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- Creators: Berger, Christopher
- Creators: Berman, Spring
- Status: Published
Description
Myoelectric control is lled with potential to signicantly change human-robot interaction.
Humans desire compliant robots to safely interact in dynamic environments
associated with daily activities. As surface electromyography non-invasively measures
limb motion intent and correlates with joint stiness during co-contractions,
it has been identied as a candidate for naturally controlling such robots. However,
state-of-the-art myoelectric interfaces have struggled to achieve both enhanced
functionality and long-term reliability. As demands in myoelectric interfaces trend
toward simultaneous and proportional control of compliant robots, robust processing
of multi-muscle coordinations, or synergies, plays a larger role in the success of the
control scheme. This dissertation presents a framework enhancing the utility of myoelectric
interfaces by exploiting motor skill learning and
exible muscle synergies for
reliable long-term simultaneous and proportional control of multifunctional compliant
robots. The interface is learned as a new motor skill specic to the controller,
providing long-term performance enhancements without requiring any retraining or
recalibration of the system. Moreover, the framework oers control of both motion
and stiness simultaneously for intuitive and compliant human-robot interaction. The
framework is validated through a series of experiments characterizing motor learning
properties and demonstrating control capabilities not seen previously in the literature.
The results validate the approach as a viable option to remove the trade-o
between functionality and reliability that have hindered state-of-the-art myoelectric
interfaces. Thus, this research contributes to the expansion and enhancement of myoelectric
controlled applications beyond commonly perceived anthropomorphic and
\intuitive control" constraints and into more advanced robotic systems designed for
everyday tasks.
Humans desire compliant robots to safely interact in dynamic environments
associated with daily activities. As surface electromyography non-invasively measures
limb motion intent and correlates with joint stiness during co-contractions,
it has been identied as a candidate for naturally controlling such robots. However,
state-of-the-art myoelectric interfaces have struggled to achieve both enhanced
functionality and long-term reliability. As demands in myoelectric interfaces trend
toward simultaneous and proportional control of compliant robots, robust processing
of multi-muscle coordinations, or synergies, plays a larger role in the success of the
control scheme. This dissertation presents a framework enhancing the utility of myoelectric
interfaces by exploiting motor skill learning and
exible muscle synergies for
reliable long-term simultaneous and proportional control of multifunctional compliant
robots. The interface is learned as a new motor skill specic to the controller,
providing long-term performance enhancements without requiring any retraining or
recalibration of the system. Moreover, the framework oers control of both motion
and stiness simultaneously for intuitive and compliant human-robot interaction. The
framework is validated through a series of experiments characterizing motor learning
properties and demonstrating control capabilities not seen previously in the literature.
The results validate the approach as a viable option to remove the trade-o
between functionality and reliability that have hindered state-of-the-art myoelectric
interfaces. Thus, this research contributes to the expansion and enhancement of myoelectric
controlled applications beyond commonly perceived anthropomorphic and
\intuitive control" constraints and into more advanced robotic systems designed for
everyday tasks.
ContributorsIson, Mark (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Committee member) / Greger, Bradley (Committee member) / Berman, Spring (Committee member) / Sugar, Thomas (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2015
Description
This research study examined the bilateral asymmetry found in muscle pairs including the right and left sides of the upper rectus abdominis, lower rectus abdominis, external oblique, and internal oblique in college-aged, apparently fit men and women. Bilateral symmetry was found using surface electromyography (EMG) during three core exercises: 1) ab-slides using paper plates (paper), 2) planks, and 3) ab-slides using a commercial AbSlide® roller device by comparing maximal voluntary contractions (MVCs) of the four muscles previously listed. This research analyzed the percentage of muscle activation during these exercises to each person’s MVC using Noraxon® software. Analysis found that asymmetry for each muscle group was present although there is no measure of clinical significance for symmetry scores of the core muscles yet.
Asymmetry scores were calculated for all three exercises. The exercise that produced the greatest absolute, average asymmetry score was the ab-slide using the roller device. The muscle that the greatest absolute asymmetry was found was the internal oblique. This means that during the three exercises and MVC, the greatest difference between right and left side pair muscles was observed in the internal obliques. The standard deviation of symmetry scores for all exercises and muscles was great as there was much variation in the skill levels in the participants of this study. Bilateral asymmetry was found by visually comparing the asymmetry scores. In conclusion, bilateral asymmetry was found in the core muscles of college-aged individuals during bilateral abdominal exercises.
Asymmetry scores were calculated for all three exercises. The exercise that produced the greatest absolute, average asymmetry score was the ab-slide using the roller device. The muscle that the greatest absolute asymmetry was found was the internal oblique. This means that during the three exercises and MVC, the greatest difference between right and left side pair muscles was observed in the internal obliques. The standard deviation of symmetry scores for all exercises and muscles was great as there was much variation in the skill levels in the participants of this study. Bilateral asymmetry was found by visually comparing the asymmetry scores. In conclusion, bilateral asymmetry was found in the core muscles of college-aged individuals during bilateral abdominal exercises.
ContributorsFavaro, Miguel Angel (Author) / Berger, Christopher (Thesis director) / Lorenz, Kent (Committee member) / Barrett, The Honors College (Contributor) / School of Nutrition and Health Promotion (Contributor)
Created2015-05
Description
Injury, a prevalent issue in Division I collegiate sports, can have negative mental and physical implications. It is thought that certain modifiable biomechanical factors such as muscle imbalance, alterations in posture, flexibility, and movement dysfunction can increase an athlete's risk of injury. It is imperative to implement a protocol that monitors athletes' functional capabilities and improves movement patterns upon identifying dysfunction to not only reduce the risk of injury, but also to promote and maintain high performance standards. This project studied the effect of a corrective exercise regimen on Functional Movement Screen (FMS) and range of motion (ROM) scores of the Arizona State University baseball team.
ContributorsVallejos, Danielle Alicia (Author) / Feser, Erin (Thesis director) / Berger, Christopher (Committee member) / School of Nutrition and Health Promotion (Contributor) / Barrett, The Honors College (Contributor)
Created2017-12