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Mechatronics projects at the University of Maribor

Mechatronics projects at the University of Maribor

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4th IEEE international conference on E-Learning in Industrial Electronics, ICELIE 2010

作者： Rojko, Andreja Španer, Marijan Jezernik, Karel University of Maribor Faculty of Electrical Engineering and Computer Science Institute of Robotics Maribor Slovenia

ISBN: (纸本)9781424472529

the paper presents three mechatronics project courses for the students of the first degree of Bologna program at the University of Maribor, Slovenia. three courses, Project I, Project II and Project III, are assigned to the project work in the second and third study year. First course, Project I is some kind of introduction into the project work and the students are almost fully supervised by the mentors. the portion of autonomous work is then increasing trough other two courses and until diploma. In diploma the students typically continue the work on the project, but concentrate on specific details. By a careful choice of attractive, up-to-date real life problems, the project work provides the students with the practical skills and a broad knowledge from the mechanical engineering, motion control theory, electronics, drives, sensors, power electronics, automatic control and mechatronics design. Since quite complex projects are undertaken, many sub-tasks are available within one project, which allows the students to specialize in a field of their choice, by choosing the appropriate sub-task. the paper presents in more details a very popular this year's project 'Design and realization of a hybrid drive'. ©2010 IEEE.

关键词： Students

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Design of omnidirectional motion system in rehabilitation robot

Design of omnidirectional motion system in rehabilitation ro...

引用

the 4th international conference on Bioinformatics and Biomedical engineering(第四届IEEE生物信息与生物医学工程国际会议 iCBBE 2010)

作者： Hui Yu Cheng Cao Hongche Guo Liaoning Petrocchemical Vocational And Technology Collage Jinzhou China Shenyang University of Technology School of Electrical Engineering Shenyang China

Lower limbs rehabilitation robot combines kinesitherapy with psychotherapy organically and provides a effective medical appliance to recover limb function for the patients. the rehabilitation robot designed in this paper uses advanced omnidirectional wheel structure chassis that can move toward all directions without rotation, its motion range do not have dead angle and the using demand are also decreased. the control system of omnidirectional wheel chassis consists of ATmega16 mcu, it has manual and automatic control modes.

关键词： Rehabilitation robotics Mobile robots Medical robotics Wheels Automatic control Psychology Home appliances robotics and automation Medical control systems control systems

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Simulation Analysis on the Bionic Micro Robot Operating in the Vascular Environment

Simulation Analysis on the Bionic Micro Robot Operating in t...

引用

the 4th international conference on Bioinformatics and Biomedical engineering(第四届IEEE生物信息与生物医学工程国际会议 iCBBE 2010)

作者： Sun Chen Shuang Qian Jia-yi Huang Bai Chen Xinhua Hospital Shanghai children's medical center Medical school of Shanghai Jiaotong University Department of mechatronics Nanjing University of Aeronautics and Astronautics Nanjing 210016 P.R.C

Based on the motion principle of gastropod, a novel interventional minimal invasive robot which has the ability to run smoothly in the biological lumen with impulsive flowing liquid has been presented. Simulation models of the interventional micro robot operating in the straight or the bend blood vessels have been established with the software of Fluent. Blood flow distribution and the impact force acting on the robot by the impulsive blood flow have been simulated and calculated. All the results will provide strong proofs for the structure design and motion control of the micro robot.

关键词： Analytical models Robots Medical robotics Biological system modeling Blood vessels Blood flow Magnetic liquids Medical simulation Propulsion Friction

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Modeling and Analyzing the Screw-in Propulsion Mechanism for a Bio-Inspired Micro-Robot

Modeling and Analyzing the Screw-in Propulsion Mechanism for...

