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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

共 2685 条记录，以下是2011-2020 订阅

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Effects on Human Motor Strategies of Physical Interaction with a Force-controlled Wrist Rehabilitation Robot

Effects on Human Motor Strategies of Physical Interaction wi...

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Scorcia, Maria Formica, Domenico Tagliamonte, Nevio Luigi Campolo, Domenico Guglielmelli, Eugenio Univ Campus Biomed Roma Fac Biomed Engn Lab Biomed Robot & Biomicrosyst Via Alvaro Portillo 21 I-00128 Rome Italy Nanyang Technol Univ Sch Mech & Aerosp Engn Singapore 639798 Singapore

ISBN: (纸本)9781424477098

In this work we analyze the effects of a force control scheme, implemented on a robot for wrist rehabilitation (InMotion(3) by Interactive Motion Inc. [1]) to reduce the perceived mechanical impedance, on human motor strategies during pointing tasks. Previous studies showed that mechanical impedance of the robot interferes with natural motor strategies [2]. Three healthy subjects performed pointing tasks in three different operative ways: i) with a lightweight hand-held device (capable of measuring wrist rotations without introducing negligible loading effects);ii) with the InMotion(3) controlled using the default control with the impedance parameters set to zero;iii) with the same robot, controlled using a direct force control scheme, which reduces the perceived mechanical impedance. In order to study the effects of the force control on the intrinsic kinematic constraints, we assessed wrist rotations with the same protocol we already used to study wrist motor strategies during redundant pointing tasks. The thickness of Donders surfaces (see [3] and [4] for details) indicates how much a soft constraint (such as Donders Law) applies to wrist kinematics during pointing tasks. The effects of force control can be primarily found in the variability of the fitted surfaces as well as in their thickness values. In particular, thickness values, which for the uncontrolled robot are one order of magnitude smaller than the physiological values (suggesting that the constraint has a mechanical origin rather than a neural one), return back into the physiological range in the case of the force-controlled robot.

关键词： Donders law Donders surfaces InMotion Interactive Motion Inc biomechanics force control scheme force-controlled robot force-controlled wrist rehabilitation robot human motor strategy intrinsic kinematic constraints lightweight hand-held device mechanical impedance medical robotics neurophysiology patient rehabilitation physical interaction physiological values pointing tasks prosthetics wrist rotations

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Gaze Contingent control for an Articulated Mechatronic Laparoscope

Gaze Contingent Control for an Articulated Mechatronic Lapar...

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Noonan, David P. Mylonas, George P. Shang, Jianzhong Payne, Christopher J. Darzi, Ara Yang, Guang-Zhong Univ London Imperial Coll Sci Technol & Med Inst Biomed Engn Dept Biosurg & Surg Technol Dept Comp London SW7 2AZ England

ISBN: (纸本)9781424477098

This paper introduces two techniques for controlling an articulated mechatronic laparoscope through the eyes of the surgeon during minimally invasive surgery. The system consists of a 2D eye tracking unit interfaced with a mechatronic laparoscope that has five controllable degrees-of-freedom (DoF) located at the distal end of a rigid shaft. Through the use of image feedback from a tip mounted camera, a closed-loop gaze contingent framework featuring two separate control techniques ("Individual Joint Selection" and "Automatic Joint Selection") was developed. Under this framework, the location of a surgeon's 2D fixation point is converted into commands that servo the laparoscope. Experimental results illustrate the ability of both techniques to perform real-time gaze contingent laparoscope control. A key advantage of the proposed system is the ability to provide the operator with sufficient distal dexterity to achieve stable off-axis visualisation in an intuitive, hands-free manner, thus allowing other handheld instruments to be controlled simultaneously. Potential applications include Single Incision Laparoscopic Surgery (SILS) or Natural Orifice Trans-Endoluminal Surgery (NOTES), where the use of multiple instruments passing through a single incision presents both visualization and ergonomic challenges.

关键词： 2D eye tracking unit 2D fixation point articulated mechatronic laparoscopy biological organs closed-loop gaze contingent framework controllable degree-of- freedom distal dexterity ergonomics ergonomics mechatronics medical robotics minimally invasive surgery natural orifice transendoluminal surgery real-time gaze contingent laparoscope control single incision laparoscopic surgery stable off- axis visualisation surgery tip mounted camera tracking

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2010 3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics, BioRob 2010

2010 3rd IEEE RAS and EMBS International Conference on Biome...

