Papers by Siti Anom Binti Ahmad
—This paper presents the use of data acquisition (DAQ) device and LabVIEW program to evaluate and... more —This paper presents the use of data acquisition (DAQ) device and LabVIEW program to evaluate and measure the pressure distribution for real-time robotic hand applications. An analog conditioning circuit has been implemented to calibrate and extract data from the utilized sensors to be processed by the DAQ and LabVIEW. Furthermore, an adequate signal processing analysis is performed on acquired data to investigate the desired measurements of pressure distribution for the robotic hand control purpose. This framework is considered as one of the techniques that can be used for robotic hand applications based on pressure sensor distribution and real-time monitored through the LabVIEW.
In this paper, we have studied and surveyed the field of robotic hand and the works that have bee... more In this paper, we have studied and surveyed the field of robotic hand and the works that have been done in this area related to types of materials such as piezoresistive, piezoelectric and capacitive as well as a few types of pressure sensors. It indicates that piezoresistive pressure sensor is the best technique that can be used to implement a robotic hand for pick and place application. An adequate experiment of pressure sensor interfacing and calibration have been done in this paper. As a preliminary result of the works, output voltage (V) of the pressure sensor versus applied force input (N) are presented. Furthermore, this framework can be used to derive a new approach of pressure sensor distribution on the robotic hand based on complex algorithm of controlling applied pressures.
ABSTRACT This paper presents a novel approach to scene localization and mapping in indoor environ... more ABSTRACT This paper presents a novel approach to scene localization and mapping in indoor environments from the concept of the Image Bag of Words (BOW) technique, where a group of native feature descriptors represents images and are subsequently transformed to a separate set of image words. This approach uses the famed algorithm called Scale invariant Feature Transform (SIFT). To extract distinctive invariant feature for reliable matching, we normalized the images as illumination changes affect the feature extraction. To achieve robust and efficient matching the environment is modelled. Clustering is shown to be appropriate for quantizing these descriptors into clusters based on selected threshold. In this work, we developed an efficient SLAM using images captured from a highly cluttered background. The result indicates a promising trend in using the camera for SLAM implementation.
This paper presents an optimization of grasping object
based on pressure sensor measurement.... more This paper presents an optimization of grasping object
based on pressure sensor measurement. In this work, a
commercial flexi force pressure sensors are assembled on the
robotic hand gripper model with introducing new arrangement
of pressure distributions. For optimization purpose, the authors
introduced Wheatstone Bridge Circuit (WBC) methods whereby
the pressure distributions were applied. Therefore, with the new
arrangement of pressure sensor distribution it has promised
higher sensitivity as well as stability for the developed robotic
hand gripper system. This framework is considered as one of the
techniques that can be applied for robotic hand applications
based on pressure sensor especially for high-risk tasks such as
military and dangerous environment. In other word, it can save
people's life.
This paper presents the use of data acquisition
(DAQ) device and LabVIEW program to evalu... more This paper presents the use of data acquisition
(DAQ) device and LabVIEW program to evaluate and measure
the pressure distribution for real-time robotic hand applications.
An analog conditioning circuit has been implemented to calibrate
and extract data from the utilized sensors to be processed by the
DAQ and LabVIEW. Furthermore, an adequate signal
processing analysis is performed on acquired data to investigate
the desired measurements of pressure distribution for the robotic
hand control purpose. This framework is considered as one of the
techniques that can be used for robotic hand applications based
on pressure sensor distribution and real-time monitored through
the LabVIEW.
We survey the state of the art in a variety of force sensors for designing and application of rob... more We survey the state of the art in a variety of force sensors for designing and application of robotic hand. Most of the force sensors are
examined based on tactile sensing. For a decade, many papers have widely discussed various sensor technologies and transducer
methods which are based on microelectromechanical system (MEMS) and silicon used for improving the accuracy and performance
measurement of tactile sensing capabilities especially for robotic hand applications. We found that transducers and materials such as
piezoresistive and polymer, respectively, are used in order to improve the sensing sensitivity for grasping mechanisms in future. This
predicted growth in such applications will explode into high risk tasks which requires very precise purposes. It shows considerable
potential and significant levels of research attention.
