Marko Munih

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Papers by Marko Munih

Rehabilitation Robot with Patient-Cooperative Control for Bimanual Training of Hemiparetic Subjects

by Marko Munih and Urška Puh

Http Dx Doi Org 10 1163 016918611x588853, Apr 2, 2012

Abstract: Hemiparesis is the most common motor deficit following stroke. Bimanual training and ro... more

Device for exercising the musculoskeletal and nervous system

An Identification Technique for Evaluating Static Body Segment Parameters in the Upper Extremity

by Marko Munih and Timotej Kodek

Ieee International Conference on Robotics and Automation 2004 Proceedings Icra 04 2004, 2004

In this paper we try to present a method for identifying the static biomechanical parameters of a... more In this paper we try to present a method for identifying the static biomechanical parameters of all three upper extremity body segments. The experiment is based on coupling the hu- man arm with an industrial robot which is then used for imposing a specified sagittal plane trajectory. Joint angles and forces in the contact point are collected during this process.

CareToy: Stimulation and Assessment of Preterm Infant’s Activity Using a Novel Sensorized System

by Marko Munih and Jure Pašič

Annals of Biomedical Engineering, 2016

Early intervention programs aim at improving cognitive and motor outcomes of preterm infants. Int... more Early intervention programs aim at improving cognitive and motor outcomes of preterm infants. Intensive custom-tailored training activities are usually accompanied by assessment procedures, which have shortcomings, such as subjectivity, complex setups, and need for structured environments. A novel sensorized system, called CareToy, was designed to provide stimulation in the form of goal-directed activity training scenarios and motor pattern assessment of main developmental milestones, such as rolling activity, grasping, and postural stability. A group of 28 differently skilled preterm infants were enrolled. Acquired measurement data were analysed with dedicated sensor data processing algorithms, along with clinical evaluation of motor ability. High correlation among technically determined parameters and Alberta Infant Motor Scale values was determined by Pearson correlation coefficients. Due to good accuracy and possibility of single motor skill subfield analysis, results confirm system suitability for motor ability assessment. Statistical analysis of inter-motor ability group and inter-training goal data comparisons demonstrate system&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;#39;s appropriateness for goal-directed activity stimulation. The proposed system has evident potential of being an important contribution to the field of infant motor development assessment, expanding accessibility of early intervention programs and affecting rehabilitation effectiveness of preterm infants.

Closed-loop control of hydraulic telescopic handler

by Marko Munih and Justin Činkelj

Automation in Construction, 2010

Automatization is supposed to improve working conditions and safety in construction industry, as ... more Automatization is supposed to improve working conditions and safety in construction industry, as it already did in manufacturing industries. This paper presents the development of a robotic control system for a commercially available hydraulic telescopic handler. The target application for the telescopic handler is semi-automated assembly of facade panels. The base handler was upgraded with two additional hydraulic axes, position sensors and closed-loop control system, while the original handler safety assurance mechanisms were preserved. The control approach is based on a PI controller with velocity feedforward and valve overlap compensation. The direct and inverse kinematic models of handler mechanism were developed to enable control of end-effector motion along a straight line in Cartesian coordinate system. The motion performances were evaluated following the ISO 9283 standard with payload of 2000 kg. Results show the repeatability of positioning bellow 7.0 mm and the straight line tracking error smaller than 63 mm.

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HARMiS - Hand and arm rehabilitation system

by Marko Munih and Justin Činkelj

This paper presents the HARMiS device (Hand and arm rehabilitation system), which is primarily in... more This paper presents the HARMiS device (Hand and arm rehabilitation system), which is primarily intended for use in robot-aided neurorehabilitation and for training of reaching, grasping and transporting virtual objects in haptic environments. System combines haptic interface and module for grasping, which is mounted on the top of the haptic interface. This allows combined training of the upper extremity movements and grasping. High level of reality is achieved with use of the graphic and haptic visual environments, which is beneficial for the motivation of the patients.

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Human energy?-?optimal control of disturbance rejection during constrained standing

Journal of Medical Engineering Technology, 2003

An optimal control system that enables a subject to stand without hand support in the sagittal pl... more An optimal control system that enables a subject to stand without hand support in the sagittal plane was designed. The subject was considered as a double inverted pendulum structure with a voluntarily controlled degree of freedom in the upper trunk and artificially controlled degree of freedom in the ankle joints. The control system design was based on a minimization of cost function that estimated the effort of the ankle joint muscles through observation of the ground reaction force position relative to the ankle joint axis. By maintaining the centre of pressure close to the ankle joint axis the objective of the upright stance is fulfilled with minimal ankle muscle energy cost. The performance of the developed controller was evaluated in a simulation-based study. The results were compared with the responses of an unimpaired subject to different disturbances in the sagittal plane. The proposed cost function was shown to produce a reasonable approximation of human natural behaviour.