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2010 3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics, BioRob 2010

ISBN: (纸本)9781424477081

The proceedings contain 154 papers. The topics discussed include: highly precise master-slave robot system for super micro surgery;microarray- facilitated mechanical characterization of breast tissue pathology samples using contact-mode atomic force microscopy (AFM);study and fabrication of bioinspired octopus arm mockups tested on a multipurpose platform;palpation system for minimally invasive localization of occult tumors;interactive motion planning for steerable needles in 3D environments with obstacles;single-input single-output EMG-based musculoskeletal modeling for hand tremulous motion;development of a tool manipulator driven by a flexible shaft for single port endoscopic surgery;impulse based dynamic rolling in the rolling disk biped;toward a minimally invasive bladder pressure monitoring system: model bladder for in vitro testing;and a stochastic model for chemotactic motion of micro-beads propelled by attached bacteria.

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Optimized Parallel Joint Springs in Dynamic Motion: Comparison of Simulation and Experiment

Optimized Parallel Joint Springs in Dynamic Motion: Comparis...

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Scheint, Michael Sobotka, Marion Buss, Martin Tech Univ Munich Inst Automat Control Engn D-80290 Munich Germany

ISBN: (纸本)9781424477098

Inspired by human tendon function, parallel springs in the joints of bipedal walking robots allow for a significant reduction of the cost of locomotion in simulation. An experimental setup is presented here which enables to verify the simulation results. The beneficial effects of parallel springs are investigated for a four-link robot arm equipped with a parallel spring at the last link. The desired motion results from simultaneous optimization of spring properties and motion which was shown to achieve the best reduction of actuation effort. Spring utilization is considered for two types of motion, free space motion and motion including contact with the environment at the end-effector. It is shown that the absolute reduction of effort through the utilization of an optimal spring is independent of friction. Hence, influence of the spring on effort is more relevant at higher speeds where the motion itself requires more actuation effort. Furthermore, for motion with environmental contact, a spring can reduce actuation effort more than in free space motion, especially for stiffer environments.

关键词： actuation effort dynamic motion environmental contact four-link robot arm free space motion friction gait analysis human tendon function medical robotics optimal spring optimisation optimized parallel joint springs prosthetics simultaneous optimization stiffer environments

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An Approach to Robotic Guidance of an Uncalibrated Endoscope in Beating Heart Surgery

An Approach to Robotic Guidance of an Uncalibrated Endoscope...

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Popovic, Aleksandra Thienphrapa, Paul Philips Res N Amer Briarcliff Manor NY USA

ISBN: (纸本)9781424477098

Minimally invasive cardiac surgery is performed under direct vision provided by an endoscope. During cardiac bypass surgery, counterintuitive control and small field-of-view endoscopic visualization is not sufficient to localize all relevant structures of the heart. This work presents a first step towards enhanced endoscopic visualization in cardiac surgery by allowing image based steering of the endoscope without the need of camera calibration. In the envisioned clinical scenario, a surgeon or an endoscopy assistant selects a point or an area in the live endoscope video stream and the robotic system steers the endoscope towards the selected target on a beating heart. Experiments in a simulated setup have shown that the algorithm successfully performs various feature tracking tasks within the requirements. The results from these experiment led to an improvement of the algorithm to enhance the final stage of feature capturing. With the lessons learned in the simulated setup, next series of experiments have been performed in a clinical-like setting on a beating heart phantom. The experiments show that all reasonable target features can be reached within 1.2 s and 7 pixels of accuracy at a safe and conservative robot speed.

关键词： beating heart phantom beating heart surgery camera calibration cardiac bypass surgery cardiology endoscopes enhanced endoscopic visualization medical robotics phantoms robotic guidance robotic system surgery uncalibrated endoscopy

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Optimization of a Thermal Slip Sensor using FEM and Dimensional analysis

Optimization of a Thermal Slip Sensor using FEM and Dimensio...