ABSTRACT This paper presents a novel approach to scene localization and mapping in indoor environ... more ABSTRACT This paper presents a novel approach to scene localization and mapping in indoor environments from the concept of the Image Bag of Words (BOW) technique, where a group of native feature descriptors represents images and are subsequently transformed to a separate set of image words. This approach uses the famed algorithm called Scale invariant Feature Transform (SIFT). To extract distinctive invariant feature for reliable matching, we normalized the images as illumination changes affect the feature extraction. To achieve robust and efficient matching the environment is modelled. Clustering is shown to be appropriate for quantizing these descriptors into clusters based on selected threshold. In this work, we developed an efficient SLAM using images captured from a highly cluttered background. The result indicates a promising trend in using the camera for SLAM implementation.
Proceedings of 2012 IEEE-EMBS International Conference on Biomedical and Health Informatics, 2012
Salat is the practice of formal prayer for Muslims. It involves with both spiritual and physical ... more Salat is the practice of formal prayer for Muslims. It involves with both spiritual and physical acts. This paper presents electromyography (EMG) output during the “takbeeratul-ihram (TI)”, one of the postures in Salat and stretching exercise. Comparisons on EMG outputs between TI and stretching exercise are discussed. Ten healthy participants (five males and five females) were recruited for the investigation.
Intelligent Automation & Soft Computing, 2015
ABSTRACT The aim of this paper is to propose an exploratory study on simple, accurate and computa... more ABSTRACT The aim of this paper is to propose an exploratory study on simple, accurate and computationally efficient movement classification technique for prosthetic hand application. The surface myoelectric signals were acquired from 2 muscles—Flexor Carpi Ulnaris and Extensor Carpi Radialis of 4 normal-limb subjects. These signals were segmented and the features extracted using a new combined time-domain method of feature extraction. The fuzzy C-mean clustering method and scatter plots were used to evaluate the performance of the proposed multi-feature versus other accurate multi-features. Finally, the movements were classified using the adaptive neuro-fuzzy inference system (ANFIS) and the artificial neural network. Comparison results indicate that ANFIS not only displays higher classification accuracy (88.90%) than the artificial neural network, but it also improves computation time significantly.
RSM 2013 IEEE Regional Symposium on Micro and Nanoelectronics, 2013
ABSTRACT In this paper, we have studied and surveyed the field of robotic hand and the works that... more ABSTRACT In this paper, we have studied and surveyed the field of robotic hand and the works that have been done in this area related to types of materials such as piezoresistive, piezoelectric and capacitive as well as a few types of pressure sensors. It indicates that piezoresistive pressure sensor is the best technique that can be used to implement a robotic hand for pick and place application. An adequate experiment of pressure sensor interfacing and calibration have been done in this paper. As a preliminary result of the works, output voltage (V) of the pressure sensor versus applied force input (N) are presented. Furthermore, this framework can be used to derive a new approach of pressure sensor distribution on the robotic hand based on complex algorithm of controlling applied pressures.
2008 IEEE-BIOCAS Biomedical Circuits and Systems Conference, BIOCAS 2008, 2008
This paper presents a compact analogue circuit for the controlling of prosthetic hands. The circu... more This paper presents a compact analogue circuit for the controlling of prosthetic hands. The circuit captures directly surface EMG signals as the input by which the user will be able to select different postures. The proposed circuit is able to work using only one EMG source targeting patients with different levels of amputation. It is also adaptable for different users with different EMG amplitude signals and the motion of each finger can be varied in the circuit even with the single EMG. Real captured EMG signals are applied to the design and simulation results demonstrate the capability of the circuit in processing EMG signals and controlling the prosthetic hand in an efficient way. The circuit is designed and implemented with 0.12µm CMOS technology and consumes 4mW power for a set of sample postures.
