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检索条件"任意字段=6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016"

共 182 条记录，以下是1-10 订阅

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Compact and Lightweight Cable Decoupling Unit for Bio-Inspired Tendon Drives in Wearable Robots 10

Compact and Lightweight Cable Decoupling Unit for Bio-Inspir...

引用

10th ieee ras/embs international conference for biomedical robotics and biomechatronics (biorob)

作者： Weber, Nico Walter, Jonas Braun, Dominik Del Vecchio, Alessandro Franke, Jorg Friedrich Alexander Univ Erlangen Nurnberg FAU Inst Factory Automat & Prod Syst Erlangen Germany Friedrich Alexander Univ Erlangen Nurnberg FAU Dept Artificial Intelligence Biomed Engn Erlangen Germany

ISBN: (纸本)9798350386523;9798350386530

To support or restore limb movement, bio-inspired tendons are often used in wearable robots for assistive or rehabilitation devices like exoskeletons. the tendon force transmission from the actuators to the joints is typically achieved remotely using Bowden cables. Although these remote actuation units have the advantage of mass reduction, cable-based force transmission has some disadvantages, such as complicated handling of the system. there are a few cable decoupling devices that attempt to address these disadvantages by separating the exoskeleton from the actuation unit. However, they are too bulky and heavy. In this paper, we present a compact and lightweight design of a cable decoupling unit with a height of 20 mm, a diameter of 17 mm and a weight of 6 g, which can be placed directly on the exoskeleton. the cable decoupling unit allows the user to move independently from the actuation unit without doffing the exoskeleton, which is time-consuming, especially for hand systems and impaired users. We evaluated the transmission efficiency of the cable decoupling unit with 80 % and validated the functionality by integrating it into a state-of-the-art cable-driven hand exoskeleton. the cable decoupling unit facilitates various tasks such as handling, cable length adjustment or maintenance.

关键词： Exoskeleton (robotics)

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3D Manipulation of 6DOF Tendon Driven Continuum Robot for Surgical Applications 10

3D Manipulation of 6DOF Tendon Driven Continuum Robot for Su...

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10th ieee ras/embs international conference for biomedical robotics and biomechatronics (biorob)

作者： Bamoriya, Shailesh Gedam, Vidit Kumar, Cheruvu Siva Indian Inst Technol Kharagpur Dept Mech Engn Kharagpur W Bengal India

ISBN: (纸本)9798350386523;9798350386530

Continuum robots have the advantage of flexibility and dexterity due to their elastic and bendable architecture. Nowadays, multi-segment robots are employed as various medical instruments. However, the multi-segment robot consists of complex kinematics and control, but it also enhances the robot's capabilities for complex procedures. the paper presents the path planning and motion control of basic robot motion to perform surgical tasks. the robot's 3D manipulation discussed in this paper includes insertion, point-to-point motion, and tool center point motion. the follow-the-leader motion approach was employed for the robot insertion. the point-to-point motion trajectory is generated in configuration space, and differential Jacobian base inverse kinematics is employed for Tool center point motion control of a tendon-driven threesegment continuum robot. the simulation results indicate that the obtained input parameters in joint space ensure smooth robot manipulation.

关键词： Inverse kinematics

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Pairing Predictive Simulations and Human Experiments in Ankle Exoskeleton Walking 10

Pairing Predictive Simulations and Human Experiments in Ankl...

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10th ieee ras/embs international conference for biomedical robotics and biomechatronics (biorob)

作者： Weiss, Alexander Chen, Anthony Janischowky, Daniel B. Shih, Isabella Phillips, Gillian C. Selinger, Jessica C. Koelewijn, Anne D. Friedrich Alexander Univ Erlangen Nurnberg Fac Engn Biomech Mot Anal & Creat BioMAC Grp D-91052 Erlangen Germany Queens Univ Sch Kinesiol & Hlth Studies Kingston ON K7L 3N6 Canada

