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Papers by Shmulik Edelman

Research paper thumbnail of Additional file 1 of Development and piloting of a perturbation stationary bicycle robotic system that provides unexpected lateral perturbations during bicycling (the PerStBiRo system)

Additional file 1: Fig. S1. Gear mechanism

Research paper thumbnail of Additional file 4 of Development and piloting of a perturbation stationary bicycle robotic system that provides unexpected lateral perturbations during bicycling (the PerStBiRo system)

Additional file 4: Fig. S3. System communication flow chart.

Research paper thumbnail of Additional file 3 of Development and piloting of a perturbation stationary bicycle robotic system that provides unexpected lateral perturbations during bicycling (the PerStBiRo system)

Additional file 3: Fig. S2. The Motion control system interactions

Research paper thumbnail of Additional file 2 of Development and piloting of a perturbation stationary bicycle robotic system that provides unexpected lateral perturbations during bicycling (the PerStBiRo system)

Additional file 2: Table S1. details of each hardware component not manufactured in-house

Research paper thumbnail of Development and piloting of a perturbation stationary bicycle robotic system that provides unexpected lateral perturbations during bicycling (the PerStBiRo system)

BMC Geriatrics, 2021

Background Balance control, and specifically balance reactive responses that contribute to mainta... more Background Balance control, and specifically balance reactive responses that contribute to maintaining balance when balance is lost unexpectedly, is impaired in older people. This leads to an increased fall risk and injurious falls. Improving balance reactive responses is one of the goals in fall-prevention training programs. Perturbation training during standing or treadmill walking that specifically challenges the balance reactive responses has shown very promising results; however, only older people who are able to perform treadmill walking can participate in these training regimes. Thus, we aimed to develop, build, and pilot a mechatronic Perturbation Stationary Bicycle Robotic system (i.e., PerStBiRo) that can challenge balance while sitting on a stationary bicycle, with the aim of improving balance proactive and reactive control. Methods This paper describes the development, and building of the PerStBiRo using stationary bicycles. In addition, we conducted a pilot randomized c...

Research paper thumbnail of Tight coupling of human walking and a four-legged walking-device inspired by insect six-legged locomotion

Engineering Research Express, 2020

Research paper thumbnail of Online Robot Navigation Using Continuously Updated Artificial Temperature Gradients

IEEE Robotics and Automation Letters, 2017

This paper suggests a novel method for a mobile robot to plan its path towards a target through a... more This paper suggests a novel method for a mobile robot to plan its path towards a target through an unknown environment, using sensors to discover new obstacles along the way. The method synthesizes an artificial temperature gradient throughout the known environment by numerically solving the heat conduction partial differential equation, where obstacles encountered during the robot navigation are "hot" and the target is "cold". The temperature at all other points on the known environment grid are computed numerically, and are continuously updated to account for new obstacles. This method ensures the creation of navigational potential field with no danger of being trapped in local minima. A computer simulation demonstrates the technique on several environment types. In addition, an experiment was conducted on a mobile robot that can navigate indoors and outdoors in real time using this method. The simulations and experiment show that the temperature gradient method is robust in its ability to find paths, and is practical for on-line sensor based navigation of mobile robots.

Research paper thumbnail of The effects of an object’s height and weight on force calibration and kinematics when post-stroke and healthy individuals reach and grasp

Scientific Reports, 2021

Impairment in force regulation and motor control impedes the independence of individuals with str... more Impairment in force regulation and motor control impedes the independence of individuals with stroke by limiting their ability to perform daily activities. There is, at present, incomplete information about how individuals with stroke regulate the application of force and control their movement when reaching, grasping, and lifting objects of different weights, located at different heights. In this study, we assess force regulation and kinematics when reaching, grasping, and lifting a cup of two different weights (empty and full), located at three different heights, in a total of 46 participants: 30 sub-acute stroke participants, and 16 healthy individuals. We found that the height of the reached target affects both force calibration and kinematics, while its weight affects only the force calibration when post-stroke and healthy individuals perform a reach-to-grasp task. There was no difference between the two groups in the mean and peak force values. The individuals with stroke had ...

