The document discusses personalized modeling approaches for human-robot interaction. It describes four main classes of human models: kinematic, kinematic/dynamic, musculoskeletal, and models that represent human interaction with agents. Each class has specific goals and applications. For example, kinematic models are used for motion analysis while kinematic/dynamic models enable collaborative robot manipulation tasks. The document emphasizes that accounting for individual human differences through personalized models is important for tasks like predicting intent and ensuring safety during physical human-robot interactions.
Design and control of an exoskeleton based device for hand rehabilitationHossein Hajiyan, Ph.D.
In this paper, a new exoskeleton-based design is proposed that imitates natural hand movements for rehabilitation purposes. For controlling the motion of the proposed design, we subsequently designed five different controllers computed torque control (CTC), PD, PID, and two sliding mode controllers
(SMC). It was shown that the second sliding mode controller resulted in improved trajectories that were chosen based on the natural hand movements. The proposed design along with the sliding mode controller has the potential to be used as a continues passive machine (CPM) resulting in an improved recovery of injured hand for patients after stroke or post-surgical training.
Passenger seat is main part of vehicle which has direct effect on her/his convenience. Seat suspension can remove unwanted and harmful vibration if right parameters were selected. Each of human body organs has specific natural frequency. When vehicle vibration reaches to this natural frequency, resonance will occur, and this phenomenon is harmful in long term. Usually lumped models used to predict human body response to vibration. In this paper, via Kitazaki biodynamic model, the seat to head vibration transmissibility was minimized by artificial neural network method. By this method, the optimum spring constant, damper coefficient and mass values were found.
Passenger seat is main part of vehicle which has direct effect on her/his convenience. Seat suspension can remove unwanted and harmful vibration if right parameters were selected. Each of human body organs has specific natural frequency. When vehicle vibration reaches to this natural frequency, resonance will occur, and this phenomenon is harmful in long term. Usually lumped models used to predict human body response to vibration. In this paper, via Kitazaki biodynamic model, the seat to head vibration transmissibility was minimized by artificial neural network method. By this method, the optimum spring constant, damper coefficient and mass values were found.
Gait is the medical term to describe human locomotion or the way that we walk.
Mechanism is model to be a 3-degree-of-freedom link system composed of a stance leg and a 2-dof swing leg.
Design and control of an exoskeleton based device for hand rehabilitationHossein Hajiyan, Ph.D.
In this paper, a new exoskeleton-based design is proposed that imitates natural hand movements for rehabilitation purposes. For controlling the motion of the proposed design, we subsequently designed five different controllers computed torque control (CTC), PD, PID, and two sliding mode controllers
(SMC). It was shown that the second sliding mode controller resulted in improved trajectories that were chosen based on the natural hand movements. The proposed design along with the sliding mode controller has the potential to be used as a continues passive machine (CPM) resulting in an improved recovery of injured hand for patients after stroke or post-surgical training.
Passenger seat is main part of vehicle which has direct effect on her/his convenience. Seat suspension can remove unwanted and harmful vibration if right parameters were selected. Each of human body organs has specific natural frequency. When vehicle vibration reaches to this natural frequency, resonance will occur, and this phenomenon is harmful in long term. Usually lumped models used to predict human body response to vibration. In this paper, via Kitazaki biodynamic model, the seat to head vibration transmissibility was minimized by artificial neural network method. By this method, the optimum spring constant, damper coefficient and mass values were found.
Passenger seat is main part of vehicle which has direct effect on her/his convenience. Seat suspension can remove unwanted and harmful vibration if right parameters were selected. Each of human body organs has specific natural frequency. When vehicle vibration reaches to this natural frequency, resonance will occur, and this phenomenon is harmful in long term. Usually lumped models used to predict human body response to vibration. In this paper, via Kitazaki biodynamic model, the seat to head vibration transmissibility was minimized by artificial neural network method. By this method, the optimum spring constant, damper coefficient and mass values were found.
Gait is the medical term to describe human locomotion or the way that we walk.
Mechanism is model to be a 3-degree-of-freedom link system composed of a stance leg and a 2-dof swing leg.
