Yu-Kuang Wu

Welcome Page

2012-06-03T07:45:00.000-07:00

Hi!! My name is Yu-Kuang Wu. I got my master degree in the school of physical therapy at National Taiwan University in 2007.

This blog contains plenty of information about me. If you have any question or are interested in my research interests, please contact with me anytime. (ykwu1120@gmail.com)

E Chart Project

2011-11-27T09:32:00.000-08:00

This project is like a notebook which can allow physical therapists taking a simple note for their patients. This program combines Database, Listview and connecting barcode scanner program technique.

On the main screen, you can browse all your data in the cell phone.

You can click and browse your patient's data.

demo of scanning barcode for entering chart number.

If you want to try this program, here is the QR code:

EMG Signals Drive Servo

2010-08-08T06:30:00.001-07:00

This simple project is what I really want to do before. I used Biopac system to amplify my EMG signals and acquired these signals by NI USB-6009.

Originally, I want to use serial communication to send the control signals to arduino, but I don't know how to send the unsigned long integer in labview instead of string. As the result of that, I used USB-6009 to generate analog output to arduino.

Every hardware thing is ready, next is to write the program. As I mentioned before, I used labview to acquire EMG signals, so I just acquired the signals, calculated by RMS, and transformed the number into the range 0-5 to have the USB-6009 generate analog output voltage between 0 and 5.

The arduino program is also very simple. It just uses analogInput to receive the voltage from USB-6009 and controls the servo by the voltage value.

However, as you can see, the control is not good. I think this is the key point that I need to establish a good control strategy in the future.

Arduino + Processing

2010-07-02T23:38:00.001-07:00

I made it to control my robotic arm originally. However, it's bad looking, so I used wii nunckuk instead.

Yesterday, I was thinking how I can do to simply model hand motion and display in computer screen. I am not good at 3D painting, so I used RGB cube that I saw some people used it to demonstrate some programs. You can also find the processing code from the above link.

In this simple project, I used two potentiometers to control two axises. I am sorry that I don't have any idea to use the flex sensor, but I pasted it before, so I did not take it out.

Here is the code in arduino board:

int val_1;  //flex sensor
int val_2;  //middle potentiometer
int val_3;  //bottom potentiometer

void setup()
{
  Serial.begin(9600);
}

void loop()
{
  val_1=analogRead(0);
  val_2=analogRead(1);
  val_3=analogRead(2);
 
  val_2=map(val_2,340,1023,0,360);
  val_3=map(val_3,0,1023,640,0);
 
  To2bytes(val_2);
  To2bytes(val_3);
 
  /*
  Serial.print(val_1);
  Serial.print("\t");
  Serial.print(val_2);
  Serial.print("\t");
  Serial.println(val_3);
  */
  delay(200);
}

void To2bytes(unsigned int inX){
  byte H_Byte;
  byte L_Byte;
 // int a=B01111111
  H_Byte=inX>>8; 
  L_Byte=(inX%256);
  Serial.print(H_Byte,BYTE);
  Serial.print(L_Byte,BYTE);
}

And I only add some codes in RGB cube code.
In void setup

println(Serial.list());// List all the available serial ports
  myPort = new Serial(this, Serial.list()[1], 9600);
 
  //You have to import serial class before.
  //import processing.serial.*;
  //Serial myPort;  // The serial port

In void draw()

int[] inByte = new int[4];
  while (myPort.available() == 4) { 
    inByte[0]= myPort.read();
    inByte[1]= myPort.read();
    inByte[2]= myPort.read();
    inByte[3]= myPort.read();
    inY=(inByte[0]<<8)+inByte[1];
    inX=(inByte[2]<<8)+inByte[3];
     print("X" +inX);
     print("\t");
     println("Y" +inY);
  }

Goal in My Doctoral Training

2010-06-17T18:18:00.000-07:00

Surface Electromyography, Sonography and Motion Analysis are the three major research tools in physical therapy and rehabilitation science. Surface Electromyography is the common tool to not only quantify recruitment of motor unit and measure muscle activation level, but also be a biofeedback for muscle training and a measurement index of muscle fatigue. For these reasons, when evaluating neural muscular injuries or problems of muscle regulation, Surface Electromyography often becomes the first choice for assessment tool.

With the development of Sonography, the application of Sonography on investigating muscle architecture has increased recently. The advantages of Sonography are portable and convenient using which lead researchers to have the ability of observing the properties of muscle architect such as fascicle length, angle and curvature. The great advantage is that Sonography can provide real-time observation of changes of muscle architecture by recording the changes of fascicle accurately during joint movement. Therefore, by measuring the force of muscle and the displacement of muscle-tendon junction, researchers can calculate the material properties of tendon which is an important role of human movements.

