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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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Accuracy Improvement of Pinching Force Augmentation by Exoskeleton

Accuracy Improvement of Pinching Force Augmentation by Exosk...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Yasuhisa Hasegawa Junichiro Tokita Kiyotaka Kamibayashi Tetsuri Ariyama Graduated School of Systems and Information Engineering University of Tsukuba Department of Intelligent Interaction Technologies University of Tsukuba

ISBN: (纸本)9781457711992

this paper proposes a support structure for a wearer to precisely control a pinching force with the support of an exoskeleton, which augments human pinching force based on a surface electromyography. A human hand should make a direct contact with the environment for the best use of human intelligence because a tactile sensory feedback from the hand is very important information for a human to handle it accurately and dexterously. However the direct contact may bring excessive force on the human finger when the exoskeleton thrusts the finger into the environment with strong force. this paper proposes the best support structure, type D, by investigating accuracy of a human pinching force with four different types of exoskeletons. they allow the finger to directly contact the environment but force transfer paths from the exoskeleton to the environment are different in each other. through pilot experiments, the exoskeleton that supports more precise force control and safer manipulation is proposed.

关键词： shelling supporting structure pinching Fingers Environments Force Pilot experiments Human Surface Electromyography Force control

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Learning Task-Specific Models for Reach to Grasp Movements: Towards EMG-based Teleoperation of Robotic Arm-Hand Systems

Learning Task-Specific Models for Reach to Grasp Movements: ...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Minas V. Liarokapis Panagiotis K. Artemiadis Pantelis T. Katsiaris Kostas J. Kyriakopoulos Control Systems Lab School of Mechanical Engineering National Technical University of Athens ASU Human-Oriented Robotics and Control (HORC) Lab School for Engineering of Matter

ISBN: (纸本)9781457711992

A learning scheme based on Random Forests is used to decode the EMG activity of 16 muscles of the human arm-hand system to a continuous representation of kinematics in reach-to-grasp movements in 3D space. Classification methods are used to discriminate between significantly different reach to grasp strategies, formulating a switching mechanism that may trigger the use of position and object-specific decoding models (task-specificity). these task-specific models can achieve better estimation results than the general models for the kinematics of different reach-to-grasp movements. the efficacy of the proposed methodology is assessed through a strict validation procedure, based on everyday life reach-to-grasp scenarios and data not previously seen during training. Finally, for demonstration purposes, the authors teleoperate an arm-hand model in the OpenRave simulation environment using the estimated from the EMG signals human motion.

关键词： ElectroMyoGraphy (EMG) EMG-Based Tele-operation Robotic Arm-Hand System Learning Scheme Model Switching Random Forests

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Can simple error sonification in combination with music help improve accuracy in upper limb movements?

Can simple error sonification in combination with music help...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Anabel Immoos Dailly Roland Sigrist Yeongmi Kim Peter Wolf Hendrik Erckens Joachim Cerny Andreas Luft Roger Gassert James Sulzer Rehabilitation Engineering Lab Sensory Motor Systems Lab ETH Zurich and Spinal Cord Injury Center University Hospital Balgrist University Hospital of Zurich Department of Neurology

ISBN: (纸本)9781457711992

While repetitive training is widely regarded to be a useful rehabilitation strategy, such training requires motivation that may be lacking. In order to improve motivation in a potentially inexpensive and simple manner, we introduce in this proof-of-concept study a combination of error sonification and music for upper limb training. Twelve healthy participants trained a figure tracing task for the upper limb, six receiving feedback in terms of error sonification and music and six without receiving feedback in the control group. the error-sonified feedback group decreased its amount of error significantly compared to the control group. thus this particular paradigm can help teach planar reaching movements. Eventually this paradigm may become simple and useful enough to enhance existing therapeutic intervention in stroke rehabilitation.

关键词： Music limb movement Upper Extremity Stroke Rehabilitation Movements Feedback motivation control Groups

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Systematic Design of an Ultrasonic Horn Profile for High Displacement Amplification

Systematic Design of an Ultrasonic Horn Profile for High Dis...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Iman Khalaji Rajni V. Patel Michael D. Naish Department of Mechancial and Materials Engineering Department of Electrical and Computer Engineering and the Department of Surgery CSTAR the Department of Mechanical and Materials Engineering and the Department of Electrical and Computer Engineering

ISBN: (纸本)9781457711992

A new analytical-numerical technique is proposed to design a high displacement amplification ultrasonic horn. the profile of the horn is a NURBS curve whose parameters can be optimized to attain a high displacement amplification factor. Compared to the traditional finite element-based design approach of ultrasonic horns, which is case dependent, our approach formulates and solves the optimal horn profile problem in nondimensional space. therefore, both the working frequency and the length of the system can be readily adjusted. Depending on the number of control points and their associated weights, the NURBS profile can be simplified to a Bezier, a rational Bezier or a B-spline curve. the optimum profile for each type of curve is then sought and the corresponding amplification factor, natural frequency and maximum strain are verified using finite element analysis. Considering a horn with a cross-sectional ratio of 16, amplification factors of 11.55, 12.12, 13.55 and 15.97 are obtained for the optimum profiles of Bezier, rational Bezier, B-spline and NURBS curves, respectively.