Can anterior cruciate ligament injuries be mitigated?Ella Ward
Overall, despite much scientific research, the incidence and prevalence of ACL injuries still remains high. I do not believe ACL injuries can be completely mitigated as they are so multi-factorial and involve both contact and non-contact situations. And although preventative programs have been found to reduce the incidence of ACL injuries by up to 90% in some cases, I still believe a lot more research needs to be conducted in regards to how much training stimulus is required to produce a protective effect. I understand that many coaches may be sceptical in regards to employing a preventative program, but the research indicates even something as simple as plyometric training can help train neuromuscular control and improve lower leg strength. Overall, I believe something is better than nothing, and if more often than not intervention programs are producing positive outcomes, the coaches really have nothing to lose.
The key is to achieve widespread awareness and widespread use; so spread this presentation and message so we can achieve this and help reduce the debilitating consequences this injury has on so many young athletes.
Kinematic Modelling of FES Induced Sit-to-stand Movement in Paraplegia IJECEIAES
FES induced movements from indication is promising due to encouraging results being obtained by scholars. The kinematic model usually constitute the initial phase towards achieving the segmental dynamics of any rigid body system. It can be used to ascertain that the model is capable of achieving the desired goal. The dynamic model builds on the kinematic model and is usually mathematically cumbersome depending on the number of degrees-offreedom. This paper presents a kinematic model applicable for human sit-tostand movement scenario that will be used to obtain the dynamic model the FES induced movement in a later study. The study shows that the 6 DOF conceptualized sit-to-stand movement can be achieved conveniently using 4 DOF. The 4 DOF has an additional joint compared to similar earlier works which makes more it accurate and flexible. It is more accurate in the sense that it accommodates additional joint i.e. the neck joint whose dynamics could be captured. And more flexible in the sense that if future research uncover more contributions by the segments it can be easily incorporated including that of other segments e.g. the trunk, neck and upper limbs.
Составление энергетического паспорта здания. Определение класса энергетическ...Effbuild
Презентация подготовлена Тереховой Ириной Анатольевной, ведущим научным сотрудником НИПТИС для обучающего семинара "Выполнение энергетического обследования жилых зданий", организованного проектом ПРООН-ГЭФ по энергоэффективности в жилых зданиях 25 ноября 2015 года.
Social Media Marketing & Copywriting | Content Development for Moche's Facebo...Cíntia Pereira
I've devoted myself to Moche, a mobile phone's tariff, for 2 years. These are some of the contents I've created for it's Facebook page, a community with +600.000 fans.
Can anterior cruciate ligament injuries be mitigated?Ella Ward
Overall, despite much scientific research, the incidence and prevalence of ACL injuries still remains high. I do not believe ACL injuries can be completely mitigated as they are so multi-factorial and involve both contact and non-contact situations. And although preventative programs have been found to reduce the incidence of ACL injuries by up to 90% in some cases, I still believe a lot more research needs to be conducted in regards to how much training stimulus is required to produce a protective effect. I understand that many coaches may be sceptical in regards to employing a preventative program, but the research indicates even something as simple as plyometric training can help train neuromuscular control and improve lower leg strength. Overall, I believe something is better than nothing, and if more often than not intervention programs are producing positive outcomes, the coaches really have nothing to lose.
The key is to achieve widespread awareness and widespread use; so spread this presentation and message so we can achieve this and help reduce the debilitating consequences this injury has on so many young athletes.
Kinematic Modelling of FES Induced Sit-to-stand Movement in Paraplegia IJECEIAES
FES induced movements from indication is promising due to encouraging results being obtained by scholars. The kinematic model usually constitute the initial phase towards achieving the segmental dynamics of any rigid body system. It can be used to ascertain that the model is capable of achieving the desired goal. The dynamic model builds on the kinematic model and is usually mathematically cumbersome depending on the number of degrees-offreedom. This paper presents a kinematic model applicable for human sit-tostand movement scenario that will be used to obtain the dynamic model the FES induced movement in a later study. The study shows that the 6 DOF conceptualized sit-to-stand movement can be achieved conveniently using 4 DOF. The 4 DOF has an additional joint compared to similar earlier works which makes more it accurate and flexible. It is more accurate in the sense that it accommodates additional joint i.e. the neck joint whose dynamics could be captured. And more flexible in the sense that if future research uncover more contributions by the segments it can be easily incorporated including that of other segments e.g. the trunk, neck and upper limbs.