Also, Motion Analysis is an important tool to get the kinematic and biomechanical parameters during human movement, so researchers or physical therapists can evaluate the movement deficits, movement compensations and changes of movement strategy after suffering from neural muscular disorders. All these three measurement tools are to delve the procedure from the brain which conducts the signal to muscles, producing muscle contraction and pulling tendon to accomplish joint movements, eventually.

While all these novel analytic tools have been developed, the treatments of neural muscular disorders are primarily based on rehabilitation physicians and physical therapists, giving the treatments from weight and balance training to task-oriented training via their evaluations and observations. However, I believe in the nearly future high technologic treatments such as exoskeleton, functional electrical stimulation or robotic rehabilitation will be broadly clinically used broadly.

For this reason, I hope I can learn how to establish the relationship between human movements or performances and biomedical signals by modeling (algorithm) which is the core of my research framework. Because through modeling, we can predict joint movements and estimate joint torque and muscle force successfully even trajectory of limbs’ movements. It is an important information to design robotic rehabilitation equipments. I hope I can use this knowledge to provide information of design of training equipments, and provide more accurate regulation, biofeedback and control on applications of exoskeleton or functional electrical stimulation.

Resume

2010-06-03T08:00:00.000-07:00

Download PDF Version

Education

MS in Physical Therapy, National Taiwan University (NTU), Taipei, Taiwan 09/2005-07/2007

Thesis: The Neuromuscular and Mechanical Effects of Plyometric Exercise Training on Human Gastrocnemius Muscle

B.S. in Physical Therapy, National Taiwan University, Taipei, Taiwan 09/2001-07/2005

Accreditation

Physical Therapist License, Taiwan, R.O.C. 09/2005

Seminar

International Society of Biomechanics XXI Congress-ISB 2007 (Oral Presentation) 07/2007

Publications

Wu YK, Lien YH, Lin KH, Shih TF, Wang TG, Wang HK. Relationships between three potentiation effects of plyometric training and performance. Scandinavian Journal of Medicine & Science in Sports: in press (SCI)
Wang HK, Wu YK, Lin KH, Shih TF. Noninvasive analysis of fascicle curvature and mechanical hardness in calf muscle during contraction and relaxation. Manual Therapy 2009; 14(3): 264-269 (SCI)
Chiu CM, Wu YK, Lin KH; Shih TF; Lien YH; Wang HK. Effects of Plyometric Training on Eletromechanical Delay Human Plantarflexor Muscles. FJPT2008; 33(1): 34-40

Papers and Reports

Wu YK, Wang HK, Shiang TY. Comparisons of Two Methods in Detecting Intramuscular Pressure During Isometric Contraction; Fascicle Morphology and Muscle Hardness. Journal of Biomechanics 2007; Volume 40, Supplement 2, Page S294 (Program and Abstracts of the XXI Congress, International Society of Biomechanics) (Oral Presentation)Wu YK, Lin KH, Yen CY, Wang HK. Effect of Whole Body Vibration on Muscle Tone and Hardness of Lower Extremity in the Patients with Spinal Cord Injury. The 54th Scientific Conference of Physical Therapy Association of the Republic of China. Taipei, Taiwan, 2007/4/22 (Poster)
Liing RJ, Lin KH, Wang HK, Wu YK, Chen YC. Relation between lung volume and diaphragmatic excursion by ultrasonography：Case report. The 31th Annual Congress and the 52th Scientific Conference of Physical Therapy Association of the Republic of China. Taipei, Taiwan, 2006/5/25

Computer Proficiency

Operating Systems: Win98/2000/XP/Vista, Linux Distribution: Ubuntu, DebianProgramming Languages: Matlab, Labview, Basic Stamp2
Application Software: MS Excel, MS Power Point, MS Word
Image Drawing: AUTOCAD, Blender (3D Image)
FTP Server: RaidenFTPD (windows), Vsftpd (Ubuntu)

Languages

Chinese/Taiwanese: native

English: good in reading and writing, fair in speaking

Projects for Fun

2010-06-01T08:45:00.000-07:00

You can see all these articles from my Blog

Arduino
   EMG Signals Drive Servo
   Arduino + Processing
   New robotic arm controlled by wii nunchuk
   Robotic arm controlled by wii nunchuk
   What the hell is this??!!
   Wii motion plus + Arduino
   An Electrogoniometer Controls a Servo Motor
   Control a Servo by a Mouse via python and arduino

Labview DAQ
   ES triggered by muscle activation

Android Projects
  E Chart Project

Control a Servo by a Mouse via python and arduino

2010-06-01T08:36:00.001-07:00

After I watched this interesting movie, I tried to do it by using python. However, I am a novel of python and arduino, so I spent lots of time to find the reference.