2011 IEEE Student Conference on Research and Development, 2011
This paper presents the preliminary findings of the active prosthetic hand designed concept for t... more This paper presents the preliminary findings of the active prosthetic hand designed concept for the Universiti Putra Malaysia. The development process is clearly stated in order to successfully designing the hand prosthesis. The classification of the level of amputation and current standard of hand prosthesis are also included in the design process. The design targets for lower-level upper-limb amputees and
2014 IEEE REGION 10 SYMPOSIUM, 2014
ABSTRACT Feature detection and feature matching are the most crucial parts in visual odometry pro... more ABSTRACT Feature detection and feature matching are the most crucial parts in visual odometry process. In order to suit the real time process in visual odometry, both of the stages must be robust but at the same time are fast to compute. This paper presents the evaluation of Scale Invariant Feature Transform (SIFT) and Speeded Up Robust Feature (SURF) performances. The results show that SURF is outperform than SIFT in term of rate of matched points and also in computational time.
2012 IEEE-EMBS Conference on Biomedical Engineering and Sciences, 2012
ABSTRACT Salat is a formal prayer practice by all Muslims. When performing salat, it involves wit... more ABSTRACT Salat is a formal prayer practice by all Muslims. When performing salat, it involves with several movements namely standing, takbeer, bowing, prostration and sitting. The study was to quantify and compares the muscle activity (surface electromyographic signal) during Salat and stretching exercise. Three main movements in Salat (takbeer, bowing and prostration) and similar stretching exercises to the Salat movements were investigated. Thirty one male and female volunteers were participated in this study. The activity of the four investigated muscles: biceps brachii, triceps brachii, pectoralis major and upper trapezius were recorded during salat and stretching movements. The recorded signals were then analyzed using root mean square analysis. The results indicate similar muscle contractions activities during salat and stretching exercise. Even though, the root mean square values during stretching exercise is higher, a t-test shows there is statistically no significant difference between these two movements.
2012 IEEE-EMBS Conference on Biomedical Engineering and Sciences, 2012
ABSTRACT Massage is one of the effective techniques used to relieve pain, reduce stress, and incr... more ABSTRACT Massage is one of the effective techniques used to relieve pain, reduce stress, and increase relaxation. Nowadays, massage methods have varied to an easier way by electronic massage chair massage which is able to control the massage mode according to specifications. Commercial massage chair can only be used on normal healthy people with no health complication, such as diabetes, heart problem or blood pressure problem. The purpose of this study is to develop a system of more advanced massage chair where it can have an impact on user health based on blood pressure and heart rate. The proposed massage chair equipped with blood pressure and heart rate sensors, where the therapy will automatically configured according to individual's blood pressure and heart rate readings. The proposed control system developed using the artificial intelligent of fuzzy logic for data classification. The complete model of this massage control system is then developed using SIMULINK software to simulate the whole system operation and verify the function as programmed. Upon the success of the investigation, the findings will be useful for rapid advances in the existing technology.
The Scientific World Journal, 2014
The early detection and classification of dementia are important clinical support tasks for medic... more The early detection and classification of dementia are important clinical support tasks for medical practitioners in customizing patient treatment programs to better manage the development and progression of these diseases. Efforts are being made to diagnose these neurodegenerative disorders in the early stages. Indeed, early diagnosis helps patients to obtain the maximum treatment benefit before significant mental decline occurs. The use of electroencephalogram as a tool for the detection of changes in brain activities and clinical diagnosis is becoming increasingly popular for its capabilities in quantifying changes in brain degeneration in dementia. This paper reviews the role of electroencephalogram as a biomarker based on signal processing to detect dementia in early stages and classify its severity. The review starts with a discussion of dementia types and cognitive spectrum followed by the presentation of the effective preprocessing denoising to eliminate possible artifacts. It continues with a description of feature extraction by using linear and nonlinear techniques, and it ends with a brief explanation of vast variety of separation techniques to classify EEG signals. This paper also provides an idea from the most popular studies that may help in diagnosing dementia in early stages and classifying through electroencephalogram signal processing and analysis.
