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

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EMG sliding mode finger joint synergy control of a dexterous artificial hand

EMG sliding mode finger joint synergy control of a dexterous...

引用

IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Benjamin A. Kent Nareen Karnati Erik D. Engeberg Mechanical Engineering Department University of Akron Akron OH USA

From observation of human data, a set of sinusoidal trajectories were developed to mimic the human motion of unscrewing a bottle cap with the thumb and index finger. these trajectories were then implemented on a dexterous robotic hand in the form of a robustly stable sliding mode control algorithm. With the developed synergies, a single myoelectric input was used to control multiple finger joints simultaneously. this controller was then compared to a one degree of freedom prosthetic hand also under sliding mode control. the two hands were used to complete an unscrewing task as quickly as possible. the synergy controller produced a statistically significant reduction in task completion time and also reduced the required workspace.

关键词： Joints thumb Humans Electromyography Trajectory Indexes

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Introducing an adaptive robust controller for artificial heart

Introducing an adaptive robust controller for artificial hea...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Samin Ravanshadi Mehran Jahed Robotics and Machine vision Laboratory School of Electrical Engineering Sharif University of Technology Tehran Iran School of Electrical Engineering Sharif University of Technology Tehran Iran

Prolonged and uncontrolled high shear stresses and turbulence can cause hemolysis, while alternating and low-level stresses may contribute to platelet activation and thrombus formation. Such deficiencies are reported for Total Artificial Heart (TAH) systems which are generally not fully capable of dynamic adaptation to sudden pressure and volume changes. this study introduces an adaptive robust controller for a linear motor based TAH (LMTAH) which overcomes such shortcomings. Proposed controller performance is compared with simulated natural heart in normal and stressed physiological conditions. Application of adaptive robust control results in flows with less stress variation and recirculation, thereby reducing the possibility of blood clot formation and hemolysis.

关键词： Heart Blood flow Blood Robustness Adaptation models Vectors

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Development of a Flexible Imaging Probe integrated to a Surgical Telerobot System: Preliminary Remote control Test and Probe Design

Development of a Flexible Imaging Probe integrated to a Surg...

引用

IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Carlos A. Velasquez H. Hawkeye King Blake Hannaford W. Jong Yoon Qatar University Faculty of Mechanical & Industrial Engineering University of Washington Electrical Engineering Department Qatar University Faculty of Mechanical and Industrial Engineering

ISBN: (纸本)9781457711992

this work presents the current state of a project that aims to develop a new level of integration within the control of networked surgical telerobotics and to evaluate the capabilities of communication to support hardware and software architectures over Internet. the project will integrate a portable working prototype of a flexible, multi-bending imaging device to RAVEN, a 7-DOF cable-actuated surgical robot developed by the Biorobotics Laboratory at the University of Washington, USA. A preliminary test of remote operation from Qatar University in Doha to the RAVEN robot in Seattle, US, is presented as well as details concerning the design and implementation of a first prototype of the flexible endoscope.

关键词： test control Imaging Device remote operation FLEXIBLE Probes REMOTE control universities Integrate current status Computer hardware Surgery Telerobots

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Comparison of remote pressure and vibrotactile feedback for prosthetic hand control

Comparison of remote pressure and vibrotactile feedback for ...

引用

IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Camilo Tejeiro Cara E. Stepp Mark Malhotra Eric Rombokas Yoky Matsuoka Department of Computer Science & Engineering University of Washington Seattle WA USA Departments of Computer Science & Engineering and Rehabilitation Medicine University of Washington Seattle WA USA Department of Electrical Engineering University of Washington Seattle WA USA

Prosthetic hand users may benefit from incorporation of sensory feedback, but the optimal methods of providing such feedback are still unknown. the effect on object manipulation of adding vibrotactile and pressure feedback at remote body sites to visual feedback was assessed in 8 participants using a virtual and robotic interface. Both pressure and vibrotactile feedback improved some aspects of task performance when compared to visual feedback alone; however, no difference in object manipulation performance was seen between pressure and vibrotactile feedback.

关键词： Robot sensing systems Force Visualization Virtual environments Prosthetic hand Vibrations

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Robot-assisted gait training with complementary auditory feedback: results on short-term motor adaptation

Robot-assisted gait training with complementary auditory fee...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Damiano Zanotto Giulio Rosati Federico Avanzini Paul Stegall Sunil K. Agrawal Dept. of Mechanical Engineering University of Delaware School of Engineering University of Padua

ISBN: (纸本)9781457711992

this paper investigates how different modalities of auditory feedback may affect the short-term gait modifications induced by 4 consecutive training sessions with a robotic exoskeleton. N = 20 healthy subjects, 18-30 years old, were randomly assigned to 4 groups. During training, participants walked on a treadmill and were asked to modify their footpath to match a modified gait pattern, while receiving assistance by the robot (kinetic guidance). the control group received additional visual feedback, while the three experimental groups were provided with three modalities of auditory feedback. the third experimental group also received the same visual feedback as the control group. Differences in gait kinematics and symmetry among the training modalities were assessed in three post-training sessions.