Control of FES standing

2001 European Control Conference, Sep 1, 2001

Device for Assessing and Display of a Difference in Vectors of Forces Exercised by a Pair of Arms or Legs

Quantification of shoulder and elbow passive moments in the sagittal plane using a robot

by Marko Munih and Timotej Kodek

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Computer System for Ankle Joint Muscle Identification

The poster gives an overview of a complex system designed for functional electrical stimulation (... more The poster gives an overview of a complex system designed for functional electrical stimulation (FES) assisted standing experiments. The overall system comprises a personal computer (PC), Optotrak system for non-contact position measuring, two force plates, force-sensor shoe insoles, computer controlled electrical stimulator and mechanical rotating frame (MRF). The software core is based on universal simulation environment Matlab Simulink. When stimulating, the sample times of individual sensor device blocks are synchronized with the stimulation pulses. The system functioning was verified in on-line ankle joint muscle identification trials with intact subject and proved to be accurate and reliable.

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Robust Strategy for Ankle Joint Torque Control

A control system was designed to control the ankle joint torque in accordance with the desired re... more A control system was designed to control the ankle joint torque in accordance with the desired reference through stimulation of ankle plantarflexor and dorsiflexor muscle groups. The control system for each muscle group consists of a gain scheduled feedforward controller, based on a set of four local models, and a discrete sliding mode feedback controller, optimized for the model with the fastest response, which guaranties the robustness and good tracking performance of the system. The control strategy was evaluated on ablebodied subjects in isometric and nonisometric conditions with the goal of maintaining constant ankle joint stiffness. The results prove good tracking performance and robustness to unpredictable disturbances.

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Peroneal Stimulator with Wireless Voluntary Control

Microprocessor based, surface electrodes peroneal nerve stimulator that allows voluntary control ... more Microprocessor based, surface electrodes peroneal nerve stimulator that allows voluntary control of the stimulation has been developed. Easiness of use, minimum required maintenance and the compliance with the EC requirements were the main design goals. Radio frequency link between the crutch mounted push-button and the stimulator enables the patient to control the timing of stimulation. The use of conventional foot-switch is also possible for those patients, who are walking without crutches. Cyclic stimulation is provided for training and muscle restrengthening. To accommodate the device to individual needs, the stimulator offers seven adjustable stimulation parameters. The stimulator is small, lightweight, battery operated, energy efficient and can be worn below the knee, discretely beneath most clothing.

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Voluntary controlled peroneal stimulator

ABSTRACT

Laboratory setup for functional neuromuscular stimulation by usingMatlab Simulink

ABSTRACT

Haptic environment for analysis of smooth arm movements

Haptic feedback has been used for interaction with 3D scenes in the form of virtual corridors -pi... more Haptic feedback has been used for interaction with 3D scenes in the form of virtual corridors -pipelines to achieve smooth movement patterns of operator arm movements. In order to display high impedances required by this application, a 6 degree of freedom (DOF) haptic display (HD) based on an industrial robot Stäubli RX 90 has been selected. A key feature of the HD control system is admittance control. Complicated curved virtual pipelines were created by combining several spring-damper systems positioned parallel and normal to the parametric Beziér guideline. Arm movements were tested with different virtual pipelines. Tested subjects were asked to follow the virtual pipeline actively, while tangential helper forces and virtual gravity force were applied randomly. Finally was the quality of the haptic interface quantified by off-line calculation of resulting damping and stiffness factors along the pipeline.

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Robotsko vodenje hidravličnega teleskopskega dvigala

by Marko Munih, Justin Činkelj, and Peter Čepon

Laboratorij za robotiko, Fakulteta za elektrotehniko, Univerza v Ljubljani Tržaška 25, 1000 Ljubl... more Laboratorij za robotiko, Fakulteta za elektrotehniko, Univerza v Ljubljani Tržaška 25, 1000 Ljubljana {justin.cinkelj, roman.kamnik, peter.cepon, matjaz.mihelj, marko.munih}@robo.fe.uni-lj.si Robotic control of hydraulic telescopic handler Automation can reduce needed time and dangerous working conditions in construction industry. This paper presents development of a robot controller for a hydraulic telescopic handler aimed at automation of montage buildings assembly. The project is designed and financed by the company Trimo, Trebnje. We present key properties of the telescopic handler, identification of system parameters and development of a controller. Experiments on real machine showed acceptable performance for a real world application. Kratek pregled prispevka Avtomatizacija v gradbeništvu lahko skrajša čas izvedbe in izboljša delovne pogoje. V prispevku predstavljamo razvoj robotskega vodenja za hidravlično teleskopsko dvigalo, ki je namenjeno za avtomatizacijo montaže fasadni...

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Cooperation of human operator and small industrial robot

Cooperation between a small industrial robot and human operator is studied in this paper. To ensu... more Cooperation between a small industrial robot and human operator is studied in this paper. To ensure safe human-robot interaction several safety features should be introduced into the industrial cell. Despite all the precautions undertaken the collision between robot and man can occur. In present study impact assessments of point robot end-effector with passive mechanical arm were carried out. The impact energy density was calculated and used to evaluate possible injury levels caused by collisions and to determine a safe range of future investigations with human volunteers.

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Virtual physiotherapist based on a haptic system for training of reaching and grasping

Improvement of coordinate measuring arm accuracy

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007

ABSTRACT

Marko Munih

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