ISBN: (纸本)9798350386523;9798350386530

Exoskeletons can enhance human gait and reduce metabolic energy expenditure, potentially enabling users to walk further and longer before experiencing fatigue. However, metabolic energy reductions often require hours of walking to tune control parameters to the user and allow the user to adapt to the device through complex human-machine interactions. Predictive simulations could expedite this process by finding near-optimal device and gait parameters ahead of human testing. Here, we investigated if we could create participant specific predictive gait simulations that replicate energetic, kinematic, and kinetic adaptations to walking with bilateral ankle exoskeletons. We hypothesized that our predictive simulations would generate similar metabolic reductions to those achieved by our human participants' and that these reductions would be explained by similar kinematic and kinetic adaptations. Our hypothesis was partially confirmed, as the simulations predicted an average change in metabolic energy expenditure (12.6 +/- 3.3%) that matched the experimentally measured change (13.0 +/- 7.1%). Moreover, the ankle kinematics during both baseline and exoskeleton walking were similar. However, underlying kinetic responses during exoskeleton walking differed between the simulations and experiments. Furthermore, we did not correctly predict differences in metabolic savings for individual participants. We expect that these differences are related to factors such as individual adaptation rate, muscle activity, and musculotendon dynamics. We conclude that our predictive simulations are currently not accurate enough to predict individual adaptations when walking with an exoskeleton, despite being able to well predict average group changes in metabolic cost and kinematics.

关键词： Exoskeleton (robotics)

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Measuring Anthopometric Fit for Exoskeletons: Methodologies and Preliminary Assessment 9

Measuring Anthopometric Fit for Exoskeletons: Methodologies ...

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9th ieee ras/embs international conference for biomedical robotics and biomechatronics (biorob)

作者： Sposito, Matteo Fanti, Vasco Sencandan, Pinar Caldwell, Darwin G. Di Natali, Christian Ist Italiano Tecnol Adv Robot Line ADVR Genoa Italy

ISBN: (数字)9781665458498

ISBN: (纸本)9781665458498

Exoskeletons are becoming more common for industrial applications to relieve workers from physically demanding tasks. Even if researchers and ruling entities started to propose standard methodologies to test the exoskeleton's efficacy, this did not happen to test the physical match between users and exoskeletons that plays a central role in safety, efficiency and acceptance. this work presents methodologies (tools, metrics and testing protocols) to quantitatively measure static and dynamic fit of exoskeletons: measuring equipment ease (as a gap between device and body) and influence on biological joints' motion. In the end, the methodology is used on XoTrunk, a lower back occupational exoskeleton suited for Manual Material Handling activities, a laboratory test setup resemble relevant activities with voluntary subjects. Preliminary analysis in descriptive statistics suggests that the exoskeleton's attachments are not always adherent to users' body (4 cm maximum gap), are well aligned to body landmarks to comfortably unload assistance but move rubbing the sacrum area (6 cm drifts), thus lowering comfort and, ultimately, device acceptance. In the end, the proposed methodology succeed to measure all relevant data to evaluate static and dynamic fit. However, further metrics could be added when moving to a more realistic scenario, to improve the dynamic fit evaluation.

关键词： Protocols Exoskeletons Materials handling Bending biomedical measurement Safety Motion measurement

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the Effect of Design and Control Parameters of a Soft Robotic Fish Tail to Maximize Propulsion Force in Undulatory Actuation 9

The Effect of Design and Control Parameters of a Soft Roboti...

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9th ieee ras/embs international conference for biomedical robotics and biomechatronics (biorob)

作者： Hall, Robin Skorina, Erik Chiang, Shou-Shan Onal, Cagdas D. Worcester Polytech Inst Robot Engn Dept WPI Soft Robot Lab Worcester MA 01609 USA

ISBN: (数字)9781665458498

ISBN: (纸本)9781665458498

A tetherless underwater soft robot inspired by the capabilities of biological fish is an ideal tool to navigate complex underwater environments. Such a robot could take dense three-dimensional sensor readings for a better understanding of the ocean's changing microclimates, while not disturbing the natural underwater life. this paper presents a soft 3D-printed cable-driven flexible fish tail and studies the design and control parameters to maximize its thrust force output for use on a soft robotic fish. the parameters tested were caudal fin shape, fin area, fin thickness, frequency, length of cable retraction, and input waveform. Our results indicate that a 6 in(2) (38.71 cm(2)), 2 mm thick trapezoidal tail provides the maximum mean force output with all tested input waveforms. the optimal motor parameters were a triangular input wave with a cable retraction of 16.76 mm operating at 1.67 Hz. Based on our results, using simple driving waveforms with cable driven caudal fins will pave the way towards efficient tetherless exploration and monitoring tasks in complex underwater environments such as coral reefs.

