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A Pneumatically Powered Below-Knee Prosthesis: Design Specifications and First Experiments with an Amputee

A Pneumatically Powered Below-Knee Prosthesis: Design Specif...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Versluys, Rino Desomer, Anja Lenaerts, Gerlinde Van Damme, Michael Beyl, Pieter Van der Perre, Georges Peeraer, Louis Lefeber, Dirk Vrije Univ Brussel Robot & Multibody Mech Res Grp B-1050 Brussels Belgium Vrije Univ Brussel Biomech Res Grp B-1050 Brussels Belgium Katholieke Univ Leuven Res Ctr Movement Control & Neuroplasticity Biomech & Engn Design Section Leuven Belgium Katholieke Univ Leuven Res Ctr Musculoskeletal Rehabilitat Leuven Belgium Katholieke Univ Leuven Biomech & Engn Design Section Leuven Belgium

ISBN: (纸本)9781424428823

This paper reports on the development of a powered below-knee (BK) prosthesis. The initial prosthesis prototype is a pneumatically powered system, which serves as test bed for proof-of-concept and evaluating control algorithms in laboratory conditions. The mechatronical design of the prosthesis is described, including the selection, the characteristics and working principle of its actuators. The control approach is discussed. First experimental results with an amputee are presented that demonstrate the promising performance properties of the powered prosthesis in restoring ankle power to the user in level walking.

关键词： amputee gait pneumatic muscles power generation prosthesis prototype

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Hybrid Image Stabilization for In Vivo Microscopic Imaging

Hybrid Image Stabilization for <i>In Vivo</i> Microscopic Im...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Lee, Sungon Nakamura, Yoshihiko Ozaki, Takeshi Korea Adv Inst Sci & Technol Ctr Cognit Robot Res POB 131 Seoul 130650 South Korea Univ Tokyo Dept Mech Informat Tokyo 1138654 Japan

ISBN: (纸本)9781424428823

This paper proposes hybrid image stabilization for in vivo microscopy. In vivo microscopy, which deals with living tissues in a living subject, has been becoming more and more important because it will reveal lots of unknown biological mysteries. One of the fundamental difficulties in in vivo microscopy is that the observing images from the microscope are so unstable due to the subject's trembling, causing the observation difficulty. This trembling motion comes from the biological motion such as breathing, heartbeat, and so on. We propose hybrid image stabilization as a solution for getting stabilized images with respect to a vibrating subject. The hybrid image stabilization utilizes both hardware stabilization method and software stabilization method. In our hybrid system design, hardware stabilization gets rid of big motion by lens tracking and software stabilization further removes the remaining small motion through a realtime image processing on the image plane. We verify the effectiveness of our approach by showing experimental results with our hybrid image stabilization system.

关键词： Stabilization

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A Human-Machine Interface for assistive exoskeleton based on face analysis

A Human-Machine Interface for assistive exoskeleton based on...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Baklouti, Malek Bruin, Michael Guitteny, Vincent Monacelli, Eric Fac Versailles Robot & Signal proc & THALES Secur Syst & Serv Ma Versailles France Fac Versailles LISV Versailles France Thales Security Syst & Serv Mexico City DF Mexico

ISBN: (纸本)9781424428823

This paper proposes a human machine interface for assistive exoskeleton based on face analysis. The 4 DoF assistive robotic system designed is dedicated to people suffering from myopathy and aims to compensate for the loss of mobility in the upper limb. The proposed interface is able to convert user head gesture and mouth expression into a suitable control command. Moreover, we propose a visual context analysis component to make a more accurate command. The tests conducted show that the use of vision based interface is particularly adapted to disabled people. In this paper, we will first describe the problematic and the designed mechanical system. Next, we will describe the two approaches developed for visual sensing interface: head control and mouth expression control. We will focus on mouth extraction algorithm. Finally, we introduce the context detection for scene understanding.

关键词： Rehabilitation robots Face detection Head gesture interface Lips extraction Context analysis

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Accurate Positioning for Intervention on the Beating Heart using a Crawling robot

Accurate Positioning for Intervention on the Beating Heart u...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Patronik, N. A. Ota, T. Zenati, M. A. Riviere, C. N. Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA Univ Pittsburgh Div Cardiothorac Surg Pittsburgh PA 15260 USA

