Yimesker Yihun - Academia.edu (original) (raw)
Papers by Yimesker Yihun
2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012
Estimation of joint angles for human joints is important for many applications in Bioengineering.... more Estimation of joint angles for human joints is important for many applications in Bioengineering. Most of the existing angular joint sensors rely on the assumption of the knowledge of the type of motion and location of the joint. This paper presents a new design for the measurement of finger joint angular motion. The design presented here consists of an exoskeleton, designed to fit the finger motion, in which we can relate the angular displacement of its links to the change in orientation of the phalanx under consideration. Unlike other designs, the exoskeleton does not need any information about the actual anatomy and dimensions of the hand in order to provide with the angular information. The design is to be used in myoelectrical signal identification.
2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012
This paper presents the kinematic design of a spatial, 1-degree-of-freedom closed linkage to be u... more This paper presents the kinematic design of a spatial, 1-degree-of-freedom closed linkage to be used as an exoskeleton for thumb motion. Together with an already-designed finger mechanism, it forms a robotic device for hand therapy. The goal for the exoskeleton is to generate the desired grasping and pinching path of the thumb with one degree of freedom, rather than using a system actuating all its joints independently. In addition to the path of the thumb, additional constraints are added in order to control the position and size of the exoskeleton, reducing physical and sensory interference with the user.
IEEE Conference on Decision and Control and European Control Conference, 2011
The user has requested enhancement of the downloaded file. All in-text references underlined in b... more The user has requested enhancement of the downloaded file. All in-text references underlined in blue are added to the original document and are linked to publications on ResearchGate, letting you access and read them immediately.
IEEE Conference on Decision and Control and European Control Conference, 2011
The user has requested enhancement of the downloaded file. All in-text references underlined in b... more The user has requested enhancement of the downloaded file. All in-text references underlined in blue are added to the original document and are linked to publications on ResearchGate, letting you access and read them immediately.
Mechanisms and Machine Science, 2013
Journal of Mechanical Design, 2014
In the design of spatial linkages, the finite-position kinematics is fully specified by the posit... more In the design of spatial linkages, the finite-position kinematics is fully specified by the position of the joint axes, i.e., a set of lines in space. However, most of the tasks have additional requirements regarding motion smoothness, obstacle avoidance, force transmission, or physical dimensions, to name a few. Many of these additional performance requirements are fully or partially independent of the kinematic task and can be fulfilled using a link-based optimization after the set of joint axes has been defined.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2011
This paper presents a surface electromyographic (sEMG)-based, optimal control strategy for a pros... more This paper presents a surface electromyographic (sEMG)-based, optimal control strategy for a prosthetic hand. System Identification (SI) is used to obtain the dynamic relation between the sEMG and the corresponding skeletal muscle force. The input sEMG signal is preprocessed using a Half-Gaussian filter and fed to a fusion-based Multiple Input Single Output (MISO) skeletal muscle force model. This MISO system model provides the estimated finger forces to be produced as input to the prosthetic hand. Optimal tracking method has been applied to track the estimated force profile of the Fusion based sEMG-force model. The simulation results show good agreement between reference force profile and the actual force.
2011 IEEE INTERNATIONAL CONFERENCE ON ELECTRO/INFORMATION TECHNOLOGY, 2011
Abstract This paper presents a real-time force control strategy for a prosthetic hand. The propos... more Abstract This paper presents a real-time force control strategy for a prosthetic hand. The proposed design is capable of decoding the prerecorded surface electromyographic (sEMG) signal as well as the sensory force feedback from the sensors to control the force of the ...
AbstractThis paper presents a novel approach for the signal acquisition and processing using an ... more AbstractThis paper presents a novel approach for the signal acquisition and processing using an embedded platform. A PIC 32 microcontroller is used to acquire Surface Electromyographic (sEMG) signals and the corresponding skeletal muscle force signal for ...
2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011), 2011
Precise and effective prosthetic control is important for its applicability. Two desired objectiv... more Precise and effective prosthetic control is important for its applicability. Two desired objectives of the prosthetic control are finger position and force control. Variation in skeletal muscle force results in corresponding change of surface electromyographic (sEMG) signals. sEMG signals generated by skeletal muscles are temporal and spatially distributed that result in cross talk between adjacent sEMG signal sensors. To address this issue, an array of nine sEMG sensors is used with a force sensing resistor to capture muscle dynamics in terms of sEMG and skeletal muscle force. sEMG and skeletal muscle force are filtered with a nonlinear Teager-Kaiser Energy (TKE) operator based nonlinear spatial filter and Chebyshev type-II filter respectively. Multiple Takagi-Sugeno-Kang Adaptive Neuro Fuzzy Inference Systems (ANFIS) are obtained using sEMG as input and skeletal muscle force as output. Outputs of these ANFIS systems are fitted with smoothing spline curve fitting. To achieve better estimate of the skeletal muscle force, an adaptive probabilistic Kullback Information Criterion (KIC) for model selection based data fusion algorithm is applied to the smoothing spline curve fitting outputs. Final fusion based output of this approach results in improved skeletal muscle force estimates.