Neuropsychiatric Disease and Treatment, 2014
The early detection of poststroke dementia (PSD) is important for medical practitioners to custom... more The early detection of poststroke dementia (PSD) is important for medical practitioners to customize patient treatment programs based on cognitive consequences and disease severity progression. The aim is to diagnose and detect brain degenerative disorders as early as possible to help stroke survivors obtain early treatment benefits before significant mental impairment occurs. Neuropsychological assessments are widely used to assess cognitive decline following a stroke diagnosis. This study reviews the function of the available neuropsychological assessments in the early detection of PSD, particularly vascular dementia (VaD). The review starts from cognitive impairment and dementia prevalence, followed by PSD types and the cognitive spectrum. Finally, the most usable neuropsychological assessments to detect VaD were identified. This study was performed through a PubMed and ScienceDirect database search spanning the last 10 years with the following keywords: "post-stroke"; "dementia"; "neuropsychological"; and "assessments". This study focuses on assessing VaD patients on the basis of their stroke risk factors and cognitive function within the first 3 months after stroke onset. The search strategy yielded 535 articles. After application of inclusion and exclusion criteria, only five articles were considered. A manual search was performed and yielded 14 articles. Twelve articles were included in the study design and seven articles were associated with early dementia detection. This review may provide a means to identify the role of neuropsychological assessments as early PSD detection tests.
Neuropsychiatric Disease and Treatment, 2014
Cognitive impairment and memory dysfunction following stroke diagnosis are common symptoms that s... more Cognitive impairment and memory dysfunction following stroke diagnosis are common symptoms that significantly affect the survivors' quality of life. Stroke patients have a high potential to develop dementia within the first year of stroke onset. Currently, efforts are being exerted to assess stroke effects on the brain, particularly in the early stages. Numerous neuropsychological assessments are being used to evaluate and differentiate cognitive impairment and dementia following stroke. This article focuses on the role of available neuropsychological assessments in detection of dementia and memory loss after stroke. This review starts with stroke types and risk factors associated with dementia development, followed by a brief description of stroke diagnosis criteria and the effects of stroke on the brain that lead to cognitive impairment and end with memory loss. This review aims to combine available neuropsychological assessments to develop a post-stroke memory assessment (PSMA) scheme based on the most recognized and available studies. The proposed PSMA is expected to assess different types of memory functionalities that are related to different parts of the brain according to stroke location. An optimal therapeutic program that would help stroke patients enjoy additional years with higher quality of life is presented.
Australasian Physical & Engineering Sciences in Medicine, 2014
Surface electromyography (SEMG) signals can provide important information for prosthetic hand con... more Surface electromyography (SEMG) signals can provide important information for prosthetic hand control application. In this study, time domain (TD) features were used in extracting information from the SEMG signal in determining hand motions and stages of contraction (start, middle and end). Data were collected from ten healthy subjects. Two muscles, which are flexor carpi ulnaris (FCU) and extensor carpi radialis (ECR) were assessed during three hand motions of wrist flexion (WF), wrist extension (WE) and co-contraction (CC). The SEMG signals were first segmented into 132.5 ms windows, full wave rectified and filtered with a 6 Hz low pass Butterworth filter. Five TD features of mean absolute value, variance, root mean square, integrated absolute value and waveform length were used for feature extraction and subsequently patterns were determined. It is concluded that the TD features that were used are able to differentiate hand motions. However, for the stages of contraction determination, although there were patterns observed, it is determined that the stages could not be properly be differentiated due to the variability of signal strengths between subjects.
