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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3601-3610 订阅

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A new hierarchical approach for simultaneous control of multi-joint powered prostheses

A new hierarchical approach for simultaneous control of mult...

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

作者： Aaron J. Young Lauren H. Smith Elliott J. Rouse Levi J. Hargrove Department of Biomedical Engineering Northwestern University USA Rehabilitation Institute of Chicago Center for Bionic Medicine Chicago IL USA Department of Physical Medicine and Rehabilitation Northwestern University Chicago IL USA Feinberg School of Medicine Northwestern University USA

Advanced upper-limb prostheses capable of actuating multiple degrees of freedom (DOF) are now commercially available. Pattern recognition based algorithms that use surface electromyography (EMG) signals measured from residual muscles show great promise as multi-DOF controllers. Unfortunately, current pattern recognition systems are limited to sequential control of each DOF. this study introduces a hierarchy of linear discriminant analysis (LDA) classifiers arranged to provide simultaneous DOF control. this approach and two other simultaneous control strategies were evaluated using healthy subjects controlling up to four DOFs, where any two DOFs could be controlled simultaneously. the new hierarchical approach was the most promising with classification errors at or below 15% on average for discrete and combined motions. the classification performance was significantly better (p

关键词： Wrist Pattern recognition Elbow Electromyography Muscles Educational institutions Aerospace electronics

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Symposium on surgical robotics — Invited talks: Robotic percutaneous beating-heart intracardiac surgery

Symposium on surgical robotics — Invited talks: Robotic per...

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

作者： Pierre E. Dupont Cameron N. Riviere Rajni Patel Robert D. Howe Gregory Fischer Roberto Coppola Arianna Menciassi Nabil Simaan Masakatsu Fujie Venkat Krovi Sarthak Misra Philippe Poignet Robert J. Webster Children's Hospital Boston Harvard Medical School USA Robotics Institute Carnegie Mellon University USA University of Western Ontario USA School of Engineering and Applied Sciences Harvard University USA AIM Lab Worcester Polytechnic Institute UK General Surgery Department Campus Bio-Medico University of Rome IT The BioRobotics Institute Scuola Superiore Sant'Anna - Pisa IT Dept. of Mechanical Engineering Vanderbilt University USA Department of Modern Mechanical Engineering Waseda University JP Mechanical and Aerospace Engineering State University of New York at Buffalo USA Institute for Biomedical Technology and Technical Medicine University of Twente NL University of Montpellier 2 - LIRMM FR Department of Mechanical Engineering Vanderbilt University USA

these invited talks discuss the following: Robotic Percutaneous Beating-Heart Intracardiac Surgery; Beating Hearts And Trembling Hands: Active And Passive Compensation Of Physiological Motion For Surgery; Optimal Planning For robotics-Assisted Minimally Invasive Cardiac Surgery; Why 3D Ultrasound isn't the Default Image Guidance Modality-and Why it Should Be; Towards Real-time Needle Path control in Live MRI; robotics in general surgery: our first year experience; New Generation Robots for Endoluminal and Single Port Surgery; Intelligent Continuum Surgical Slaves; Proactive activities for a healthier society with intelligent medical robot based on physical model of human; Quantitative Skill Assessment within an Augmented Reality Biopsy Simulator; Predicting Target Motion for Planning of Medical Interventions; Needle insertion guidance: from adaptive motion planning to model-based control; and Enabling Technologies for Robot-Assisted Endonasal Skull Base Surgery.

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Design and Evaluation of Robotic Steering of a Flexible Endoscope

Design and Evaluation of Robotic Steering of a Flexible Endo...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Jeroen Ruiter Esther Rozeboom Mascha van der Voort Maartcn Bonnema Ivo Broeders Laboratory of Design Production and Management Department of Engineering Technology University of Twente Laboratory of Minimal Invasive Surgery & Robotics Department of Technical Medicine University of Twente

ISBN: (纸本)9781457711992

In current flexible endoscopy the physician faces problems in manipulating the endoscope. A lot of experience is required to master the procedure. this paper describes the design of an add-on robotic module that improves the user interface of traditional endoscopes and allows a single physician to operate it easily. We identified critical user aspects of traditional endoscopes that need to be copied in a robotic setup. In our design the physician uses a remote control that is connected to a light drive system. It allows manipulation of the robotic endoscope in space. We conducted an experiment to judge the usability of our system. Results indicate that robotic steering, using a position-controlled touchpad or a rate-controlled joystick increases efficiency and satisfaction.

