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检索条件"任意字段=4th International Conference on Robotics and Control Engineering, RobCE 2024"

共 3758 条记录，以下是3561-3570 订阅

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Counter-propagating waves enhance maneuverability and stability: a bio-inspired strategy for robotic ribbon-fin propulsion

Counter-propagating waves enhance maneuverability and stabil...

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4th IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics (BioRob) / Symposium on Surgical robotics

作者： Sefati, Shahin Neveln, Izaak MacIver, Malcolm A. Fortune, Eric S. Cowan, Noah J. Johns Hopkins Univ Dept Mech Engn Baltimore MD 21218 USA Johns Hopkins Univ Dept Psychol & Brain Sci Baltimore MD USA Northwesterns Univ Dept Engn Mech Dept Biomed Engn Evanston IL USA

ISBN: (纸本)9781457712005

Weakly electric knifefish, Eigenmannia, are highly maneuverable swimmers. the animals rely on a long, undulating ribbon fin to generate propulsive force. During closed-loop control of hovering and station keeping, knifefish partition their fin to produce two inward counter-propagating waves, enabling them to hover and rapidly change direction. In response to moving objects or changes in ambient flow speed, the fish can actively modulate the nodal point where the two waves meet. During hovering, this nodal point is somewhere in the middle, but it can be moved forward or backward changing the relative force generated by the front and back portions of the fin. Although this strategy for thrust generation may be energetically inefficient, we show here that it enables rapid switching of swimming direction and produces a linear drag-like force that confers passive stability. Robotic results and simple computational simulations reveal that the net force generated by counter-propagating waves changes linearly with respect to the nodal position. Another strategy for reversing swim direction would be to completely reverse the direction of a single traveling wave. We show why full wave reversal (and similar strategies) may be ineffective for low-speed swimming-a regime where counter-propagating waves may simplify control.

关键词： robotics

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Combined collision avoidance and prevention of soft tissue damage control method for surgical robots

Combined collision avoidance and prevention of soft tissue d...

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2012 4th IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics, BioRob 2012

作者： Elgezua, Inko Kobayashi, Yo Song, Sangha Fujie, Masakatsu G. Graduate School of Advanced Science and Engineering Waseda University. TWIns 03C201 Wakamatsu-cho Shinjuku Tokyo 162-8480 Japan Graduate School of Advanced of Science and Engineering Waseda University Japan Faculty of Science and Engineering Waseda University Japan

ISBN: (纸本)9781457711992

Surgical robots will have a more and more important role in Minimally Invasive Surgery (MIS), especially in laparoscopic procedures. they can overcome some of the problems of laparoscopic surgery and improve surgeon's performance. However, they also introduce new challenges and problems. Perhaps the biggest problem is lack of feedback to surgeons. this lack of feedback can cause serious problems such as tissue damage, or touching vulnerable organs. To avoid such situations, prevention of tissue damage or collision avoidance methods have been proposed. there is however a lack of methods that combine them in a simple control algorithm. In this paper we propose a novel control method for MIS master-slave surgical robot that combines collision avoidance and prevention of tissue damage. We have validated our method with a real robot in in-vitro experiments. Experimental results suggest that our method improves surgeon's performance and safety. © 2012 IEEE.

关键词： Robotic surgery

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Design and control of a field deployable batoid robot

Design and control of a field deployable batoid robot

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2012 4th IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics, BioRob 2012

作者： Cloitre, Audren Subramaniam, Vignesh Patrikalakis, Nicholas Y Alvarado, Pablo Valdivia Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA 02139 United States Center for Environmental Modeling and Sensing Singapore-MIT Alliance for Research and Technology Singapore 117543 Singapore

ISBN: (纸本)9781457711992

this paper presents our latest results in the development of biomimetic batoid robots. Our goal is to utilize these robots for autonomous environmental exploration and monitoring missions in coastal environments. these new robots will be part of a larger heterogeneous robotic network already being developed by our group which combines traditional robotic vehicles with biomimetic ones to leverage advantages of both approaches. the robot described in this paper is designed to be fully field deployable and applies important lessons learned during the development of previous flexible underactuated batoid robots. the robot design including its flexible underactuated continuous body, communications, and control hardware and software approaches are described. Preliminary trajectory control results are also detailed. © 2012 IEEE.

