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检索条件"任意字段=Proceedings of the 2019 2nd International Conference on Control and Robot Technology"

共 3963 条记录，以下是3661-3670 订阅

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A new hydraulically/pneumatically actuated mrcompatible robot for MRI-guided neurosurgery

A new hydraulically/pneumatically actuated mrcompatible robo...

引用

2nd international conference on Bioinformatics and Biomedical Engineering, iCBBE 2008

作者： Raoufi, Cyrus Goldenberg, Andrew A. Kucharczyk, Walter Department of Mechanical and Industrial Engineering University of Toronto Toronto ON Canada Department of Medical Imaging University of Toronto Toronto ON Canada

ISBN: (纸本)9781424417483

In this paper the design of a novel modular hydraulic/pneumatic actuated tele-robotic system and a new infrastructure for MRI-guided intervention for closed-bore MRI-guided neurosurgery are presented. Candidate neurosurgical procedures enabled by this system would include thermal ablation, radiofrequency ablation, deep brain stimulators, and targeted drug delivery. The major focus is the application of the designed MR-compatible robotic system to MRI-guided brain biopsy. Navigation and operating modules were designed to undertake the alignment and advancement of the surgical needle respectively. The mechanical design and control paradigm are reported. © 2008 IEEE.

关键词： Machine design

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Second international conference on Innovative Computing, Information and control, ICICIC 2007

Second International Conference on Innovative Computing, Inf...

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2nd international conference on Innovative Computing, Information and control, ICICIC 2007

ISBN: (纸本)0769528821

The proceedings contain 620 papers. The topics discussed include: Characteristics of human speed sensation for flying-ball pictures;detecting changes of affects by accelerated plethysmogram;character selection with sympathetic skin response when listening to sounds;influence of the sensation of vibration on perception and sensibility while listening to music;moving picture creation based on physical and kansei information of music;face recognition based on dominant frequency features and multiresolution metric;a master-slave neural network for precise diagnosis of large rotating machinery;research on spin rocket double-channel proportional control characteristics;a study on particle fuzzy reasoning method;design and development of knowware system;animal gait generation for quadrupedal robot;service robot system in a store using personal attribute;sensor data fusion in autonomous robotics;study on evolution of domain ontology;and predictor system for industrial data.

关键词： Image analysis

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Behavior description and environment modelling for wheeled mobile robots of home service

Behavior description and environment modelling for wheeled m...

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2nd international conference on Innovative Computing, Information and control, ICICIC 2007

作者： Xuefeng, Dai Ming, Yin Yan, Shi Computer and Control Engineering Institute Qiqihar University Qiqihar Heilongjiang 161006 China Graduate School of Science and Technology Tokai University Unified Graduate School 9-1-1 Toroku Kumamoto 862-8652 Japan

ISBN: (纸本)0769528821

Wheeled mobile robots have promising applications in home service. However, the complexity and variety of home environments limited the applications. A novel approach, which is based on automaton, fuzzy logic and neural networks, for behavior description of home robot is proposed. It adopted formal language and automata to describe service behavior and motion behavior simultaneously, and adopted recurrent neural networks to model the environment's knowledge and to implement a navigator. The network can construct itself on-line automatically. © 2007 IEEE.

关键词： robots

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Semi-Automatic Software Development Based on MDD for Heterogeneous Multi-Joint robots

Semi-Automatic Software Development Based on MDD for Heterog...

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2nd international conference on Future Generation Communication and Networking

作者： Son, Hyun Seung Kim, Woo Yeol Kim, R. Young Chul Hongik Univ Dept Comp & Informat Comm Seoul South Korea

ISBN: (纸本)9781424434305

It might be necessary to develop the multi-joint robots that can work very dedicated movable like a kind of unmanned ground vehicles on very complicated and hazardous environments. These typed robots. might be difficultly so controlled and developed that they should control plenty of servo-motors and also diverse hardware. It will be very hard to reuse the software source codes associated with these own robots, much less for heterogeneous ones. It is very difficult to develop heterogeneous multi-joint robots. So we propose the semi-automatic software development based on MDD (Model Driven Development) for heterogeneous multi-joint robots.

关键词： Model Driven Development CASE Tool Multi-Joint robot Unified Modeling Language Modeling

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A wearable device for repetitive hand therapy

A wearable device for repetitive hand therapy

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

作者： Kexin Xing Qi Xu Jiping He Yongji Wang Zhongwei Liu Xiaolin Huang Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Technology Huazhong University of Science and Technology Wuhan China Harrington Department of Bioengineering and Center for Neural Interface Design at the Biodesign Institute Arizona State University Tempe AZ USA Department of Rehabilitation Medicine Tongji Hospital Tongji Medical College Huazhong University of Science and Technology Wuhan China

Intensive task-oriented repetitive physical therapies provided by individualized interaction between the patient and a rehabilitation specialist can improve hand motor performance in patients survived from stroke and traumatic brain injury. However, the therapy process is long and expensive and difficult to evaluate quantitatively and objectively. The goal of this research is to develop a novel wearable device for robotic assisted hand repetitive therapy. We designed a pneumatic muscle (PM) driven therapeutic device that is wearable and provides assistive forces required for grasping and release movements. The robot has two distinct degrees of freedom at the thumb and the fingers. The embedded sensors feedback position and force information for robot control and quantitative evaluation of task performance. It has the potential of providing supplemental at-home therapy in addition to in the clinic treatment.

