Human Modeling for Bio-Inspired Robotics

Human Modelling for Bio-inspired Robotics: Mechanical Engineering in Assistive Technologies presents the most cutting-edge research outcomes in the area of mechanical and control aspects of human functions for macro-scale (human size) applications. Intended to provide researchers both in academia and industry with key content on which to base their developments, this book is organized and written by senior experts in their fields.

Human Modeling for Bio-Inspired Robotics: Mechanical Engineering in Assistive Technologies offers a system-level investigation into human mechanisms that inspire the development of assistive technologies and humanoid robotics, including topics in modelling of anatomical, musculoskeletal, neural and cognitive systems, as well as motor skills, adaptation and integration. Each chapter is written by a subject expert and discusses its background, research challenges, key outcomes, application, and future trends.

This book will be especially useful for academic and industry researchers in this exciting field, as well as graduate-level students to bring them up to speed with the latest technology in mechanical design and control aspects of the area. Previous knowledge of the fundamentals of kinematics, dynamics, control, and signal processing is assumed.

• Presents the most recent research outcomes in the area of mechanical and control aspects of human functions for macro-scale (human size) applications
• Covers background information and fundamental concepts of human modelling
• Includes modelling of anatomical, musculoskeletal, neural and cognitive systems, as well as motor skills, adaptation, integration, and safety issues
• Assumes previous knowledge of the fundamentals of kinematics, dynamics, control, and signal processing

Mechanical, electrical and biomedical engineering professionals and researchers in academia and industry coming into the field, as well as graduate-level students. Secondary audience of students in physiology and biomedicine who need to get up to speed with the engineering aspects of the area

• Motivation
• About This Book
• Part I: Modeling of Human Musculoskeletal System/Computational Analysis of Human Movements and Their Applications
  • Chapter One: Implementation of Human-Like Joint Stiffness in Robotics Hands for Improved Manipulation
    • Abstract
    • 1 Introduction
    • 2 Modeling of Joint Stiffness
    • 3 Multifinger Manipulation With Passive Joint Stiffness
    • 4 Discussion
  • Chapter Two: A Review of Computational Musculoskeletal Analysis of Human Lower Extremities
    • Abstract
    • 1 Introduction
    • 2 Human Walking Gait Cycle
    • 3 Biomechanics of Normal Human Walking
    • 4 Quantitative Human Walking Models
    • 5 Computational Musculoskeletal Analysis Interaction With Articulated Systems
    • 6 Conclusion
  • Chapter Three: EMG-Controlled Human-Robot Interfaces: A Hybrid Motion and Task Modeling Approach
    • Abstract
    • 1 Introduction
    • 2 EMG Motion Classification
    • 3 Task Modeling for Human Interfaces
    • 4 An EMG-Controlled Human-Robot Interface Using Task Modeling
    • 5 Discussion and Summary
  • Chapter Four: Personalized Modeling for Home-Based Postural Balance Rehabilitation
    • Abstract
    • 1 Introduction
    • 2 Home-Based Postural Balance Rehabilitation
    • 3 Body Segment Parameters
    • 4 Estimating Center of Mass Position for Human Subjects
    • 5 Method
    • 6 Results
    • 7 Discussion
    • 8 Conclusion
  • Chapter Five: Modeling and Dynamic Optimization of a Hybrid Neuroprosthesis for Gait Restoration
    • Abstract
    • 1 Introduction
    • 2 Dynamic Model
    • 3 Dynamic Optimization
    • 4 Simulations and Results
    • 5 Conclusion and Future Work
    • Appendix
  • Chapter Six: Soft Wearable Robotics Technologies for Body Motion Sensing
    • Abstract
    • 1 Body Motion Sensing
    • 2 Soft Artificial Skin Using Embedded Conductive Liquids
    • 3 Strain-Sensitive Conductive Polymers
    • 4 Fiber Optic Wearable Sensors for Motion Sensing
    • 5 Conclusions and Future Developments
• Part II: Modeling of Human Cognitive/Muscular Skills and Their Applications
  • Chapter Seven: Noninvasive Brain Machine Interfaces for Assistive and Rehabilitation Robotics: A Review
    • Abstract
    • Acknowledgments
    • 1 Introduction
    • 2 Brain Machine Interfaces
    • 3 BMI for Assistive Robotics
    • 4 BMI for Rehabilitation Robotics
    • 5 Conclusion
  • Chapter Eight: Intention Inference for Human-Robot Collaboration in Assistive Robotics
    • Abstract
    • 1 Background
    • 2 Research Challenges and Solution Approach
    • 3 Applications
    • 4 Discussion
    • 5 Conclusion
    • Appendix A Kalman Filter Implementation
    • Appendix B Analytical Jacobian and Hessian of the NN
    • Appendix C Gradient of the Q Function
    • Appendix D Stability Analysis
  • Chapter Nine: Biomechanical HRI Modeling and Mechatronic Design of Exoskeletons for Assistive Applications
    • Abstract
    • Acknowledgments
    • 1 Introduction
    • 2 Challenges in Exoskeleton Design
    • 3 Biomechanical Modeling
    • 4 Development of HRI Model
    • 5 Design Examples
    • 6 Conclusions
  • Chapter Ten: Psychological Modeling of Humans by Assistive Robots
    • Abstract
    • 1 Introduction
    • 2 Dimensions of Human Characterization
    • 3 Constructing Behavioral Models for HRI
    • 4 Economic Decision-Making Models
    • 5 Inferring Psychological Models
    • 6 Conclusions
  • Chapter Eleven: Adaptive Human-Robot Physical Interaction for Robot Coworkers
    • Abstract
    • Acknowledgments
    • 1 Introduction
    • 2 Haptic Stability
    • 3 Human Operator Modeling
    • 4 Haptic Assist Control
    • 5 System Integration
    • 6 System Validation and Experimental Evaluation
    • 7 Limitations and Solution Approaches
    • 8 Conclusion
    • Appendix A Crowninshield’s Optimality Principle
    • Appendix B Performance Scores Calculation
• Index