Составление энергетического паспорта здания. Определение класса энергетическ...Effbuild
Презентация подготовлена Тереховой Ириной Анатольевной, ведущим научным сотрудником НИПТИС для обучающего семинара "Выполнение энергетического обследования жилых зданий", организованного проектом ПРООН-ГЭФ по энергоэффективности в жилых зданиях 25 ноября 2015 года.
Social Media Marketing & Copywriting | Content Development for Moche's Facebo...Cíntia Pereira
I've devoted myself to Moche, a mobile phone's tariff, for 2 years. These are some of the contents I've created for it's Facebook page, a community with +600.000 fans.
Applied Biomechanics – a multifaceted approach to answering human movement qu...InsideScientific
Experts review the basic principles of biomechanics and how the study of human movement has evolved over time. Presenters highlight examples in applied kinematics, applied kinetics and applied neuromuscular/motor control and demonstrate how methodologies vary depending on the field of study or area of expertise.
BIOMETRIC AUTHORIZATION SYSTEM USING GAIT BIOMETRYIJCSEA Journal
ABSTRACT
Human gait, which is a new biometric aimed to recognize individuals by the way they walk have come to play an increasingly important role in visual surveillance applications. In this paper a novel hybrid holistic approach is proposed to show how behavioural walking characteristics can be used to recognize unauthorized and suspicious persons when they enter a surveillance area. Initially background is modelled from the input video captured from cameras deployed for security and the foreground moving object in the individual frames are segmented using the background subtraction algorithm. Then gait representing spatial, temporal and wavelet components are extracted and fused for training and testing multi class support vector machine models (SVM). The proposed system is evaluated using side view videos of NLPR database. The experimental results demonstrate that the proposed system achieves a pleasing recognition rate and also the results indicate that the classification ability of SVM with Radial Basis Function (RBF) is better than with other kernel functions.
This presentation talks about the design and development of a sophisticated exoskeleton named "Rehabilitation Assistance Exo - Skeleton (RAES)" which helps paraplegic patients to walk again.
Paper review - Biomechanical modeling as a practical tool for predicting inju...Hiranthi Tennakoon
Biomechanical modeling as a practical tool for predicting injury risk related to repetitive muscle lengthening during learning and training of human complex motor skills
ICVR2013 Workshop: Designing an effective rehabilitation simulationSergi Bermudez i Badia
This is the talk I gave at the International Conference on Virtual Rehabilitation 2013, part of the following workshop: Designing an effective rehabilitation simulation (Gerard Fluet, Wendy Powell, Sergi Bermúdez i Badia, Qinyin Qiu)
After completing this workshop participants should be able to: (1) Outline the process for developing, designing and testing an effective rehabilitation simulation, (2) Describe the process of shaping human movement abilities using simulated activities, (3) Identify variables that need to be considered when designing a rehabilitation activity, (4) Evaluate an open source virtual environment or game for conversion to a rehab activity, (5) Identify the strengths and weaknesses of commercially available software platforms, (6) Describe commonly used metrics to measure simulated movement performance, (7) Describe key features of a rehab activity that can be used to evaluate changes in movement performance. Intended audience: Computer Engineers, Biomedical Engineers, Physical Therapists and Occupational Therapists with less than three years experience in the design and development of simulated rehabilitation activities.
A major goal of this study is to address the use and functionality of the impaired arm through specific assessment, health application and wearable. So far Rehabilitation Gaming System Wearable (RGS-wear) has focused on the amount of movement. In this thesis, the aim is to enhance the current state and establish a novel measurement providing qualitative assessment of movement. Once understanding the rationale for motor learning, impairments and motor control I further developed, and validated features for the rehabilitation applied technology RGS-wear. The execution of this project was divided into three main stages. The first step included kinesthetic data acquisition and assessment, through the use of wearable sensors. Secondly, I performed motion evaluation, analyzed and compared non-dominant and dominant hand movement, in natural and constrained settings, studied patterns and extracted measures of motor function. Thirdly, I studied the functionalities of the wearable and evaluated the acceptability of the wearable as an evaluation tool. The goal of this project was to design and implement appropriate system features and strategies that can augment current rehabilitation protocols. The outcome I believe carries the potential to lead to new guidelines and recommendations for the development of wearable technologies for clinical practices especially in context of motor function.