ISBN: (纸本)9781424428823

Heart failure resulting from myocardial infarct, oxygen-deprived tissue death, is a serious disease that affects over 20 million patients in the world. The precise injection of tissue-engineered materials into the infarct site is emerging as a treatment strategy to improve cardiac function for patients with heart failure. We have developed a novel miniature robotic device (HeartLander) that can act as a manipulator for precise and stable interaction with the epicardial surface of the beating heart by mounting directly to the organ. The robot can be delivered to and operate within the intrapericardial space with the chest closed, through a single small incision below the sternum. The tethered crawling device uses vacuum pressure to maintain prehension of the epicardium, and a drive wire transmission motors for actuation. An onboard electromagnetic tracking sensor enables the display of the robot location on the heart surface to the surgeon, and closed-loop control of the robot positioning to targets. In a closed-chest animal study with the pericardium intact, HeartLander demonstrated the ability to acquire a pattern of targets located on the posterior surface of the beating heart within an average of 1.7 +/- 1.0 mm. Dye injections were performed following the target acquisitions to simulate injection therapy for heart failure. HeartLander may prove useful in the delivery of intrapericardial treatments, like myocardial injection therapy, in a precise and stable manner, which could be performed on an outpatient basis.

关键词： Manipulators

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proceedings - 2nd IEEE international conference on Self-Adaptive and Self-Organizing Systems, SASO 2008

Proceedings - 2nd IEEE International Conference on Self-Adap...

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2nd IEEE international conference on Self-Adaptive and Self-Organizing Systems, SASO 2008

ISBN: (纸本)9780769534046

The proceedings contain 55 papers. The topics discussed include: awareness-driven phase transitions in very large scale distributed systems;a robust audit mechanism to prevent malicious behaviors in multi-robot systems;RFID-based communications for a self-organizing robot swarm;model-based analysis of autonomous self-adaptive cooperating robots;a simulator for self-adaptive energy demand management;bottom-up self-organization of unpredictable demand and supply under decentralized power management;designing self-organization for evolvable assembly systems;self-regulation in self-organizing multi-agent systems for adaptive and intelligent manufacturing control;the influence of memory in a threshold model for distributed task assignment;towards desynchronization of multi-hop topologies;a self-organization model for complex computing and communication systems;and an infection-based mechanism for self-adaptation in multi-agent complex networks.

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Multi-Agent Hierarchical Architecture Modeling Kinematic Chains employing Continuous RL Learning with Fuzzified State Space

Multi-Agent Hierarchical Architecture Modeling Kinematic Cha...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Karigiannis, John N. Tzafestas, Costas S. Natl Tech Univ Athens Fac Elect & Comp Engn Div Signals Control & Robot GR-15773 Athens Greece

ISBN: (纸本)9781424428823

In the context of multi-agent systems, we are proposing a hierarchical robot control architecture that comprises artificial intelligence (AI) techniques and traditional control methodologies, based on the realization of a learning team of agents in a continuous problem setting. In a multi-agent system, action selection is important for cooperation and coordination among the agents. By employing reinforcement learning (RL) methods in a fuzzified state-space, we accomplish to design a control architecture and a corresponding methodology, engaged in a continuous space, which enables the agents to learn, over a period of time, to perform sequences of continuous actions in a cooperative manner, in order to reach their goal without any prior generated task model. By organizing the agents in a nested architecture, as proposed in this work, a type of problem-specific recursive knowledge acquisition is attempted. Furthermore, the agents try to exploit the knowledge gathered in order to be in position to execute tasks that indicate certain degree of similarity. The agents correspond in fact to independent degrees of freedom of the system, and achieve to gain experience over the task that they collaboratively perform, by exploring and exploiting their state-to-action mapping space. A numerical experiment is presented in this paper, performed on a simulated planar 4 degrees of freedom (DOF) manipulator, in order to evaluate both the proposed hierarchical multi-agent architecture as well as the proposed methodological framework. It is anticipated that such an approach can be highly scalable for the control of robotic systems that are kinematically more complex, comprising multiple DOFs and potentially redundancies in open or closed kinematic chains, particularly dexterous manipulators.

关键词： Multi agent systems

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HUT-ICCE 2008 - 2nd international conference on Communications and Electronics

HUT-ICCE 2008 - 2nd International Conference on Communicatio...

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HUT-ICCE 2008 - 2nd international conference on Communications and Electronics

ISBN: (纸本)9781424424269

The proceedings contain 73 papers. The topics discussed include: inverse model identification of 2-axes pneumatic artificial muscle (PAM) robot arm using double narx fuzzy model and genetic algorithm;analysis and evaluation of traffic-performance in backtracked routing network-on-chip;dynamic model identification of the 2-axes PAM robot arm using neural MIMO NARX model;prototyping of a network-on-chip on spartan 3E FPGA;a comparative study of position control of a SAM actuated manipulator;design and implementation of parallel hierarchical finite state machines;utilize absorption modulation of an injection-locked Fabry-Perot laser diode to demonstrate all-optical multi-wavelength conversion;introduction to quantitative feedback theory for robust force control of load simulator;and HEVS: herbal effect visualization system for treatments in oriental medicine.