关键词： Underwater cables Shape Biological system modeling Force Tail Soft robotics Fish

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Orientation Matters: 6-DoF Autonomous Camera Movement for Video-based Skill Assessment in Robot-Assisted Surgery 9

Orientation Matters: 6-DoF Autonomous Camera Movement for Vi...

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9th ieee ras/embs international conference for biomedical robotics and biomechatronics (biorob)

作者： Abdelaal, Alaa Eldin Hong, Nancy Avinash, Apeksha Budihal, Divya Sakr, Maram Hager, Gregory D. Salcudean, Septimiu E. Univ British Columbia Elect & Comp Engn Dept Vancouver BC Canada Zipline Int 333 Corey Way San Francisco CA USA Univ British Columbia Dept Mech Engn 2054-6250 Appl Sci Lane Vancouver BC Canada Johns Hopkins Univ Dept Comp Sci Baltimore MD 21218 USA

ISBN: (数字)9781665458498

ISBN: (纸本)9781665458498

Video-based surgical skill assessment is one of the main assessment methods in robot-assisted surgery (ras). Expert assessors watch videos of trainees, recorded from endoscopic camera feeds, and evaluate their performance using well-established assessment questionnaires. A major drawback of this method, however, is the high variability in scores between different assessors, mainly due to the limited visual feedback provided by the recorded videos. To solve this problem, we propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for ras, which, unlike previous methods, takes into account both the position and 3D orientation information from structures in the surgical scene. We developed a simulation environment to test our method on the "wire chaser" surgical training task from validated training curricula in ras. In a study with N = 30 human subjects, we show that our proposed method leads to at least 21% more accurate skill assessment and at least 31% less variability in assessment scores than when using a fixed camera view, or camera movement method based only on position information. Our preliminary work suggests that there are potential benefits to autonomous camera positioning informed by scene orientation, and this can direct designers of automated endoscopes and surgical robotic systems, especially when using chip-on-tip cameras that can be wristed for 6-DoF motion.

关键词： Training Visualization three-dimensional displays Tracking Robot vision systems Wires Surgery

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Respiratory Motion Compensation and Haptic Feedback for X-Ray-Guided Teleoperated Robotic Needle Insertion

Respiratory Motion Compensation and Haptic Feedback for X-Ra...

引用

ieee/ras-embs international conference on biomedical robotics and biomechatronics (biorob)

作者： Ana Cordón Avila Mostafa Selim Momen Abayazid Faculty of Electrical Engineering Robotics and Mechatronics research group TechMed Centre Mathematics and Computer Science University of Twente AE Enschede The Netherlands

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Respiratory motion limits the accuracy and pre-cision of abdominal percutaneous procedures. In this paper, respiratory motion is compensated robotically using motion estimation models. Additionally, a teleoperated insertion is performed using proximity-based haptic feedback to guide physicians during insertion, enabling a radiation-free remote insertion for the end-user. the study has been validated using a robotic liver phantom, and five insertions were performed. the resulting motion estimation errors were below 3 mm for all directions of motion, and the overall resulting 3D insertion errors were 2.60 mm, 7.75 mm, and 2.86 mm for the superior-inferior, lateral, and anterior-posterior directions of motion, respectively. the proposed approach is expected to minimize the chances of inaccurate treatment or diagnosis due to respiratory-induced motion and reduce radiation exposure. A video summary can be found in: https://***/2Xw6AMe2mco

关键词： three-dimensional displays Motion estimation Liver Phantoms Medical services biomechatronics Needles Motion compensation Haptic interfaces Robots

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3D Manipulation of 6DOF Tendon Driven Continuum Robot for Surgical Applications

3D Manipulation of 6DOF Tendon Driven Continuum Robot for Su...

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ieee/ras-embs international conference on biomedical robotics and biomechatronics (biorob)

作者： Shailesh Bamoriya Vidit Gedam Cheruvu Siva Kumar Department of Mechanical Engineering Indian Institute of Technology Kharagpur India

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Continuum robots have the advantage of flexibility and dexterity due to their elastic and bendable architecture. Nowadays, multi-segment robots are employed as various medical instruments. However, the multi-segment robot consists of complex kinematics and control, but it also enhances the robot's capabilities for complex procedures. the paper presents the path planning and motion control of basic robot motion to perform surgical tasks. the robot's 3D manipulation discussed in this paper includes insertion, point-to-point motion, and tool center point motion. the follow-the-leader motion approach was employed for the robot insertion. the point-to-point motion trajectory is generated in configuration space, and differential Jacobian base inverse kinematics is employed for Tool center point motion control of a tendon-driven three-segment continuum robot. the simulation results indicate that the obtained input parameters in joint space ensure smooth robot manipulation.