Read| The latest issue of The Challenger is here! We are thrilled to announce that our school paper has qualified for the NATIONAL SCHOOLS PRESS CONFERENCE (NSPC) 2024. Thank you for your unwavering support and trust. Dive into the stories that made us stand out!
The French Revolution, which began in 1789, was a period of radical social and political upheaval in France. It marked the decline of absolute monarchies, the rise of secular and democratic republics, and the eventual rise of Napoleon Bonaparte. This revolutionary period is crucial in understanding the transition from feudalism to modernity in Europe.
For more information, visit-www.vavaclasses.com
How to Split Bills in the Odoo 17 POS ModuleCeline George
Bills have a main role in point of sale procedure. It will help to track sales, handling payments and giving receipts to customers. Bill splitting also has an important role in POS. For example, If some friends come together for dinner and if they want to divide the bill then it is possible by POS bill splitting. This slide will show how to split bills in odoo 17 POS.
2024.06.01 Introducing a competency framework for languag learning materials ...Sandy Millin
http://sandymillin.wordpress.com/iateflwebinar2024
Published classroom materials form the basis of syllabuses, drive teacher professional development, and have a potentially huge influence on learners, teachers and education systems. All teachers also create their own materials, whether a few sentences on a blackboard, a highly-structured fully-realised online course, or anything in between. Despite this, the knowledge and skills needed to create effective language learning materials are rarely part of teacher training, and are mostly learnt by trial and error.
Knowledge and skills frameworks, generally called competency frameworks, for ELT teachers, trainers and managers have existed for a few years now. However, until I created one for my MA dissertation, there wasn’t one drawing together what we need to know and do to be able to effectively produce language learning materials.
This webinar will introduce you to my framework, highlighting the key competencies I identified from my research. It will also show how anybody involved in language teaching (any language, not just English!), teacher training, managing schools or developing language learning materials can benefit from using the framework.
Synthetic Fiber Construction in lab .pptxPavel ( NSTU)
Synthetic fiber production is a fascinating and complex field that blends chemistry, engineering, and environmental science. By understanding these aspects, students can gain a comprehensive view of synthetic fiber production, its impact on society and the environment, and the potential for future innovations. Synthetic fibers play a crucial role in modern society, impacting various aspects of daily life, industry, and the environment. ynthetic fibers are integral to modern life, offering a range of benefits from cost-effectiveness and versatility to innovative applications and performance characteristics. While they pose environmental challenges, ongoing research and development aim to create more sustainable and eco-friendly alternatives. Understanding the importance of synthetic fibers helps in appreciating their role in the economy, industry, and daily life, while also emphasizing the need for sustainable practices and innovation.
Model Attribute Check Company Auto PropertyCeline George
In Odoo, the multi-company feature allows you to manage multiple companies within a single Odoo database instance. Each company can have its own configurations while still sharing common resources such as products, customers, and suppliers.
The Roman Empire A Historical Colossus.pdfkaushalkr1407
The Roman Empire, a vast and enduring power, stands as one of history's most remarkable civilizations, leaving an indelible imprint on the world. It emerged from the Roman Republic, transitioning into an imperial powerhouse under the leadership of Augustus Caesar in 27 BCE. This transformation marked the beginning of an era defined by unprecedented territorial expansion, architectural marvels, and profound cultural influence.
The empire's roots lie in the city of Rome, founded, according to legend, by Romulus in 753 BCE. Over centuries, Rome evolved from a small settlement to a formidable republic, characterized by a complex political system with elected officials and checks on power. However, internal strife, class conflicts, and military ambitions paved the way for the end of the Republic. Julius Caesar’s dictatorship and subsequent assassination in 44 BCE created a power vacuum, leading to a civil war. Octavian, later Augustus, emerged victorious, heralding the Roman Empire’s birth.
Under Augustus, the empire experienced the Pax Romana, a 200-year period of relative peace and stability. Augustus reformed the military, established efficient administrative systems, and initiated grand construction projects. The empire's borders expanded, encompassing territories from Britain to Egypt and from Spain to the Euphrates. Roman legions, renowned for their discipline and engineering prowess, secured and maintained these vast territories, building roads, fortifications, and cities that facilitated control and integration.
