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
Part I: Modeling of Human Musculoskeletal System/Computational Analysis of Human Movements and Their Applications 1. Implementation of Human-Like Joint Stiffness in Robotics Hands for Improved Manipulation 2. A Review of Computational Musculoskeletal Analysis of Human Lower Extremities 3. EMG-Controlled Human-Robot Interfaces: A Hybrid Motion and Task Modeling Approach 4. Personalized Modeling for Home-Based Postural Balance Rehabilitation 5. Modeling and Dynamic Optimization of a Hybrid Neuroprosthesis for Gait Restoration 6. Soft Wearable Robotics Technologies for Body Motion Sensing
Part II: Modeling of Human Cognitive/Muscular Skills and Their Applications 7. Noninvasive Brain Machine Interfaces for Assistive and Rehabilitation Robotics: A Review 8. Intention Inference for Human-Robot Collaboration in Assistive Robotics 9. Biomechanical HRI Modeling and Mechatronic Design of Exoskeletons for Assistive Applications 10. Psychological Modeling of Humans by Assistive Robots 11. Adaptive Human-Robot Physical Interaction for Robot Coworkers
Jun Ueda is an Associate Professor at G.W.W. School of Mechanical Engineering at the Georgia Institute of Technology. He has published over 100 peer reviewed academic papers and is an expert in system dynamics, robust control in robotics and the development of sensing and actuation devices for industry and healthcare applications
Yuichi Kurita is an associate professor in the Department of Engineering of Hiroshima University. He is an expert in human factor analysis and physiological measurement in robotics and biomedicine, working on several research projects such as assistive suits for improving human's sensory/motor capabilities, affective evaluation of human interface, and medical applications of haptic modeling.