Advanced Engineering Forum, 2013
The revised NIOSH Lifting Equation developed in 1991 is an ergonomic intervention assessment tool... more The revised NIOSH Lifting Equation developed in 1991 is an ergonomic intervention assessment tool that used to calculate the recommended weight limit (RWL) for lifting tasks and to identify the hazardous lifting tasks. But this equation application is limited to those conditions for which it was designed and the different populations have different anthropometric distributions. This research will propose a solution to determine the effect of different manual lifting tasks on biomechanical, physiological and psychophysical limitation and develop the new automatic system tool to calculate the ideal RWL for Malaysian people for the working tasks perform. This new system tool which design according to the criteria of Malaysian people can increase the safe working environment for the workers.
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Papers by Siti Anom Binti Ahmad
based on pressure sensor measurement. In this work, a
commercial flexi force pressure sensors are assembled on the
robotic hand gripper model with introducing new arrangement
of pressure distributions. For optimization purpose, the authors
introduced Wheatstone Bridge Circuit (WBC) methods whereby
the pressure distributions were applied. Therefore, with the new
arrangement of pressure sensor distribution it has promised
higher sensitivity as well as stability for the developed robotic
hand gripper system. This framework is considered as one of the
techniques that can be applied for robotic hand applications
based on pressure sensor especially for high-risk tasks such as
military and dangerous environment. In other word, it can save
people's life.
(DAQ) device and LabVIEW program to evaluate and measure
the pressure distribution for real-time robotic hand applications.
An analog conditioning circuit has been implemented to calibrate
and extract data from the utilized sensors to be processed by the
DAQ and LabVIEW. Furthermore, an adequate signal
processing analysis is performed on acquired data to investigate
the desired measurements of pressure distribution for the robotic
hand control purpose. This framework is considered as one of the
techniques that can be used for robotic hand applications based
on pressure sensor distribution and real-time monitored through
the LabVIEW.
examined based on tactile sensing. For a decade, many papers have widely discussed various sensor technologies and transducer
methods which are based on microelectromechanical system (MEMS) and silicon used for improving the accuracy and performance
measurement of tactile sensing capabilities especially for robotic hand applications. We found that transducers and materials such as
piezoresistive and polymer, respectively, are used in order to improve the sensing sensitivity for grasping mechanisms in future. This
predicted growth in such applications will explode into high risk tasks which requires very precise purposes. It shows considerable
potential and significant levels of research attention.
based on pressure sensor measurement. In this work, a
commercial flexi force pressure sensors are assembled on the
robotic hand gripper model with introducing new arrangement
of pressure distributions. For optimization purpose, the authors
introduced Wheatstone Bridge Circuit (WBC) methods whereby
the pressure distributions were applied. Therefore, with the new
arrangement of pressure sensor distribution it has promised
higher sensitivity as well as stability for the developed robotic
hand gripper system. This framework is considered as one of the
techniques that can be applied for robotic hand applications
based on pressure sensor especially for high-risk tasks such as
military and dangerous environment. In other word, it can save
people's life.
(DAQ) device and LabVIEW program to evaluate and measure
the pressure distribution for real-time robotic hand applications.
An analog conditioning circuit has been implemented to calibrate
and extract data from the utilized sensors to be processed by the
DAQ and LabVIEW. Furthermore, an adequate signal
processing analysis is performed on acquired data to investigate
the desired measurements of pressure distribution for the robotic
hand control purpose. This framework is considered as one of the
techniques that can be used for robotic hand applications based
on pressure sensor distribution and real-time monitored through
the LabVIEW.
examined based on tactile sensing. For a decade, many papers have widely discussed various sensor technologies and transducer
methods which are based on microelectromechanical system (MEMS) and silicon used for improving the accuracy and performance
measurement of tactile sensing capabilities especially for robotic hand applications. We found that transducers and materials such as
piezoresistive and polymer, respectively, are used in order to improve the sensing sensitivity for grasping mechanisms in future. This
predicted growth in such applications will explode into high risk tasks which requires very precise purposes. It shows considerable
potential and significant levels of research attention.