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

共 3776 条记录，以下是3571-3580 订阅

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Protocol for Site Selection and Movement Assessment for the Myoelectric control of a Multi-Functional Upper-Limb Prosthesis

Protocol for Site Selection and Movement Assessment for the ...

引用

Annual international conference of the IEEE engineering in Medicine and Biology Society

作者： Ali H. Al-Timemy Javier Escudero Guido Bugmann Nicholas Outram Centre for Robotics and Neural Systems (CRNS) School of Computing and Mathematics Plymouth University Signal Processing and Multimedia Communication (SPMC) research group School of Computing and Mathematics Plymouth University Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University

ISBN: (纸本)9781457702150

Although there have been many advances in electromyography (EMG) signal processing and pattern recognition (PR) for the control of multi-functional upper-limb prostheses, some the outstanding problems need to be solved before practical PR-based prostheses can be put into service. Some of these are the lack of training and deployment protocols and the provision of the tools required. therefore, we present a preliminary procedure to personalize the prosthesis deployment. In the first step, we record the demographic information of each individual amputee person and their background. In the second step of the protocol, the EMG signals are acquired. PR algorithms and parameters will be chosen in the 3rd step of the protocol. In the 4th step, the best number of EMG sensors to achieve the maximal performance with a full set of gestures is identified. the final step involves finding the best set of movements that the amputee person can produce with an accuracy > 95% as well as identifying the movements with the worst performance, which would require further training. this proposed approach is validated with 2 transradial amputees.

关键词： Electromyography Protocols Accuracy Prosthetics Electrodes Muscles Training

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Declarative Approach to AGVS Modeling and Cyclic Scheduling

Declarative Approach to AGVS Modeling and Cyclic Scheduling

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2013 4th international conference on Information Technology for Manufacturing Systems(ITMS 2013)

作者： Bocewicz Grzegorz Muszyński Wojciech Banaszak Zbigniew Dept. of Electronics and Computer Science Koszalin University of Technology Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Dept. of Business informatics Warsaw University of Technology

the paper presents constraint satisfaction problem driven approach to analytical solution of the cyclic scheduling problem in the Flexible Manufacturing System(FMS) producing multi-type parts where for material handling are used the Automated Guide Vehicles Systems(AGVS). Finding the conditions guaranteeing the AGVs deadlock-free and collision-free movement policy is the aim of our researches. the AGVs co-sharing the common parts of the transportation route while executing repetitive processes, i.e. being assigned to AGVs passing along machines in a cyclic way, can be modeled in terms of Cyclic Concurrent Process Systems(CCPS). Schedulability analysis for a given CCPS answers the question whether a cyclic schedule exists or not. the paper suggests approach for schedulability analysis of multimodal processes representing real manufacturing employing the declarative modeling.

关键词： Discrete event simulation DEVS Environmental science Decision support systems

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Index Finger Rehabilitation/ Assistive Device

Index Finger Rehabilitation/ Assistive Device

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

作者： Polotto, Andrea Modulo, Francesco Flumian, Fabio Xiao, Zhen Gang Boscariol, Paolo Menon, Carlo Simon Fraser Univ Sch Engn Sci MENRVA Grp Burnaby BC V5A 1S6 Canada Univ Studi Udine Dipartimento Ingn Elettr Gestionale & Meccan I-33100 Udine Italy Simon Fraser Univ Sch Engn Sci MENRVA Grp Burnaby BC V5A 1S6 Canada

ISBN: (纸本)9781457712005

In this paper, a novel exoskeleton for the index finger is introduced. Such a device is intended to be used for the rehabilitation of post-stroke patients. the target of the design is to produce a device with low weight and reduced space occupation, so that it can be worn without interfering with everyday use of the hand. the actuation is provided using low-cost lightweight miniature DC motors, and position feedback is obtained trough potentiometers. A working prototype has been built and tested. A closed-loop position control with friction compensation has been implemented and experimental results are presented and discussed.

关键词： Index Finger friction compensation position feedback Underweight Position control potentiometers DC motors

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Instrument-Based Calibration and Remote control of Intraoperative Ultrasound for Robot-Assisted Surgery

Instrument-Based Calibration and Remote Control of Intraoper...

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

作者： Adebar, Troy K. Mohareri, Omid Salcudean, Septimiu E. Stanford Univ Dept Mech Engn 424 Panama Mall Stanford CA 94305 USA Univ British Columbia Dept Elect & Comp Engn Vancouver BC V6T 1Z4 Canada

ISBN: (纸本)9781457712005

Intraoperative transrectal ultrasound (TRUS) has the potential to improve the outcomes of robotic-assisted laparoscopic radical prostatectomy (RALRP), a common treatment for prostate cancer. Intraoperative TRUS is currently difficult to implement in RALRP because a dedicated assistant with access to the patient is required. Previously described robotic TRUS probe manipulators overcome this limitation but require the surgeon to frequently interrupt their operation to reposition the TRUS probe under remote control. A new method for automatically tracking existing da Vinci surgical instruments with a TRUS imaging plane is presented, based on a rigid registration of the kinematic frames of the da Vinci system and the robotic TRUS probe manipulator. this registration is accomplished by identifying fiducial points on a tissue surface using the tip of a da Vinci manipulator, and does not require any external tracking system. Phantom validation shows an average registration error of 0.95 perpendicular to 0.38 mm based on manually locating the manipulator tips in TRUS images. this corresponds to an average tracking error of approximately 1 degree when rotating a parasagittal TRUS imaging plane to track a da Vinci manipulator.