关键词： Medical treatment robot sensing systems Force feedback Brain injuries Rehabilitation robotics Muscles Grasping Thumb Fingers Wearable sensors

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Combined Electromyography(EMG)-driven system with functional electrical stimulation (FES) for poststroke rehabilitation

Combined Electromyography(EMG)-driven system with functional...

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

作者： R. Li X. L. Hu K. Y. Tong Department of Health Technology and informatics Hong Kong Polytechnic University Hung Hom Hong Kong China

robot and functional electrical stimulation (FES) techniques have been used for improving motor functions after stroke respectively. In this work, we aimed to examine the combined effects from robot and FES in post-stroke wrist rehabilitation. We developed a new electromyography (EMG)-driven FES-robot system with a control algorithm, which was interactive to the voluntary motor inputs from persons after stroke. Two hemiplegic subjects with chronic stroke were recruited to test the EMG-driven FES-robot system. The results demonstrated that the integrated system was effective in improving the tracking performance represented by root mean squared error (RMSE) and root mean squared jerk (RMSJ) of tracking trajectories in programmed wrist tracking tasks assisted with different proportions of the interactive supports from the FES and robot parts respectively. This combined system may have the potential to be applied in stroke rehabilitation.

关键词： Neuromuscular stimulation Rehabilitation robotics Muscles Wrist Medical treatment Electromyography Humans Biomedical informatics Electrodes control systems

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Modular hybrid robots with biologically inspired actuators and joint stiffness control

Modular hybrid robots with biologically inspired actuators a...

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

作者： D. Surdilovic J. Radojicic M. Schulze M. Dembek Department Automation and Robotics Fraunhofer Institute of Production Systems and Design Technology (IPK) Berlin Germany Engineering Society for Automation and Computer Technology GmbH Berlin Germany

The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the internal module (i.e. robot joint) stiffness is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules.

关键词： Biological control systems Pneumatic actuators control systems Service robots Muscles Rubber Bellows Biological systems Jacobian matrices Force control

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Gaze Interface: Utilizing Human Predictive Gaze Movements for controlling a HBS

Gaze Interface: Utilizing Human Predictive Gaze Movements fo...

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

作者： Lord Kenneth Pinpin Roland S. Johansson Cecilia Laschi Paolo Dario Advanced Robotics Technology and Systems Laboratory-Scuola Superiore Sant Anna Pontedera Italy Department of Integrative Medical Biology Section for Physiology Umeå University Umea Sweden

We explore how gaze can be proactively used as part of the control interface for a hybrid bionic system (HBS) in goal directed tasks. Since human gaze behavior has been shown to support hand movement planning, tracking gaze fixation while doing simple, well-learned, object manipulation tasks provides a natural way for inferring the subjectpsilas motion intent. We devise a simple algorithm based on the gaze fixation area and gaze velocity for sending commands to a robot simulating a HBS. This gaze interface is shown to provide early specification of sequential movement goals according to the subjectpsilas action plan (intention) and early triggering of appropriate movement commands.

关键词： Humans control systems robot sensing systems Tracking Muscles Biomechatronics USA Councils Monitoring Object detection Prediction algorithms

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HyQ - Hydraulically actuated quadruped robot: Hopping leg prototype

HyQ - Hydraulically actuated quadruped robot: Hopping leg pr...

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

作者： Claudio Semini Nikos G. Tsagarakis Bram Vanderborght Yousheng Yang Darwin G. Caldwell Italian Institute of Technology Genoa Italy

This paper describes the concept, specifications and design of the biologically inspired quadruped robot HyQ, with special focus on the leg design. The main scope of this new robotic platform is to study highly dynamic tasks such as running and jumping. To meet the specifications in terms of performance and dimensions, hydraulic actuation has been chosen due to its high power to weight ratio and fast response. Guidelines on how to choose the design parameters of the hydraulic cylinders including lever length are reported. A two DOF leg prototype has been designed and constructed. The experimental test setup for the leg prototype is explained and the results of first hopping experiments are reported.

关键词： Legged locomotion Leg Prototypes Force control Springs Mobile robots Humans Tendons Muscles Hydraulic actuators

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Augmenting cognitive processes in robot-assisted motor rehabilitation

Augmenting cognitive processes in robot-assisted motor rehab...

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

作者： Keng Peng Tee Cuntai Guan Kai Keng Ang Kok Soon Phua Chuanchu Wang Haihong Zhang Institute for Infocomm Research Agency for Science Technology and Research Singapore

Cognitive processes, such as motor intention, attention, and higher level motivational states are important factors that govern motor performance and learning. Current robot-assisted rehabilitative programs focus only on the physical aspects of training. In this paper, we propose a framework for motor rehabilitation based on the augmentation of cognitive channels of patient-robot interactions and using it to deliver a more optimal therapy. By examining the cognitive processes involved in motor control and adaptation, it is argued that optimal therapy needs to be considered in the context of a complete motor scheme consisting not only of sensorimotor signals, but also their interactions with cognitive operations, such as motor planning, attention, and motivation, which mediate motor learning. We outline a few BCI-based modules for the detection and monitoring of relevant cognitive processes, which provide inputs for the robot to automatically modulate parameters of the rehabilitation protocol. Preliminary investigations on a BCI module for detection of motor intention, performed on a small group of stroke patients, show feasible accuracies.

关键词： Cognitive robotics Rehabilitation robotics Medical treatment Motor drives Signal processing Process planning Patient monitoring Computerized monitoring Condition monitoring robot sensing systems

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