关键词： Biomimetics

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HEFES: An Hybrid Engine for Facial Expressions Synthesis to control human-like androids and avatars

HEFES: An Hybrid Engine for Facial Expressions Synthesis to ...

引用

2012 4th IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics, BioRob 2012

作者： Mazzei, Daniele Lazzeri, Nicole Hanson, David De Rossi, Danilo Interdepartmental Research Center E. Piaggio Faculty of Engineering University of Pisa Via Diotisalvi 2 56126 Pisa Italy Hanson Robotics Plano TX United States

ISBN: (纸本)9781457711992

Nowadays advances in robotics and computer science have made possible the development of sociable and attractive robots. A challenging objective of the field of humanoid robotics is to make robots able to interact with people in a believable way. Recent studies have demonstrated that human-like robots with high similarity to human beings do not generate the sense of unease that is typically associated to human-like robots. For this reason designing of aesthetically appealing and socially attractive robots becomes necessary for realistic human-robot interactions. In this paper HEFES (Hybrid Engine for Facial Expressions Synthesis), an engine for generating and controlling facial expressions both on physical androids and 3D avatars is described. HEFES is part of a software library that controls a human robot called FACE (Facial Automaton for Conveying Emotions). HEFES was designed to allow users to create facial expressions without requiring artistic or animatronics skills and it is able to animate both FACE and its 3D replica. the system was tested in human-robot interaction studies aimed to help children with autism to interpret their interlocutors' mood through facial expressions understanding. © 2012 IEEE.

关键词： Human robot interaction

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Modeling and control of a lower-limb rehabilitation robot

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4th international conference on Social robotics, ICSR 2012

作者： Ma, Yanjiao He, Wei Ge, Shuzhi Sam Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)9783642341021

this paper proposes a lower-limb rehabilitation robot. It assists patients suffering from hemiplegic to recover the hurt leg by walking in a gait trajectory. A single-side mechanical structure is designed, which is driven by the pneumatic muscles. For further research, we build a simplified 2-DOF dynamic model with the Lagrange method. PD control and adaptive control strategies are developed with stability analysis demonstrating that both methods are stable and effective. At last, we achieve the tracking performances of the robot model in both control strategies by simulation results. © 2012 Springer-Verlag.

关键词： Lagrange multipliers

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Design and validation of a medical robotic system for laser phonomicrosurgery

Design and validation of a medical robotic system for laser ...

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25th international conference on Computer Applications in Industry and engineering, CAINE 2012 and the 4th international Symposium on Sensor Network and Application, SNA 2012

作者： Giallo II, Joseph F. Mattos, Leonardo S. Miller, Sam Neistedt, Zack Draelos, Mark Lee, Gordon Grant, Edward UNC/NCSU Joint BME Dept. Intuitive Surgical Inc. Sunnyvale CA United States Department of Advanced Robotics Istituto Italiano di Tecnologia Genoa Italy Center for Robotics and Intelligent Machines NCSU Raleigh United States Dept. of Electrical and Computer Engineering SanDiego State University San Diego CA 92182-1309 United States NCSU ECE Dept. UNC/NCSU Joint BME Dept. Campus Box 7911 Raleigh NC 27695-7911 United States

ISBN: (纸本)9781880843888

this paper describes the design and validation of a new medical robotic system for automating laser phonomicrosurgeries. Initially, the goal was to design a laser aiming system to improve human control over currently available systems, both medically and ergonomically. However, with the new system, it quickly became apparent that design sub-goals had to be established, in particular sub-goals related to surgical margin definition and for the interactive user interface. To assist the surgeon, the humancomputer interface design needed to be based on a motorized and computer-controlled laser micro-manipulator, controlled remotely via an electronic joystick. With this new system, the surgeon is better placed ergonomically to conduct the surgery, and the prospect of a fully automated procedure became a practicality. this new system was modeled and simulated as well as fabricated, calibrated, and tested. control algorithms were developed for testing system positional accuracy, consistency, motion scaling, and limitations. the software for automating laser micromanipulator motions, for tumor ablation, was based on active contours for defining tumor ablation margins. Copyright © 2012 by international Society of Computers and their Applications (ISCA).