In python, I need:
1. win32gui module: to get the mouse position
2. pySerial module: to send the data to arduino

Here is my python code

import win32gui import time import serial ser = serial.Serial(4) while (True): x,y = win32gui.GetCursorPos() time.sleep(0.2) pos=int(179*x/1599) ser.write(chr(pos)) print x,y

And my code in arduino

#include Servo myservo; int val; void setup(){ myservo.attach(9); Serial.begin(9600); } void loop(){ if(Serial.available()){ val=Serial.read(); myservo.write(val); delay(15); } }

ES triggered by muscle activation

2010-06-01T08:34:00.001-07:00

Today, I tried to establish a system which can detect muscle activities and then trigger an electrical stimulation to help muscle contraction. One reason that I did this project is learning to control DAQ card by labview. The other is that I saw some functional electrical stimulation applications and tried to build a proto type system by myself.

1. The DS7 Digitimer is the electrical stimulation, here is the information: http://www.digitimer.com/pdf/digitimes/Digitimes%202009.pdf

2. The Electrogoniometer is to measure my elbow angle.

3. NI USB 6009 is a data acquisition card which can acquire analog inputs and send digital outputs.

4. The Logitech Webcam is used to record videos.

5. The BNC line is used to connect the trigger of DS7 Digitimer.

The concept of my program is pretty simple. When detecting muscle activation which is over a certain level, the DAQ card sends one digital signal to DS7 digitimer which stimulates muscle.

There is a problem that I do not have any amplifier to record the EMG. I use the sound card of my computer because a sound card is also a kind of DAQ card which can amplify sound signals and records them.

Here is my GUI of labview program. You can see I measured the EMG and joint angle. It also record the video. I can change the threshold which means the level of EMG signals need to over the setting level which trigger the ES.

Here is one thing that I should mention that I did not calibrate the voltage of EMG and the time scale. However, you can understand how it works on below movie.

It is a big sacrifice for me because the temperature is quite low today and I was naked when doing the project.

An Electrogoniometer Controls a Servo Motor

2010-06-01T08:32:00.001-07:00

I think that it is my final project(or called game) before my TOEFL test. The concept is very simple. The arduino reads the voltage of an electrogoniometer and sends the analog signals to servo. However, the voltage of the electrogoniometer is unstable, so you can see the servo motor is shaking. No wander when I used the electrogoniometer for my research, I needed to smooth the data.

Wii motion plus + Arduino

2010-06-01T08:31:00.001-07:00

My wii nunchuk adapter comes today, I can wait testing it in wii motion plus. (Not nunchuk)Here is the movie. (I know the resolution is worst!!)

I have to great thank the amazing guy who decodes the wii motion plus and I use the code in arduino directly. Here is his blog: http://randomhacksofboredom.blogspot.com/2009/06/wii-motion-plus-arduino-love.html. What I only need to do is to connect the wires between the wii adapter and arduino.

Robotic arm controlled by wii nunchuk

2010-06-01T08:30:00.000-07:00

Recently, I was doing my robotic arm by using corrugated because I did not receieve any education of mechanism and I do not have other materials such as plastic, acrylic or stainless to build it.

My girlfriend, Jean, helped me redesigning and improving some structures, so now it is more solid than before.( The movie I posted yesterday. See What the hell is this??!!)

The code of wii nunchuk I used from here. I think it is easy to find the code of wii nunchuk from some smart guys. A guy drawed this picture about the pins of wii motion plus and it is the same with wii nunchuk. I added some commands to control servo.

| 1 2 3 |
| |
| 6 5 4 |
|_-----_|
1 - green - data
2 - nothing
3 - red - 3.3+v
4 - yellow - clock
5 - nothing
6 - white - ground

By the way, this time I asked my girlfriend to demonstate this movie because my hand hairs are so many that once time my mother asked me why my hand is so dirty without wearing her glasses. = =""

What the hell is this??!!

2010-06-01T08:28:00.001-07:00

Is there anyone who can tell what is it?? If you can, you must be a very smart guy or you must know me very well.

I wanted to build a robotic arm in the beginning. But now it looks a little bit like the dinosaur which can move automatically in the museum. = =''

New robotic arm controlled by wii nunchuk

2010-06-01T08:26:00.001-07:00

Continue by the Robotic arm controlled by wii nunchuk. I changed the material corrugated to acrylic, so it must be more consolidated. Also, I saw some videos on the youtube about grippers and tried to design my Robot Gripper.