关键词： amplification factor Horns System design ultrasonic horn control point optimal allocation splines (mathematics) working frequency Dislocated Workers Job Ladders DISPLACEMENT displacement Displacement (Defense Mechanism) Curves maximum strains

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Torque control of Virtual Bike with Magnetorheological Fluid Brake and Sensory Evaluation for Difference threshold of Pedal Resistance

Torque Control of Virtual Bike with Magnetorheological Fluid...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Takehito Kikuchi Keigo Kobayashi Masao Sugiyama Graduate School of Science and Engineering Yamagata University

ISBN: (纸本)9781457711992

In this study, we developed a virtual cycling system (VR Bike) using a magnetorheological fluid brake (MRB). this system consists of a bike, the MRB, a 3-D projector, a screen, a controller and a sound device. Users can drive the bike in virtual worlds with vision, sound, and reaction force on its pedal. We have developed a cylindrical MRB in the previous study, and it was utilized as the torque generator for the pedaling resistance of the VR Bike. this system is useful for aerobic exercise device. In this paper, we discussed torque control methods of the MRB. A braking torque generated with a constant current input normally changes depending on the rotational speed of the MRB. However, torque compensation based on the velocity feedback reduced the error between reference torques and output torques. We also conducted sensory evaluation tests for young healthy male subjects. In their experiments, difference thresholds of the pedaling forces are about 1 ～ 2 Nm for all standard stimulus.

关键词： bicycles sensory analysis Sensory evaluation Torque control torque generator ROBO4 gene velocity feedback Differential threshold magnetorheology Variable reluctance Foot Pedal Foot constant current Brake rotational speed

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Event-based Patient Motion Detection and Compensation in Image-Guided robotics

Event-based Patient Motion Detection and Compensation in Ima...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Tamas Haidegger Peter Kazanzides Balazs Benyo Zoltan Benyo Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics Johns Hopkins University Center for Computer-Integrated Surgical Systems and Technology

ISBN: (纸本)9781457711992

We report a generalized approach to deal with patient motion in robotic image-guided surgery, along with in silico and dry laboratory tests on a neurosurgical robot setup. External patient motion events (excluding physiological motion) can occur during surgery despite body fixation, and can endanger the outcome of the surgery, as they invalidate the registration between the robot and the patient. the core of the compensation algorithm is to rely on the combination of the robot joint encoders, tracking data and the internal coordinate frame of the intra-operative navigation system to ensure accurate execution of the pre-operative plan. the method allows for the continuous correction of the registration through identifying the actual surgical event in the operating room. From the control point of view, the intra-operative events have been categorized as robot motion, camera motion, patient motion and the combinations of these. the registration update is based on the use of the most reliable reference frame and extending-window averaging to compensate for the occurred patient motion. Simulation results were performed on a generic image-guided robot model, and on a skull base surgery robot. Patient motion events were detected in 80% of the cases, which already leads to a gradual improvement of the procedure. the proposed structure allows for a more generic, probability-based handling of the operating room events that may lead to safer and more accurate surgical treatment in the future.

关键词： Patient Motion Artifact compensated control point Registration Robot Operating rooms Surgery REFERENCE FRAMES

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Development of the Upper Body of an Underwater Humanoid Robot for Research of Unsteady Fluid Forces Acting on a Swimmer

Development of the Upper Body of an Underwater Humanoid Robo...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Changhyun Chung Motomu Nakashima Department of Mechanical and Environmental Informatics Tokyo Institute of Technology Department of Mechanical and Control Engineering Tokyo Institute of Technology

ISBN: (纸本)9781457711992

the primary objective of this study was to develop a robot for research of human swimming. In order to address this objective, we developed the upper body of an underwater humanoid robot and realized the human swimming stroke. the developed humanoid robot had the same body proportions and appearance at half the size of a real human. the upper limbs were actuated by 12 motors, and one motor was installed for the waist. the motor case and gear housing were newly designed for waterproofing and space saving. Each arm had six degrees of freedom;four were for the shoulder and two were for the elbow. On the shoulder, we installed additional joints imitating human's scapular retraction to avoid singularities during the swimming stroke. We demonstrated the importance of an additional joint by realizing the crawl stroke arm motion, which is the most complicated of the four strokes.