The Roman Empire’s society was hierarchical, with a rigid class system. At the top were the patricians, wealthy elites who held significant political power. Below them were the plebeians, free citizens with limited political influence, and the vast numbers of slaves who formed the backbone of the economy. The family unit was central, governed by the paterfamilias, the male head who held absolute authority.
Culturally, the Romans were eclectic, absorbing and adapting elements from the civilizations they encountered, particularly the Greeks. Roman art, literature, and philosophy reflected this synthesis, creating a rich cultural tapestry. Latin, the Roman language, became the lingua franca of the Western world, influencing numerous modern languages.
Roman architecture and engineering achievements were monumental. They perfected the arch, vault, and dome, constructing enduring structures like the Colosseum, Pantheon, and aqueducts. These engineering marvels not only showcased Roman ingenuity but also served practical purposes, from public entertainment to water supply.
1. Personalized Modeling for
Human-Robot Interaction
Ruzena Bajcsy
Electrical Engineering & Computer Sciences
University of California, Berkeley
October 23, 2015
2. Our Lab’s Motivation
We wish to understand the mechanics of human-robot interactions
and to design algorithms for control-sharing between humans and
autonomous systems.
Why is this problem important?
– A person is a complex kinematic/dynamic system with many
degrees of freedom and parameters which vary from person
to person
– Not all degrees of freedom are used in all activities
4. Human Model Classes: Kinematic
Musculoskeletal
Kinematic/
Dynamic
Kinematic
Agent
Interaction
Goal
Model human motion using a rigid-body
kinematic model
Application
Automated Coaching/
Quantitative Outcome Measures
Contributors: Qifei Wang, Gregorij Kurillo, and Ferda Ofli
5. Human Model Classes: Kinematic/Dynamic
Musculoskeletal
Kinematic/
Dynamic
Kinematic
Agent
Interaction
Goal
Model human motion using a rigid-body
kinematic/dynamic model
Applications
Human-Robot
Collaborative
Manipulation
Human Dynamic
Stability Analysis
Contributors: Aaron Bestick and Victor Shia
6. Application: Collaborative Manipulation
Goal: Enable intelligent
control of robots
providing direct physical
assistance to humans
• Create unified model
of the human-robot
coupled mechanical
system
• Predict intent of
human operator
based on physical cues
7. Application: Collaborative Manipulation
Personalized Human
Mechanical Models
Coupled Human-
Robot Dynamical
Models
Optimal Robot
Control
Human
Constraints
Robot
Constraints
Task
Constraints
Human
Ergonomic
Cost
𝜏∗
= arg min
𝜏∈𝑈
𝑓 𝜃, 𝜏
𝑠. 𝑡. 𝑔 𝜃, 𝜏 ≤ 0,
ℎ 𝜃 = 0
Key Neglected Aspect: Differences in constraints and cost functions
between individual humans (e.g. age, disabilities, natural variation)
Implicit Assumption: Differences between humans not a significant
contributor to task variability
Need personalized models
8. Human Model Classes: Musculoskeletal
Musculoskeletal
Kinematic/
Dynamic
Kinematic
Discrete
States
Goal
Combine a kinematic/dynamic model with a
nonlinear model of muscle characteristics to
predict biomechanical properties throughout
the human’s workspace
Application
Medical Diagnostics
9. Dynamic Human Musculoskeletal Modeling
• Data Acquisition
– MRI Scans
– DICOM Images with
Segmentation
– Motion Capture
– EMG Data
• Modeling
– 2D/3D Visualization
– Interactive Cleaning
– Static, Kinematic, Dynamic
Scenarios
– Physics based Dynamic
Deformation
MRI Data segmentation
10. Ultrasound for Muscle Observation
• External motion capture for
pose of ultrasound
• Muscle and tendon outlines
visible
Muscle
11. Ultrasound for Muscle Observation
• External motion capture for
pose of ultrasound
• Muscle and tendon outlines
visible
Muscle
12. Ultrasound for Muscle Observation
• External motion capture for
pose of ultrasound
• Muscle and tendon outlines
visible
Tendon
13. Ultrasound for Muscle Observation
• External motion capture for
pose of ultrasound
• Muscle and tendon outlines
visible
Tendon