Elastography

2010-06-01T07:42:00.000-07:00

Now I am working on tracing the movement of M mode in sonography.

This is the raw movie recorded by sonography. Now I need to trace the change of different layers.

Here is the result of my tracing program.

The Correlation Between fascicle Curvature and Muscle Hardness

2010-06-01T07:30:00.000-07:00

Here is a short introduction of the topic I presented in ISB 2007.

In this study, we try to find the relationship between muscle hardness and fasicles' curvature which become more

curved during muscle contraction. We used a tool called myotonometer which claims it can measure the muscle

hardness. The concept is simple. It just measure the force which is resisted by muscle and the displacement.

We also measure the fasicle curvature by sonography. Then we find the force which we applied the myotonomer on the muscle and find the same force in the sonography trial that we can know the change of fasicle curvature.

We calculated the stiffness we tested from myotonometer.

Also, we measured the fasicle curvature in sonography.

Tendon Viscoelastic Properties

2010-06-01T07:19:00.000-07:00

One of big parts in my Thesis.

This part is called tendon mechanical properties which means we need to calculate tendon stiffness and hysteresis.

In order to measure the displacement and applied force of tendon, we use sonography and load cell. However, in my lab, sonography and load cell are two different system. We need to synchronize those two system, so I use a switch which can generate 5 volt to be a mark. Here is the animations.

EMG Median Frequency

2010-06-01T07:08:00.000-07:00

Now we try to calculate the median frequency of this raw EMG data:

1. We need to use fast fourier transform.

2. Integrate the half of the data, because the other half is image of the real data.

3. Find the median value of this Integrated data.

Here is my matlab function:

EMG RMS

2010-06-01T07:02:00.000-07:00

Now we want to calculate the root mean square of this raw EMG data:

Here is my code:

window means how many points do we want to calculate one RMS.

over means how many points do we need to overlap.

You can also find the example in my matlab blog: (Chinese Version)

http://labmatpt.blogspot.com/2006/12/moving-averagerms.html

EMG Filter

2010-06-01T06:54:00.001-07:00

Here is a Matlab code for high pass, low pass and band pass filter:

Take low pass filter for example:

I wrote the code by modifying the "butterworth" filter function.

We can switch to high pass, band pass or band stop by changing the string 'low'

Research

2010-06-01T06:48:00.000-07:00

EMG

   Time Domain
   EMG Onset
   EMG Filter
   EMG RMS

   Frequency Domain
   EMG Median Frequency

Sonography
   My thesis
   Tendon Viscoelastic Properties
   ISB Conference
   The Correlation Between fascicle Curvature and Muscle Hardness
   Recent Study
   Elastography

Publications
Wu YK, Lien YH, Lin KH, Shih TF, Wang TG, Wang HK.  Relationships between three potentiation effects of plyometric training and performance. Scandinavian Journal of Medicine & Science in Sports: in press  (SCI) PDF

Wang HK, Wu YK, Lin KH, Shih TF.  Noninvasive analysis of fascicle curvature and mechanical hardness in calf muscle during contraction and relaxation. Manual Therapy 2009; 14(3): 264-269  (SCI) PDF

Chiu CM, Wu YK, Lin KH; Shih TF; Lien YH; Wang HK. Effects of Plyometric Training on Eletromechanical Delay Human Plantarflexor Muscles. FJPT2008; 33(1): 34-40

EMG Onset

2010-03-17T07:55:00.000-07:00

Here is an example to try to find the onset of EMG in electromechanical delay:

The definition of electromechanical delay here is the time delay between the M wave which

is stimulated by ES and the onset of force.

Finding force onset is pretty easy. I just found the point which is double standard deviation of

the baseline force.

However, finding M wave onset is a little bit difficult. I made two definition to find the onset

point. One is the location of point should be in front of the location of Max peak and Min peak of M wave.

The other is the point should be zero after differential.

EMG paremeters in My thesis

2010-01-24T19:52:00.000-08:00

In my thesis, I analyzed EMG in time domain and frequency domain.

In time domain: the root mean square EMG

In frequency domain: Median frequency

將所有的要用的程式function化

2009-03-17T00:41:00.000-07:00

話說之前就已經有這樣的念頭，原因是之前在碩班的時候，只為了分析，然後每次幾個變數就寫幾個script，搞到現在分析起來一點效率都沒有，所以現在花點時間，幫這些東西都弄成function好了。