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Key Features

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
Description

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.
Readership

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



Human Modeling for Bio-Inspired Robotics, 1st Edition

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