关键词： Machine design

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Obstacle collision prevention of mobile robot using force feedback in remote sites 08

Obstacle collision prevention of mobile robot using force fe...

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proceedings of the 2nd international conference on Ubiquitous information management and communication

作者： Jung, Soon Mook Song, Tae Houn Jeon, Jae Wook Sungkyunkwan University 300 Cheoncheon-dong Jangan-gu Suwon Gyeonggi-do Korea Republic of

ISBN: (纸本)9781595939937

Essential surrounding environmental information needed to control remote mobile robots can be garnered from devices such as cameras, and ultrasonic and infrared sensors. Image delay and sensor noise sensitivity may engender inaccuracies in the information collected. robot control by the user may become difficult. A force feedback controller transmitting a repulsive force to the user can aid recognition of the surrounding environment. This can operate despite the limited image information and uncertain sensor information. It is possible to transmit the magnitude and direction of the repulsive force by a vibration. The controller manages the vibration frequency and the vibration magnitude. A robot displays the information of the surrounding environment on a grid map to calculate the repulsive force of the obstacle. The cells of the grid map are filled with the certainty value of the obstacle. Then, the robot calculates the sum of the repulsive forces of the obstacle by a repulsive force vector calculation. The user can obtain the distance between the obstacle and robot using tactile perception using this method. The user, recognizing the obstacle's distance by the magnitude and duration of the vibration, can navigate the robot at a remote site. © 2008 ACM.

关键词： Mobile robots

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Stiffness control of 2-DOF Exoskeleton for Brain-Machine Interfaces

Stiffness Control of 2-DOF Exoskeleton for Brain-Machine Int...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Heliot, Rodolphe Orsborn, Amy Carmena, Jose M. Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA Univ Calif Berkeley UCB UCSF Grad Grp Bioengn Berkeley CA 94720 USA Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA Univ Calif Berkeley Helen Wills Neurosci Inst Berkeley CA 94720 USA

ISBN: (纸本)9781424428823

Previous demonstrations of brain-machine interfaces have shown the potential for controlling a neuroprosthesis under pure motion control, i.e. predicting end effector kinematics from neural ensemble activity. For real world tasks, however, pure motion control lacks the information required for versatile manipulation in which the dynamic interactions of forces and torques between the musculoskeletal system and the environment play a crucial role. Thus, our current efforts aim at enabling a subject using a brain-machine interface to volitionally control the mechanical impedance of the prosthetic device. Here we propose the use of a two-link arm exoskeleton to investigate upper limb stiffness in non-human primates. We show that the device can be used to experimentally measure end-point limb stiffness, as well as to control the stiffness when the exoskeleton is used in slave-robot mode. Experimental results show that this platform allows for both stiffness measurement and control of the robotic device.

关键词： Stiffness

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Experimental Evaluation of robot-Assisted Tactile Sensing for Minimally Invasive Surgery

Experimental Evaluation of Robot-Assisted Tactile Sensing fo...

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2nd Biennial IEEE RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob 2008)

作者： Trejos, Ana Luisa Jayender, Jagadeesan Perri, Melissa T. Naish, Michael D. Patel, Rajni V. Malthaner, Richard A. Lawson Hlth Res Inst CSTAR 339 Windermere Rd London ON Canada Univ Western Ontario Dept Elect & Comp Engn London ON Canada Univ Western Ontario Dept Surg London ON Canada CSTAR Dept Mech & Mat Engn London ON Canada CSTAR Dept Elect & Comp Engn London ON Canada Univ Western Ontario CSTAR Div Thorac Surg Dept Surg London ON Canada

ISBN: (纸本)9781424428823

The 10 mm incisions used in minimally invasive cancer surgery prevent direct manual palpation of internal organs, making intraoperative tumor localization difficult. A tactile sensing instrument (TSI), that uses a commercially available sensor to measure distributed pressure profiles along the contacting surface, has been developed to facilitate remote tissue palpation. The objective of this research was to assess the feasibility of using the TSI under robotic control to reliably locate underlying tumors. The performance of human and robot manipulation of the TSI to locate tumor phantoms embedded into ex vivo bovine livers was compared. An Augmented Hybrid Impedance control scheme was implemented on a Mitsubishi PA10-7C robot to perform force/position control during the trials. The results showed that using the TSI under robotic control realized an average 35% decrease in the maximum forces applied, and more than a 50% increase in tumor detection accuracy when compared to manual manipulation of the same instrument. This demonstrates that tumor detection using tactile sensing is highly dependent on the consistent application of forces on the tactile sensing area and that robotic assistance can be of great benefit when trying to localize tumors during minimally invasive surgery.

关键词： Tumors

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