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the 4th international conference on Bioinformatics and Biomedical engineering(第四届IEEE生物信息与生物医学工程国际会议 iCBBE 2010)

作者： Bai Chen Yaodong Liu Surong Jiang Sun Chen Department of mechatronics Nanjing University of Aeronautics and Astronautics Nanjing 210016 P.R.C Xinhua Hospital Shanghai children's medical center Medical school of Shanghai Jiaotong University

Nowadays, studies of the interventional micro-robots have been hot topics in the field of medical device. the ultimate goal of medical micro robots is to reach currently inaccessible areas of the human body. In this paper, a novel bio-inspired interventional micro-robot in screw-in swim way is presented, which can move along the line, turn at the corner, and spinning. Based on the propulsion mechanism of spermatozoa and the theory of Stokes Flow, the kinematical models of the swimming methods have been made. In order to validate the feasibility of the screw-in propulsion, the motion properties are estimated numerically. All the results will give the evidences for motion control of the interventional micro robot.

关键词： Propulsion Robots Tail Medical robotics Humans Blood vessels Robotic assembly Mechatronics Spinning Biological system modeling

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A Biologically Plausible Learning Method for NeuroRobotic Systems

A Biologically Plausible Learning Method for NeuroRobotic Sy...

引用

4th international IEEE/EMBS conference on Neural engineering

作者： Davoudi, Heydar Vahdat, Bijan Vosoughi Sharif Univ Technol BiSIPL Dept Elect Engn Tehran Iran

ISBN: (纸本)9781424420728

this paper introduces an incremental local learning algorithm inspired by learning in neurobiological systems. this algorithm has no training phase and learns the world during operation, in a lifetime manner. It is a semi-supervised algorithm which combines soft competitive learning in input space and linear regression with recursive update in output space. this method is also robust to negative interference and compromises bias-variance dilemma. these qualities make the learning method a good nonlinear function approximator having possible applications in neuro-robotic systems. Some simulations illustrate the effectiveness of the proposed algorithm in function approximation, time-series prediction, and motor control problems.

关键词： statistical learning lifetime learning function approximation neuro-robotics

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A proof-of-concept exoskeleton for robot-assisted rehabilitation of gait

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4th European conference of the international Federation for Medical and Biological engineering (ECIFMBE)

作者： Beyl, P. Cherelle, P. Knaepen, K. Lefeber, D. Vrije Univ Brussel Robot & Multibody Mech Res Grp Pl Laan 2 B-1050 Elsene Belgium Vrije Univ Brussel Dept Human Physiol & Sports Med B-1050 Elsene Belgium

ISBN: (纸本)9783540892076

Robotic gait rehabilitation faces many challenges regarding ankle assistance, body weight support and physical human-robot interaction. this paper reports on the development of a gait rehabilitation exoskeleton prototype intended as a platform for the evaluation of design and control concepts in view of improved physical human-robot interaction. the performance of proxy-based sliding mode control as a "robot-in-charge" control strategy is evaluated both in simulation and in experiments on a test setup. Compared to PID control, test results indicate good tracking performance and in particular safe system behavior.

关键词： Rehabilitation robotics robot-assisted gait training powered exoskeleton compliant actuator robot-in-charge control

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Design Results of an Upper Extremity Exoskeleton

引用

4th European conference of the international Federation for Medical and Biological engineering (ECIFMBE)

作者： Moubarak, S. Pham, M. T. Pajdla, T. Redarce, T. Inst Natl Sci Appl Lab Ampere UMR CNRS 5005 F-69621 Villeurbanne France Czech Tech Univ Ctr Machine Percept Dept Cybernet Prague Czech Republic

ISBN: (纸本)9783540892076

this paper presents the first design results of an upper extremity exoskeleton mounted on a wheel chair. this new device is dedicated to a regular and efficient rehabilitation training as well as arm tasks motion assistance for weak and injured people without the continuous presence of a therapist. the exoskeleton being a wearable robotic device attached to the human arm, the user provides information signals to the controller In order to generate the appropriate control signals for different training strategies and paradigms. this upper extremity exoskeleton covers four basic degrees of freedom of the shoulder and the elbow joints, with a mobile center of rotation mechanism for the shoulder abduction / adduction motion in order to match the human shoulder anatomy.

关键词： Upper extremity exoskeleton medical robotics rehabilitation

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Swarm robots task allocation based on response threshold model

Swarm robots task allocation based on response threshold mod...