关键词： Tumors

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Motion synchronization for human-robot collaboration

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4th international conference on Social robotics, ICSR 2012

作者： Ge, Shuzhi Sam Li, Yanan Interactive Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9783642341021

In this paper, motion synchronization is investigated for human-robot collaboration, such that the motions of the robot and its human partner are synchronized and the robot is able to "actively" follow its human partner. Force tracking is achieved with the proposed method under the impedance control framework, subject to uncertain human limb dynamics. Adaptive control is developed to deal with point-to-point movement, and learning control is developed to generate a periodic trajectory. the proposed method is verified through simulation studies. © 2012 Springer-Verlag.

关键词： Synchronization

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Developing and maintaining an ontology for rehabilitation robotics

Developing and maintaining an ontology for rehabilitation ro...

引用

4th international conference on Knowledge engineering and Ontology Development, KEOD 2012

作者： Dogmus, Zeynep Gezici, Gizem Patoglu, Volkan Erdem, Esra Faculty of Engineering and Natural Sciences Sabanci University Istanbul Turkey

ISBN: (纸本)9789898565303

Representing the available information about rehabilitation robots in a structured form, like ontologies, facilitates access to various kinds of information about the existing robots, and thus it is important both from the point of view of rehabilitation robotics and from the point of view of physical medicine. Rehabilitation robotics researchers can learn various properties of the existing robots and access to the related publications to further improve the state-of-the-art. Physical medicine experts can find information about rehabilitation robots and related publications (possibly including results of clinical studies) to better identify the right robot for a particular therapy or patient population. therefore, considering also the advantages of ontologies and ontological reasoning, such as interoperability of various heterogenous knowledge resources (e.g., patient databases or disease ontologies), such an ontology provides the underlying mechanisms for translational physical medicine, from bench-to-bed and back, and personalized rehabilitation robotics. With these motivations, we have designed and developed the first formal rehabilitation robotics ontology, called REHABROBO-ONTO, in OWL, collaborating with experts in robotics and in physical medicine. We have also built a software (called REHABROBO-QUERY) with an easy-to-use intelligent user-interface that allows robot designers to add/modify information about their rehabilitation robots to/from REHABROBO-ONTO.

关键词： Ontology

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Impedance control of a rehabilitation robot for interactive training

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4th international conference on Social robotics, ICSR 2012

作者： He, Wei Ge, Shuzhi Sam Li, Yanan Chew, Effie Ng, Yee Sien Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore Division of Neurology National University Hospital Singapore 119074 Singapore Department of Rehabilitation Medicine Singapore General Hospital Singapore 169608 Singapore

ISBN: (纸本)9783642341021

In this paper, neural networks based impedance control is developed for a wearable rehabilitation robot in interactions with humans and the environments. the dynamics of the robot are represented by an n-link rigid robotic manipulator. To deal with the system uncertainties and improve the robustness of the system, the adaptive neural networks are used to approximate the unknown model of the constrained robot. With the proposed control, uniform ultimate boundedness of the closed loop system is achieved based on the Lyapunov method. the states of the system converge to a small neighborhood of zero by properly choosing control gains. Extensive simulations are conducted to verify the proposed control. © 2012 Springer-Verlag.

关键词： Lyapunov methods

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Human-robot handshaking: A hybrid deliberate/reactive model

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4th international conference on Social robotics, ICSR 2012

作者： Zeng, Yingzi Li, Yanan Xu, Pengxuan Ge, Shuzhi Sam Interactive Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9783642341021

In this paper, we propose a hybrid deliberate/reactive model to achieve natural handshaking between human beings and robots. Our goal is to provide a perspective to achieve natural human-robot handshaking in addition to time/frequency based trajectory control. the proposed model consists of two parts. the reactive part is designed to enable the robot to follow the handshaking motion led by the human being, while the deliberate part is dedicated to embed a unique handshaking character into the robot. the validity of the proposed model is examined by comparing the trajectory and interaction force during the human-human and human-robot handshaking, respectively. © 2012 Springer-Verlag.

关键词： Human robot interaction

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