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Accoto, Dino Francomano, Maria Teresa Benvenuto, Antonella Luccarelli, Ciro Guglielmelli, Eugenio Univ Campus Biomed Roma Lab Biomed Robot & Biomicrosyst I-00128 Rome Italy

ISBN: (纸本)9781424477098

During manipulation tasks it is important to maintain a precise and safe control of the grasping force. Slip detection plays a key role to assure an adequate adaptation of the grasping force, without object damaging. Several approaches to slip detection are currently under investigation. In particular, thermal slip sensors use a detection strategy similar to the one employed in hot wire anemometry, using a microfabricated thermal probe for detecting the convective heat flux associated to the movement of the touched object. This paper reports on the model-based optimization of a thermal slip sensor, intended for robotic prosthesis. In particular, an analytical thermal model has been developed, by merging FEM and dimensional analysis. A sensitivity analysis, performed on the parameters appearing in the model, has been performed for optimizing both sensor's geometry and materials in order to increase the heat flux and thereby to obtain a reduction of response times in the identification of slip. Simulations on the proposed design indicate an expected increase of the thermal dissipated power of about 400%.

关键词： FEM bioMEMS biosensors convection convective heat flux dimensional analysis finite element analysis medical robotics microrobots microsensor microsensors optimisation optimization prosthetics robotic prosthesis slip thermal dissipated power thermal slip sensor

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Large-Scale Monocular SLAM by Local Bundle Adjustment and Map Joining

Large-Scale Monocular SLAM by Local Bundle Adjustment and Ma...

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11th international conference on control, automation, robotics and Vision (ICARCV 2010)

作者： Zhao, Liang Huang, Shoudong Yan, Lei Wang, Jack Jianguo Hu, Gibson Dissanayake, Gamini Peking Univ Spatial Informat Integrat & Its Applicat Beijing Inst Remote Sensing Sch Earth & Space Sci 5 Yiheyuan Rd Beijing 100871 Peoples R China Univ Technol Sydney Fac Engn & Informat Technol ARC Ctr Excellence Autonomous Syst Sydney NSW 2007 Australia

ISBN: (纸本)9781424478132

This paper first demonstrates an interesting property of bundle adjustment (BA), "scale drift correction". Here "scale drift correction" means that BA can converge to the correct solution (up to a scale) even if the initial values of the camera pose translations and point feature positions are calculated using very different scale factors. This property together with other properties of BA makes it the best approach for monocular Simultaneous Localization and Mapping (SLAM), without considering the computational complexity. This naturally leads to the idea of using local BA and map joining to solve large-scale monocular SLAM problem, which is proposed in this paper. The local maps are built through Scale-Invariant Feature Transform (SIFT) for feature detection and matching, random sample consensus (RANSAC) paradigm at different levels for robust outlier removal, and BA for optimization. To reduce the computational cost of the large-scale map building, the features in each local map are judiciously selected and then the local maps are combined using a recently developed 3D map joining algorithm. The proposed large-scale monocular SLAM algorithm is evaluated using a publicly available dataset with centimeter-level ground truth.

关键词： Visual SLAM bundle adjustment map joining

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Quotient Kinematics Machines: Concept, Analysis and Synthesis

Quotient Kinematics Machines: Concept, Analysis and Synthesi...

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IEEE international conference on robotics and automation (ICRA)

作者： Wu, Yuanqing Wang, Hong Li, Zexiang Lou, Yunjiang Shi, Jinbo Shanghai Jiao Tong Univ 800 Dongchuan Rd Shanghai 200030 Peoples R China Harbin Inst Technol Control & Mechatron Engn Shenzhen Peoples R China

ISBN: (纸本)9781424450404

In this paper, we identify a class of structurally distinguished machines, called quotient kinematics machines (QKM). A QKM realizes a motion task, typically characterized by a subgroup G of rigid transformation group SE(3), through coordinated motion of two mechanisms called modules. One is referred to as a subgroup module H and the other a complementary or quotient module G/H of H in G. Since QKM can retain both large workspace/rotation range of SKMs and speed/accuracy of PKMs by appropriate choice of modules, it is often implemented in high end machine design for semiconductor die/wire-bonding and 5-axis machining, etc. To promote QKM technology beyond occasional studies and applications, we use differential geometric techniques to develop a rigorous and precise treatment of QKMs, including: (i) modeling and analysis of QKMs;(ii) classification and synthesis of QKMs;(iii) PKM realization of quotient modules.

关键词： Kinematics

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Robotic Endoscope System with Compliance Effect Including Adaptive Impedance and Velocity control for Assistive Laparoscopic Surgery

Robotic Endoscope System with Compliance Effect Including Ad...

