Online simulation of mechatronic neural interface systems: Two case-studies

Samuel Bustamante, Juan C. Yepes, Vera Z. Pérez, Julio C. Correa, Manuel J. Betancur

    Producción científica: Capítulo del libro/informe/acta de congresoPonencia publicada en las memorias del evento con ISBNrevisión exhaustiva

    3 Citas (Scopus)


    Neural interface systems (NIS) are widely used in rehabilitation and prosthetics. These systems usually involve robots, such as robotic exoskeletons or mechatronic arms, as terminal devices. We propose a methodology to assess the feasibility of implementing these kind of neural interfaces by means of an online kinematic simulation of the robot. It allows the researcher or developer to make tests and improve the design of the mechatronic devices when they have not been built yet or are not available. Moreover, it may be used in biofeedback applications for rehabilitation. The simulation makes use of the CAD model of the robot, its Denavit-Hartenberg parameters, and biosignals recorded from a human being. The proposed methodology was tested using surface electromyography (sEMG) signals from the upper limb of a 25-year-old subject to control a kinematic simulation of a KUKA KR6 robot. It was also used in the design process of an actual lower limb rehabilitation system being developed in our laboratories. The 3D computational simulation of this robot was successfully controlled by means of sEMG signals acquired from the lower limb of a 26-year-old healthy subject. Both real-time and prerecorded signals were used. The tests provided researchers feedback in the design process, looking forward to new iterations in the detailed design and construction phases of the project.

    Idioma originalInglés
    Título de la publicación alojadaBiomedical Engineering Systems and Technologies - 9th International Joint Conference, BIOSTEC 2016, Revised Selected Papers
    EditoresHugo Gamboa, Ana Fred
    EditorialSpringer Verlag
    Número de páginas21
    ISBN (versión impresa)9783319547169
    EstadoPublicada - 2017
    EventoDoctoral Consortium - 9th International Joint Conference on Biomedical Engineering Systems and Technologies, BIOSTEC 2016 - Rome, Italia
    Duración: 21 feb. 201623 feb. 2016

    Serie de la publicación

    NombreCommunications in Computer and Information Science
    ISSN (versión impresa)1865-0929


    ConferenciaDoctoral Consortium - 9th International Joint Conference on Biomedical Engineering Systems and Technologies, BIOSTEC 2016

    Nota bibliográfica

    Publisher Copyright:
    © Springer International Publishing AG 2017.


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