关键词： Humanoid robots upper body ENGINE COVER Shoulder WATER RESISTANCE fluid forces Stroke Underwater six degrees of freedom Swimming Singularity Elbow

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Design of a back-driveable actuation system for modular control of tendon-driven robot hands

Design of a back-driveable actuation system for modular cont...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Randall B. Hellman Veronica J. Santos Department of Mechanical and Aerospace Engineering Arizona State University

ISBN: (纸本)9781457711992

this paper presents a novel design of a rotary motor-based actuation system for tendon-driven robotic hands. the system features a two-stage, zero backlash, pretensioned pulley reduction that enables high precision control of tendon displacement and force, as well as back-driveability of the motor. While the modular actuation system can be used to actuate any tendon-driven mechanism, the system is designed to meet or exceed the speed and strength of human fingertips. the actuation system is capable of operating up to 10 Hz before there is significant degradation of the system gain. the capabilities of the system are further demonstrated through the control of a Shadow Dexterous Robot Hand index finger at low (1 Hz) and high (4 Hz) frequencies. A single actuation unit can be duplicated for use in a single-acting actuation scheme ("2N-type") of N joints, but was designed specifically for a double-acting actuation scheme ("N-type") with "push-pull" capabilities. In the former case, one motor is used for each rotation direction of a single revolute joint. In the latter case, one motor can control both directions of the joint, thereby reducing hardware needs and control complexity. To address the challenges of tendon slack in the flexible-link transmission to the robot hand, the system includes a lead screw mechanism for setting a tension preload and springs for maintaining tension during the course of use. An integrated uniaxial load cell allows for monitoring of tendon tension and calculation of finger joint torques.

关键词： Tendon Activation robotic hand direction of rotation Robot Revolute joints Motor fine control Modularity

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Asymmetric Routings With Fewer Tendons Can Offer Both Flexible Endpoint Stiffness control and High Force-Production Capabilities in Robotic Fingers

Asymmetric Routings With Fewer Tendons Can Offer Both Flexib...

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Joshua Inouye Francisco J. Valero-Cuevas Department of Biomedical Engineering University of Southern California Department of Biomedical Engineering & the Division of Biokinesiology and Physical Therapy University of Southern

ISBN: (纸本)9781457711992

the force-production and passive stiffness capabilities of fingers are two critical design specifications for dexterous robotic hands. We used the link and joint kinematic parameters of the 4-DOF DLR index finger to explore the tradeoff between these two design specifications as a function of the number, routing, stiffness, and strength of each tendon. Our innovative computational approach allowed building the Pareto front of optimized passive endpoint stiffness (measured by the eccentricity of the endpoint stiffness ellipsoids) vs. maximal force-production capabilities (measured by the size and shape of the force polytope) for 1,200 randomly generated valid routings with 5, 6, 7, or 8 tendons. Our results show that this parametric optimization can increase realizable isotropic forces by up to 80% compared to the default tendon tension distribution. In addition, designs with 5 or 6 tendons can have endpoint stiffness ellipsoids with optimized low eccentricities and with force production capabilities comparable to designs with 7 or 8 tendons. Interestingly, we did not find a systematic tradeoff between force-production and passive stiffness capabilities, given a specific routing. However, the choice of number, routing and strength of each tendon greatly affects force and passive stiffness capabilities of robotic finger, which reveals the many design opportunities afforded by tendon-driven manipulators and offers insight into the anatomical features of the human musculoskeletal system.

关键词： Tendon End Point Design specifications Fingers stiffness Force tradeoffs stiffness control Musculoskeletal System Manipulators

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Human control of Dynamically Complex Objects

Human Control of Dynamically Complex Objects

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IEEE RAS & EMBS international conference on Biomedical robotics and Biomechatronics

作者： Christopher J. Hasson Neville Hogan Dagmar Sternad Department of Biology Northeastern University Departments of Mechanical Engineering and Brain and Cognitive Sciences Massachusetts Institute of Technology Departments of Biology Electrical and Computer Engineering and Physics Northeastern University

ISBN: (纸本)9781457711992

Humans interact with a variety of objects, many of which have dynamically complex properties, such as a cup of coffee. An efficient way to manipulate such objects is to drive them at a resonant frequency. this requires less effort due to dynamic amplification of control inputs. However, errors in control may also be amplified, increasing variability and making it difficult to achieve a kinematic goal. How humans control dynamically complex objects near a resonant frequency, while at the same time achieving kinematic goals, is unknown. To address this question, ten healthy subjects were asked to practice oscillating a cart and pendulum (simulated using a haptic display). Subjects had to move the cart between two spatial targets at the pendulum's resonant frequency. A visual display showed the pendulum bob moving in a semicircular cup (the cart was hidden), mimicking a ball rolling in a cup. Results showed that in early practice subjects moved below the resonant frequency and used an in-phase strategy -the cup and ball moved in the same direction. this was associated with large applied forces and high variability. With practice subjects moved above the resonant frequency and switched to an anti-phase strategy - the cart and pendulum moved in opposite directions. Concurrently, subjects' applied force decreased by half and the interaction force of the ball on the cup increased, which moved the cup to the spatial targets. Using this strategy, subjects became less variable and more accurate. Although the switch in phasing was in part dictated by the task dynamics, the direction of the shift is best explained by a controller that seeks to exploit the dynamics of an object to achieve task goals with small outlays of energy and low variability.

关键词： resonant frequencies cart Clock weights Union active force ball rolling dynamic amplification Human Standing Orders Phase

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