Research paper thumbnail of Additional file 1 of Development and piloting of a perturbation stationary bicycle robotic system that provides unexpected lateral perturbations during bicycling (the PerStBiRo system)

Additional file 1: Fig. S1. Gear mechanism

Research paper thumbnail of Additional file 4 of Development and piloting of a perturbation stationary bicycle robotic system that provides unexpected lateral perturbations during bicycling (the PerStBiRo system)

Additional file 4: Fig. S3. System communication flow chart.

Research paper thumbnail of Additional file 3 of Development and piloting of a perturbation stationary bicycle robotic system that provides unexpected lateral perturbations during bicycling (the PerStBiRo system)

Additional file 3: Fig. S2. The Motion control system interactions

Research paper thumbnail of Additional file 2 of Development and piloting of a perturbation stationary bicycle robotic system that provides unexpected lateral perturbations during bicycling (the PerStBiRo system)

Additional file 2: Table S1. details of each hardware component not manufactured in-house

Research paper thumbnail of Development and piloting of a perturbation stationary bicycle robotic system that provides unexpected lateral perturbations during bicycling (the PerStBiRo system)

BMC Geriatrics, 2021

Background Balance control, and specifically balance reactive responses that contribute to mainta... more Background Balance control, and specifically balance reactive responses that contribute to maintaining balance when balance is lost unexpectedly, is impaired in older people. This leads to an increased fall risk and injurious falls. Improving balance reactive responses is one of the goals in fall-prevention training programs. Perturbation training during standing or treadmill walking that specifically challenges the balance reactive responses has shown very promising results; however, only older people who are able to perform treadmill walking can participate in these training regimes. Thus, we aimed to develop, build, and pilot a mechatronic Perturbation Stationary Bicycle Robotic system (i.e., PerStBiRo) that can challenge balance while sitting on a stationary bicycle, with the aim of improving balance proactive and reactive control. Methods This paper describes the development, and building of the PerStBiRo using stationary bicycles. In addition, we conducted a pilot randomized c...

Research paper thumbnail of Tight coupling of human walking and a four-legged walking-device inspired by insect six-legged locomotion

Engineering Research Express, 2020

Research paper thumbnail of Online Robot Navigation Using Continuously Updated Artificial Temperature Gradients

IEEE Robotics and Automation Letters, 2017

This paper suggests a novel method for a mobile robot to plan its path towards a target through a... more This paper suggests a novel method for a mobile robot to plan its path towards a target through an unknown environment, using sensors to discover new obstacles along the way. The method synthesizes an artificial temperature gradient throughout the known environment by numerically solving the heat conduction partial differential equation, where obstacles encountered during the robot navigation are "hot" and the target is "cold". The temperature at all other points on the known environment grid are computed numerically, and are continuously updated to account for new obstacles. This method ensures the creation of navigational potential field with no danger of being trapped in local minima. A computer simulation demonstrates the technique on several environment types. In addition, an experiment was conducted on a mobile robot that can navigate indoors and outdoors in real time using this method. The simulations and experiment show that the temperature gradient method is robust in its ability to find paths, and is practical for on-line sensor based navigation of mobile robots.

Research paper thumbnail of The effects of an object’s height and weight on force calibration and kinematics when post-stroke and healthy individuals reach and grasp

Scientific Reports, 2021

Impairment in force regulation and motor control impedes the independence of individuals with str... more Impairment in force regulation and motor control impedes the independence of individuals with stroke by limiting their ability to perform daily activities. There is, at present, incomplete information about how individuals with stroke regulate the application of force and control their movement when reaching, grasping, and lifting objects of different weights, located at different heights. In this study, we assess force regulation and kinematics when reaching, grasping, and lifting a cup of two different weights (empty and full), located at three different heights, in a total of 46 participants: 30 sub-acute stroke participants, and 16 healthy individuals. We found that the height of the reached target affects both force calibration and kinematics, while its weight affects only the force calibration when post-stroke and healthy individuals perform a reach-to-grasp task. There was no difference between the two groups in the mean and peak force values. The individuals with stroke had ...

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