关键词： Endoscopes Otolaryngologists User Interface Device Component Steering drive train FLEXIBLE touch panels

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Development of cooperate system with medical robot to alleviate fatigue in echography

Development of cooperate system with medical robot to allevi...

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Biomedical engineering international conference (BMEiCON)

作者： Kohji Masuda Yasuhiro Urayama Shun Saito Yuuki Takachi Graduate School of Bio-Applications and Systems Engineering Tokyo University of Agriculture and Technology Japan

We have developed a support system using our ultrasound diagnosis robot, which is able to support manual handling of ultrasound probe in echography to alleviate fatigue of examiner. this system realizes a coordinate motion according to the motion of the probe, which is hold by the robot and is moved by an examiner. We have established three kinds of situations, which are initial fixation, coordinate motions with/without contact on the body surface. the system recognizes when the examiner grasps the ultrasound probe by 6-axis force sensor and touches it on body surface by processing echograms. Not only unskilled examiners but also a professional sonographer have evaluated the performance of the system after elucidating multiple parameters for compliance control and self-weight and moment compensation of the probe. As the results, this system has the potential to be able to support advanced diagnosis for conventional echography.

关键词： Biomedical engineering Medical robotics Robot kinematics Probes Ultrasonic imaging Fatigue Surface treatment

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SeaDog: A Rugged Mobile Robot for Surf-Zone Applications

SeaDog: A Rugged Mobile Robot for Surf-Zone Applications

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Matthew A. Klein Alexander S. Boxerbaum Roger D. Quinn Richard Harkins Ravi Vaidyanathan Department of Mechanical and Aerospace Engineering at Case Western Reserve University Department of Physics at the US Naval Postgraduate School Department of Mechanical Engineering at Imperial

ISBN: (纸本)9781457711992

Water and land mine detection performed on beaches and in turbulent surf-zone areas pose specific challenges to robot operation. A robot which is useful in the effort to disarm mined waterways must be capable of navigating rocky terrain, hard-packed wet sand and loose dry sand, and constantly changing underwater currents common to these environments. It is also preferable for them to be man-packable and have a large payload capacity for sensors. Studies of insect locomotion mechanisms, and their abstraction to specific movement principles, provides a framework for designing robots that can quickly adapt to varied terrain types. Based on recent success with beach environment autonomy and a new rugged waterproof robotic platform, we propose a new design that will fuse a range of insect-inspired passive mechanisms with active control strategies to seamlessly adapt to and traverse through a range of challenging environments both in and out of the water.

关键词： Biologically inspired robotics Legged vehicles Field robotics Amphibious operation Reduced actuation Passive mechanisms Advanced mobility Multi-modal locomotion

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Minimum-jerk Trajectory Generation for Master-Slave Robotic System

Minimum-jerk Trajectory Generation for Master-Slave Robotic ...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Shinichi Tanaka Young Min Baek Naohiko Sugita Takashi Ueta Yasuhiro Tamaki Mamoru Mitsuishi Department of Mechanical Engineering The University of Tokyo Department of Ophthalmology The University of Tokyo of Medicine

ISBN: (纸本)9781457711992

this paper describes a trajectory generation method for a master-slave surgical robotic system. Because the data from the master system is intermittent due the limited master-slave communication rate, interpolation is required to achieve smooth motion of the slave robot. In particular, real-time interpolation is crucial for surgical systems. To cope with this problem, we propose a new smooth trajectory generation method by minimizing jerk using a quintic B-spline. To ensure the third-order continuity in position, velocity, and acceleration, the trajectory of the next time segment is generated using several fictive control points. In addition, we impose a minimum jerk constraint to obtain a smooth trajectory. the proposed method was tested and compared with a conventional trajectory generation method. the experimental results showed that the proposed method generated a smoother trajectory with fewer jerks to an extent that the method is sufficient for use in real-time control of a surgical robotic system.