引用

4th international conference on Autonomous Robots and Agents, ICARA 2009

作者： Yongming, Yang Zhou, Changjiu Yantao, Tian College of Communication Engineering Jilin University Changchun China Advanced Robotics and Intelligent Control Centre School of Electrical and Electronic Engineering Singapore Polytechnic Singapore

ISBN: (纸本)9781424427130

A task allocation algorithm is proposed for the foraging mission. the goal of the foraging mission is to collect foods timely so that the food consumption at home base can be satisfied. this algorithm is based on response threshold model which can account for the regulation of division of labor in insect societies. this algorithm is scalable and distributed, and no communication strategy is utilized. Simulation experiments are carried out to study the effect of response threshold on the performance of foraging. the simulation experiments verified that this algorithm can respond properly to the change of food density and the change of food consumption rate. ©2009 IEEE.

关键词： Food supply

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Patient-Driven Cooperative Gait Training with the Rehabilitation Robot Lokomat

引用

4th European conference of the international Federation for Medical and Biological engineering (ECIFMBE)

作者： Duschau-Wicke, A. Von Zitzewitz, J. Luenenburger, L. Riener, R. ETH SMS Lab Inst Robot & Intelligent Syst Tannenstr 1TAN E5 Zurich Switzerland Univ Clin Balgrist Spinal Cord Injury Ctr Zurich Switzerland Hocoma AG Volketswil Switzerland

ISBN: (纸本)9783540892076

Rehabilitation robots can support the training of patients with neurological gait disorders. Classical control approaches permit patients to remain passive during the robot-assisted training. We hypothesize that promoting active participation of patients will improve training efficacy. In this paper, we evaluate the combination of two existing patient-cooperative control strategies. these strategies are applicable to robotic exoskeletons that assist a patient walking on a treadmill. the first strategy, Automatic treadmill speed adaptation, detects the patient's desired walking speed and accelerates the treadmill accordingly. the second strategy, Path control, provides spatial guidance of the legs via the rehabilitation robot while the patient controls the timing of his/her movements. We demonstrate that both strategies can be successfully combined towards an approach that allows subjects to walk on their own with the support of a robot instead of being passively moved.

关键词： rehabilitation robotics patient-cooperative treadmill training

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Hardware-in-the-Loop-Simulator for Testing of Total Hip Endoprostheses

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4th European conference of the international Federation for Medical and Biological engineering (ECIFMBE)

作者： Kaehler, M. Souffrant, R. Dryba, S. Kluess, D. Bader, R. Woernle, C. Univ Rostock Chair Engn Mech & Dynam Justus von Liebig Weg 6 Rostock Germany Univ Rostock Dept Orthopaed Rostock Germany

ISBN: (纸本)9783540892076

Dislocation of the artificial joint is a relatively frequent and serious complication of total hip replacement. Despite increasing clinical experiences the dislocation rate has not reduced significantly during the last years. there are a lot of questions concerning numerous parameters of the stability against dislocation like implant design, implant position, neck length, offset, actual loads as well as anatomic conditions like hip muscles, ligaments and capsule structures. Because in vivo measurements of the process of dislocation are not possible, the present interdisciplinary research project deals with the development and validation of a novel mechatronical hardware-in-the-loop (HIL) joint simulator. HIL simulations allow the analysis of physical system components in a virtual environment controlled by a computer and are thereby particularly advantageous if test conditions in the physical environment of the system component are either too complex or impossible to apply like in vivo investigations of dislocation scenarios. By means of the HIL joint simulator the kinematic and dynamic behaviour of the total hip endoprosthesis including the event of dislocation is simulated in order to evaluate experimentally the parameters mentioned above. therefore total hip implants (acetabular cup and femoral stem with ceramic head) which represent the physical component of the HIL simulator are embedded into artificial bone. the femoral component is moved and loaded by an industrial robot capable to apply physiological forces and torques equipped with hybrid force/torque control. the dynamics of the physiological movements including the pre-load of soft tissue and muscular forces are simulated by a biomechanical multi-body model. the biomechanical multi-body model and the robot with the implants mutually interact and represent a closed-loop control system. the new concept of the HIL joint simulator provides an improvement of the dislocation stability by optimising the influenc

关键词： Total hip replacement Dislocation Testing device Hardware-in-the-Loop robotics

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