2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012
Estimation of joint angles for human joints is important for many applications in Bioengineering.... more Estimation of joint angles for human joints is important for many applications in Bioengineering. Most of the existing angular joint sensors rely on the assumption of the knowledge of the type of motion and location of the joint. This paper presents a new design for the measurement of finger joint angular motion. The design presented here consists of an exoskeleton, designed to fit the finger motion, in which we can relate the angular displacement of its links to the change in orientation of the phalanx under consideration. Unlike other designs, the exoskeleton does not need any information about the actual anatomy and dimensions of the hand in order to provide with the angular information. The design is to be used in myoelectrical signal identification.
2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2012
This paper presents the kinematic design of a spatial, 1-degree-of-freedom closed linkage to be u... more This paper presents the kinematic design of a spatial, 1-degree-of-freedom closed linkage to be used as an exoskeleton for thumb motion. Together with an already-designed finger mechanism, it forms a robotic device for hand therapy. The goal for the exoskeleton is to generate the desired grasping and pinching path of the thumb with one degree of freedom, rather than using a system actuating all its joints independently. In addition to the path of the thumb, additional constraints are added in order to control the position and size of the exoskeleton, reducing physical and sensory interference with the user.
IEEE Conference on Decision and Control and European Control Conference, 2011
The user has requested enhancement of the downloaded file. All in-text references underlined in b... more The user has requested enhancement of the downloaded file. All in-text references underlined in blue are added to the original document and are linked to publications on ResearchGate, letting you access and read them immediately.
IEEE Conference on Decision and Control and European Control Conference, 2011
The user has requested enhancement of the downloaded file. All in-text references underlined in b... more The user has requested enhancement of the downloaded file. All in-text references underlined in blue are added to the original document and are linked to publications on ResearchGate, letting you access and read them immediately.
Mechanisms and Machine Science, 2013
Journal of Mechanical Design, 2014
In the design of spatial linkages, the finite-position kinematics is fully specified by the posit... more In the design of spatial linkages, the finite-position kinematics is fully specified by the position of the joint axes, i.e., a set of lines in space. However, most of the tasks have additional requirements regarding motion smoothness, obstacle avoidance, force transmission, or physical dimensions, to name a few. Many of these additional performance requirements are fully or partially independent of the kinematic task and can be fulfilled using a link-based optimization after the set of joint axes has been defined.
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2011
This paper presents a surface electromyographic (sEMG)-based, optimal control strategy for a pros... more This paper presents a surface electromyographic (sEMG)-based, optimal control strategy for a prosthetic hand. System Identification (SI) is used to obtain the dynamic relation between the sEMG and the corresponding skeletal muscle force. The input sEMG signal is preprocessed using a Half-Gaussian filter and fed to a fusion-based Multiple Input Single Output (MISO) skeletal muscle force model. This MISO system model provides the estimated finger forces to be produced as input to the prosthetic hand. Optimal tracking method has been applied to track the estimated force profile of the Fusion based sEMG-force model. The simulation results show good agreement between reference force profile and the actual force.
2011 IEEE INTERNATIONAL CONFERENCE ON ELECTRO/INFORMATION TECHNOLOGY, 2011
Abstract This paper presents a real-time force control strategy for a prosthetic hand. The propos... more Abstract This paper presents a real-time force control strategy for a prosthetic hand. The proposed design is capable of decoding the prerecorded surface electromyographic (sEMG) signal as well as the sensory force feedback from the sensors to control the force of the ...
AbstractThis paper presents a novel approach for the signal acquisition and processing using an ... more AbstractThis paper presents a novel approach for the signal acquisition and processing using an embedded platform. A PIC 32 microcontroller is used to acquire Surface Electromyographic (sEMG) signals and the corresponding skeletal muscle force signal for ...
2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011), 2011
Precise and effective prosthetic control is important for its applicability. Two desired objectiv... more Precise and effective prosthetic control is important for its applicability. Two desired objectives of the prosthetic control are finger position and force control. Variation in skeletal muscle force results in corresponding change of surface electromyographic (sEMG) signals. sEMG signals generated by skeletal muscles are temporal and spatially distributed that result in cross talk between adjacent sEMG signal sensors. To address this issue, an array of nine sEMG sensors is used with a force sensing resistor to capture muscle dynamics in terms of sEMG and skeletal muscle force. sEMG and skeletal muscle force are filtered with a nonlinear Teager-Kaiser Energy (TKE) operator based nonlinear spatial filter and Chebyshev type-II filter respectively. Multiple Takagi-Sugeno-Kang Adaptive Neuro Fuzzy Inference Systems (ANFIS) are obtained using sEMG as input and skeletal muscle force as output. Outputs of these ANFIS systems are fitted with smoothing spline curve fitting. To achieve better estimate of the skeletal muscle force, an adaptive probabilistic Kullback Information Criterion (KIC) for model selection based data fusion algorithm is applied to the smoothing spline curve fitting outputs. Final fusion based output of this approach results in improved skeletal muscle force estimates.