Robótica/instrumentação , Técnicas Biossensoriais/instrumentação , Interfaces Cérebro-Computador , Pessoas com Deficiência , Eletroencefalografia/instrumentação , Eletromiografia/instrumentação , Exoesqueleto Energizado , HumanosRESUMO
This paper presents a system that combines computer vision and surface electromyography techniques to perform grasping tasks with a robotic hand. In order to achieve a reliable grasping action, the vision-driven system is used to compute pre-grasping poses of the robotic system based on the analysis of tridimensional object features. Then, the human operator can correct the pre-grasping pose of the robot using surface electromyographic signals from the forearm during wrist flexion and extension. Weak wrist flexions and extensions allow a fine adjustment of the robotic system to grasp the object and finally, when the operator considers that the grasping position is optimal, a strong flexion is performed to initiate the grasping of the object. The system has been tested with several subjects to check its performance showing a grasping accuracy of around 95% of the attempted grasps which increases in more than a 13% the grasping accuracy of previous experiments in which electromyographic control was not implemented.