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： Luo, Ren C. Chen, Jing Wen Perng, Yi Wen Natl Taiwan Univ Dept Elect Engn Taipei 10764 Taiwan NTU Dept Engn Mech Taipei Taiwan

ISBN: (纸本)9781424477098

Laparoscopic surgery becomes mainstream in minimally invasive surgery. This paper proposes a robotic endoscope system with compliance effect including adaptive impedance and velocity control to assist laparoscopic surgery. The system consists of stereoscopic head mount display (SHMD) and five degrees of freedom (D.O.F.) endoscope. SHMD includes Motion Node (gyro sensor) and force feedback device. Endoscope is equipped with tactile sensor and stereo vision on the tip. Surgeon only wears a light weight SHMD to control the endoscope by using head movement without additional assistant. Therefore, he can manipulate laparoscopy instruments simultaneously. Surgeon could press/release the pedal to enable/lock the tracking mode. The endoscope follows the pose of surgeon's head in real time and the 3D image can be displayed on SHMD. Thus Surgeon can easily and safely perform laparoscopic surgery. The velocity of the endoscope movement is determined by adaptive impedance and velocity control which increases operation efficiency and keeps the compliance effect. The compliance effect provides a zero torque effect when the endoscope reaches target position. This effect is very helpful and safe for the laparoscope surgery. The impedance with the integral and derivative control design eliminates the steady state error and provides damping effect to reduce the influence of overshoot. The reaction torque observer reduces the ripple of torque and smoothes the output of velocity. In this paper, we implement the control algorithm and demonstrate the proof of concept to an one D.O.F. robotic endoscope in the horizontal plane. The experimental results show that we can control the endoscope easily and efficiently. In the future, we realize the new endoscope system and extend the algorithm to multi-joint control.

关键词： 3D image DOF robotic endoscope adaptive impedance assistive laparoscopic surgery biomechanics control algorithm degrees of freedom endoscope endoscopes force feedback device gyro sensor head movement laparoscopy instruments medical robotics motion node multijoint control reaction torque observer robotic endoscope system stereo vision stereoscopic head mount display surgeon head surgery tactile sensor tactile sensors velocity control

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A Hybrid Muscle-in-the-Loop Robot System for Studying the Neuromechanical Properties of Movement

A Hybrid Muscle-in-the-Loop Robot System for Studying the Ne...

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3rd IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics

作者： DeWeerth, Stephen P. Hughes, Aaron C. Sundar, Kartik Guo, Liang Ting, Lena H. Georgia Inst Technol Lab Neuroengn Atlanta GA 30332 USA

ISBN: (纸本)9781424477098

Body stability and, to a greater extent, locomotion in animals involve complex nonlinear interactions between the body and its natural environment;therefore, in order to fully understand physiological movement strategies, we must first quantify the mechanical properties of muscles as they interact with the environment. The purpose of this study was to develop a closed-loop neuromechanical system that applies real-time control to couple an isolated muscle to a physical environment using a robotic device. Our model system consists of a modified four-bar linkage that facilitates variations in stance width and center of mass (CoM) position;a closed-loop control system that virtually embeds a frog muscle into the robot;and a custom compliant multielectrode array (MEA) that facilitates muscle stimulation. Here we demonstrate a very simplistic balance control mechanism using muscle co-contraction in order to validate our hybrid robot system. As was expected, the kinematics of the hybrid robot when subjected to lateral perturbation were representative of increasing stiffness of the hip joints as the amplitude of stimulation was increased. The system was also able to capture the nonlinear relationship between muscle force and length as well as between force and velocity, which can play an important role in balance. Our current system is limited, however, to embedding a single muscle at a time, which we found could produce undesirable asymmetry in the CoM position during perturbation. Although there is room for improvement, this work provides a useful proof-of-concept that lays a foundation for the development of future closed-loop neuromechanical systems.

关键词： balance control biomechanics biomedical electrodes body stability center of mass closed loop systems closed-loop control system custom compliant multielectrode array hip joints hybrid muscle-in-the-loop robot system kinematics lateral perturbation locomotion mechanical properties mechanoception medical robotics movement muscle cocontraction muscle force muscle length muscles neuromechanical properties physiological movement real-time control robot kinematics robotic device stiffness

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