关键词： Robot motion three-dimensional displays Systematics Simulation Kinematics Medical instruments Aerospace electronics Trajectory Continuum robots Tendons

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Mechanical Integration of a Sensorized Skin in an Anthropomorphic Hand: Design Pipeline and Tests

Mechanical Integration of a Sensorized Skin in an Anthropomo...

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ieee/ras-embs international conference on biomedical robotics and biomechatronics (biorob)

作者： Robinson Guachi Flavio Napoleoni Burim Kabashi Marco Controzzi The BioRobotics Institute Scuola Superiore Sant-Anna Pontedera Italy Department of Excellence in Robotics & AI Pisa Scuola Superiore Sant'Anna Italy Department of Mechatronics Universidad Internacional del Ecuador- UIDE Quito Ecuador The BioRobotics Institute Scuola Superiore Sant'Anna Pontedera Italy

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

the ability to manipulate and grasp objects is largely affected by the tactile afferent provided by the skin in humans providing information that are used by the brain to guide motor actions. In the light of the recent advancements in neuroprosthetic, the quest for a hand prosthesis that integrate more sophisticated tactile sensor is increased. Electronic skin based on triboelectric phenomena holds significant promise in this respect, but the literature addressing its integration within a prosthetic hand is limited and scattered. Here we show a systematic and comprehensive pipeline for the design, development, and mechanical integration of a electronic skin. the paper addresses the identification of the technical requirements for the skin, the selection of material for the soft skin, and the definition of target contact area for optimizing the arrangement of 6 sensors within the size of a finger. After that, we discussed the design of the fingers for its integration and the manufacturing process. the proposed pipeline was validated through mechanical and electrical integrity tests. Compression tests applying 40 N demonstrate the e-skin's strength under realistic force conditions, and electrical tests show consistent sensors responses pre- and post- overload. Finally, we checked for activation of the sensors during the execution of three grasp types varying the size and the shape of the target object, to verify the arrangement of the sensors.

关键词： Mechanical sensors Technical requirements Systematics Shape Pipelines Tactile sensors Neuroprostheses Motors Triboelectricity Prosthetic hand

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Ground Reaction Forces and Moments Estimation from Embedded Insoles using Machine Learning Regression Models

Ground Reaction Forces and Moments Estimation from Embedded ...

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ieee/ras-embs international conference on biomedical robotics and biomechatronics (biorob)

作者： Maxime Sabbah Raphael Dumas Zoe Pomarat Lucas Robinet Mohamed Adjel Bruno Watier Vincent Bonnet LAAS-CNRS Université Paul Sabatier CNRS Toulouse France Laboratoire Biomécanique et de Mécanique des Chocs (LBMC) Université Gustave Eiffel Lyon France Université Paul Sabatier Toulouse France LTSSI Univerité Paris-Est Créteil Vitrv-sur Seine France NaturalPad Montpellier France CNRS-AIST JRL IRL AIST Tsukuba Headquarters and Information Technology Collaborative Research Center Tsukuba Japan

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

the objective of this paper was to assess the possibility of estimating 6D ground reaction forces and moments during continuous double supports exercises using instru-mented force insoles. thanks to machine learning regression, the study evaluated the performance of an embedded solution in comparison to a reference laboratory grade force plate. While insoles were validated in the context of gait, few studies investigated their accuracy in estimating ground reaction forces and moments for rehabilitation exercises with both feet on the ground. thus, popular ankle and hip strategies, squat and hula hoop excercises were investigated. the estimation accuracy was reported with a low average error of 1.6 ± 0.3% of the body weight and 1.2 ± 0.3% of the body weight times the body height along with a moderate correlation when using solely features extracted from insoles measurements. these results demonstrated the possibility of using embedded solutions to estimate the full ground reaction wrench if the learning process was applied for each specific task separately.

关键词： Weight measurement Accuracy Correlation Machine learning algorithms Force Estimation biomedical measurement Feature extraction Sensors Robots

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