关键词： Manipulators

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Mobile Robots Communication and control Framework for USARSim

Mobile Robots Communication and Control Framework for USARSi...

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4th international conference on Intelligent and Advanced Systems (ICIAS) and A conference of World engineering, Science and Technology Congress (ESTCON)

作者： Mokaram, Saeid Samsudin, Khairulmizam Ramli, Abdul Rahman Kerdegari, Hamideh Univ Putra Malaysia Dept Comp & Commun Syst Comp Syst Lab Serdang Malaysia Inst Adv Technol Univ Putra Malaysia Intelligent Syst & Robot Lab Serdang Malaysia

ISBN: (纸本)9781457719677

In recent years there have been intensive efforts in robotics researches from the earliest stages of education. Subject of this paper is a powerful mobile robot communication and control framework for USARSim simulator that can be used both for research and education. Mobile Robots Communication and control Framework (MCCF) is developed in order to offer faster and easier communication process with the USARSim server within Matlab that differentiates it from most existing basic open source control interfaces. Most notably, it takes the advantages of easy integration with other analysis and control methods that have been provided in Matlab tool-boxes. MCCF enables communication and control of a wide range of robots platforms including but not limited to wheeled-robots, legged-robots, submarine robots and aerial robots. In this paper we describe its general architecture, features and examples of utilization for researchers who are interested in mobile robot simulations for education and research.

关键词： Communication and control Mobile robots MATLAB robotics Frameworks

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EXPLORING INTERFACES IN A DISTRIBUTED COMPONENT-BASED PROGRAMMING FRAMEWORK FOR robotics

EXPLORING INTERFACES IN A DISTRIBUTED COMPONENT-BASED PROGRA...

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4th international conference on Agents and Artificial Intelligence

作者： Dominguez-Brito, A. C. Santana-Jorge, F. J. Cabrera-Gamez, J. Hernandez-Sosa, J. D. Isern-Gonzalez, J. Fernandez-Perdomo, E. Univ Las Palmas Gran Canaria Inst Univ SIANI Dpto Informat & Sistemas Las Palmas Gran Canaria Spain

ISBN: (纸本)9789898425959

CoolBOT is a C++ distributed component-based programming framework for robotics. A system can be seen as a distributed network of software components interconnected by port connections where system behavior emerges from the interaction and independent execution of the components integrating the system. Recently we have endowed CoolHOT with two new types of software components: views and probes. On one side, in order to separate and decouple robot control from graphical displays, we have introduced the concept of view as an integrable, composite and reusable graphical interface available for CoolBOT system integrators and developers. On the other side, probes have been devised as interfaces for interoperability with non CoolBOT software.

关键词： Robot programming enviornments and languages Component-based software engineering

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A platform for researching on multimodal robot-assisted rehabilitation therapies

A platform for researching on multimodal robot-assisted reha...

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

作者： Morales, Ricardo Badesa, Francisco Javier Rodriguez, J. Garcia-Aracil, Nicolas Azorin, Jose Maria Perez-Vidal, Carlos Department of Systems Engineering and Automatic Control Miguel Hernandez University Spain

ISBN: (纸本)9781457711992

this paper presents the development of a rehabilitation robotic platform to research on the adaptation of the complexity of robot assisted therapy and the real-time displays of a virtual reality system in accordance with specific patient requirements. First, a kinematic analysis of the human arm during typical daily activities is presented to justify the design requirements of the robotic rehabilitation platform. then, the other necessary components to monitor multi-sensory data from the subject and robotic side and to stimulate the subject during the task are described. Finally, first experimental results with the platform are presented to show that the therapy can be modulated in function of the patient state. © 2012 IEEE.

关键词： robotics

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Dynamic Switching and Real-time Machine Learning for Improved Human control of Assistive Biomedical Robots

Dynamic Switching and Real-time Machine Learning for Improve...

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

作者： Pilarski, Patrick M. Dawson, Michael R. Degris, thomas Carey, Jason P. Sutton, Richard S. Univ Alberta Dept Comp Sci Edmonton AB T6G 2E8 Canada Univ Alberta Dept Mech Engn Edmonton AB T6G 2G8 Canada

ISBN: (纸本)9781457712005

A general problem for human-machine interaction occurs when a machine's controllable dimensions outnumber the control channels available to its human user. In this work, we examine one prominent example of this problem: amputee switching between the multiple functions of a powered artificial limb. We propose a dynamic switching approach that learns during ongoing interaction to anticipate user behaviour, thereby presenting the most effective control option for a given context or task. Switching predictions are learned in real time using temporal difference methods and reinforcement learning, and demonstrated within the context of a robotic arm and a multi-function myoelectric controller. We find that a learned, dynamic switching order is able to out-perform the best fixed (non-adaptive) switching regime on a standard prosthetic proficiency task, increasing the number of optimal switching suggestions by 23%, and decreasing the expected transition time between degrees of freedom by more than 14%. these preliminary results indicate that real-time machine learning, specifically online prediction and anticipation, may be an important tool for developing more robust and intuitive controllers for assistive biomedical robots. We expect these techniques will transfer well to near-term use by patients. Future work will describe clinical testing of this approach with a population of amputee patients.

关键词： controllers

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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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