关键词： auditory feedback Visual Feedback Gait training procedure PAVEMENTS control Groups Locomotion Gait Experimental Groups Treadmill

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Continuous Vocalization control Of A Full-Scale Assistive Robot

Continuous Vocalization Control Of A Full-Scale Assistive Ro...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Mike Chung Eric Rombokas Qi An Yoky Matsuoka Jeff Bilmes Neurobotics Laboratory Computer Science & Engineering University of Washington SSLI Laboratory Electrical Engineering University of Washington

ISBN: (纸本)9781457711992

We present a physical robotic arm performing real-world tasks using continuous non-verbal vocalizations for control. Vocalization control provides fewer degrees of control freedom than are necessary to directly control complex robotic platforms. To bridge this gap, we evaluated three control methods: direct joint angle control of a selectable subset of joints, inverse kinematics control of the end effector, and control in a reduced-dimensionality synergy space. the synergy method is inspired by neural solutions to biological body redundancy problems. We conducted several evaluations of the three methods involving the real-world tasks of water bottle recycling and grocery bag moving. Users with no prior exposure to the system were able to perform these tasks effectively and were able to learn to be more efficient. this study demonstrates the feasibility of continuous non-verbal vocalizations for control of a full-scale assitive robot in a realistic context.

关键词： vocalization end effectors Standing Orders control Methods Robot Religious Missions Synergism angular control Water samplers

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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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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Audren Cloitre Vignesh Subramaniam Nicholas Patrikalakis Pablo Valdivia y Alvarado Department of Mechanical Engineering Massachusetts Institute of Technology Center for Environmental Modeling and Sensing Singapore-MIT Alliance for Research and Technology

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.

关键词： Robot robot design Standing Orders Biomimetics new robot trajectory control coastal environment FLEXIBLE

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Design of a novel multi-modal tactile display device for biomedical applications

Design of a novel multi-modal tactile display device for bio...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Nader A. Mansour Ahmed M. R. Fath El-Bab Mohamed Abdellatif Mechatronics and Robotics Department Egypt-Japan University of Science and Technology Alexandria Egypt Faculty of Engineering Mechanical Engineering Department Assiut University Egypt

Tactile display has recently been attracting much attention in the field of human computer interaction. there is a strong need for such a device especially for surgeons who need to feel the tissue hardness during laparoscopic surgeries. the concept of design is built upon simple use of several springs which are made from Shape Memory Alloy, SMA, to control shape and stiffness. In this paper, we describe the design of a new device which can display both surface shape and stiffness of an object. the design parameters of this device are selected based on the spatial resolution of human finger and the stiffness range of the soft tissue. the design concept was validated through finite element analysis for the selected parameters.

关键词： Springs Shape Humans Force Biological tissues Fluids

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Model Reference Adaptive Impedance control of Rehabilitation Robots in Operational Space

Model Reference Adaptive Impedance Control of Rehabilitation...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Mojtaba Sharifi Saeed Behzadipour G. R. Vossoughi School of Mechanical Engineering Sharif University of Technology

ISBN: (纸本)9781457711992

A new nonlinear model reference adaptive impedance controller is presented for the control of robot manipulators with uncertainties in model parameters such as friction coefficients. this method provides asymptotic tracking of a reference impedance model for the robot end-effector in operational space which is more sensible for the patient compared to the joint space impedance used in previous works. the model uncertainties such as friction coefficients are compensated using an adaptation law. the asymptotic tracking of the reference impedance model is shown using a Lyapunov function. the tracking performance and friction compensation are also demonstrated through simulation on a rehabilitation robot, MIT-MANUS.

关键词： operational space Robot Manipulator model uncertainty asymptotic tracking model parameters reference impedance impedance friction compensation visual tracking Model reference coefficient of friction Rehabilitation 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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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Inko Elgezua Yo Kobayashi Sangha Song Masakatsu G. Fujie Graduate School of Advanced Science and Engineering Waseda University Graduate School of Advanced of Science and Engineering Waseda University Graduate School of Science and Engineering Waseda University

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.

关键词： surgical robots Collision avoidance Tissue Damage Computer algorithms control Methods Feedback Laparoscopy Damage control Surgeons laparoscopic surgery Management Information Systems

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