关键词： trajectory Master-slave Robot Real time control

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Pneumatically-Powered Robotic Exoskeleton to Exercise Specific Lower Extremity Muscle Groups in Humans

Pneumatically-Powered Robotic Exoskeleton to Exercise Specif...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Gregory C. Henderson Jun Ueda George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology

ISBN: (纸本)9781457711992

We propose a control method for exercising specific muscles of a human's lower body. this is accomplished through the use of an exoskeleton that imposes active force feedback control. the proposed method involves a combined dynamic model of the musculoskeletal system of the lower-body with the dynamics of pneumatic actuators. the exoskeleton is designed to allow for individual control of mono-articular or bi-articular muscles to be exercised while not inhibiting the subject's range of motion. the control method has been implemented in a 1-Degree of Freedom (DOF) exoskeleton that is designed to resist the motion of the human knee by applying actuator forces in opposition to a specified muscle force profile. In this paper, we discuss the model of the human's lower body and how muscles are affected as a function of joint positions. We then discuss the forces needed by a pneumatic actuator to oppose the muscles to create the desired muscle force profile at a given joint angles. the proposed exoskeleton could be utilized either for rehabilitation purposes, to prevent muscle atrophy and bone loss of astronauts, or for muscle training in general.

关键词： control Methods muscles Human Pneumatic actuators lower body shelling individual control muscle training Astronauts Musculoskeletal System Muscular Atrophy muscle force Gegenhalten Force Osteopenia

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Weight-perception-based novel control for cooperative lifting of objects with a power assist robot by two humans

Weight-perception-based novel control for cooperative liftin...

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

作者： S. M. Mizanoor Rahman Ryojun Ikeura Institute for Media Innovation Nanyang Technological University Singapore Department of Mechanical Engineering Faculty of Engineering Mie University Tsu Japan

the objective was to design and implement a weight-perception-based novel control strategy to improve performances when lifting objects with a power assist system by two humans cooperatively. We developed a 1-DOF power assist system for lifting objects. We hypothesized that weight perception due to inertia might be different from that due to gravity when lifting an object with power-assist because the perceived weight is different from the actual weight. the system was simulated and two humans cooperatively lifted objects with it. We critically analyzed weight perception, load forces and motion features. We found that the robot reduced the perceived weights of the cooperatively lifted objects to 25% of the actual weights and the applied load forces were 8 times larger than the actually required load forces. Excessive load forces resulted in excessive accelerations that jeopardized system performances. We then implemented a novel control scheme based on human features that reduced excessive load forces and accelerations and thus enhanced performances in terms of maneuverability, safety etc. the findings may be used to develop power assist robots for manipulating heavy objects in industries that may augment human's abilities and skills and may improve interactions between robots and humans.

关键词： Acceleration Humans Service robots Force Industries Servomotors

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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 ...

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

作者： Daniele Mazzei Nicole Lazzeri David Hanson Danilo De Rossi Interdepartmental Research Center E. Piaggio Faculty of Engineering University of Pisa Pisa Italy Hanson Robotics Inc. Plano TX USA

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.

关键词： Face Animation Avatars Muscles Robot kinematics Engines

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EMG-based control For a Feeding Support Robot Using a Probabilistic Neural Network

EMG-based Control For a Feeding Support Robot Using a Probab...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Keisuke Shima Osamu Fukuda Toshio Tsuji Akira Otsuka Masao Yoshizumi Graduate School of Biomedical Sciences Hiroshima University National Institute of Advanced Industrial Science and Technology Graduate School of Engineering Hiroshima University Faculty of Welfare and Healthcare Prefectural University of Hiroshima

ISBN: (纸本)9781457711992

this paper proposes a new manipulator control system to support the performance of eating tasks for people with severe physical disabilities, such as those with paralysis caused by cervical spine injuries. the system consists of an electromyogram (EMG) classification part, a manipulator control part and a graphical feedback display. It classifies the user's intended motions from EMG signals measured using a probabilistic neural network (PNN), and controls a robot manipulator in line with the results. Multiple subject motions can be accurately estimated based on learning of the user's EMG patterns using the PNN, thereby allowing operation of the manipulator as desired to perform eating tasks. To examine the performance of the proposed system, experiments were performed with five subjects, including one with paralysis from a cervical spine injury. the results demonstrated that the system could be used to accurately classify the subjects' EMG signals during motions, and that the unit could be easily controlled using EMG signals.

关键词： probabilistic neural network Electromyogram Paralysis Robot Manipulator System testing Spinal Injuries Physically Handicapped PNN gene Consumers

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