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检索条件"机构=ARTS Lab-Advanced Robotics Technology and Systems Laboratory"

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Towards Development of Biomechatronic Tools for Early Diagnosis of Neurodevelopmental Disorders

Towards Development of Biomechatronic Tools for Early Diagno...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Domenico Campolo Massimo Molteni Eugenio Guglielmelli Flavio Keller Cecilia Laschi Paolo Dario Biomedical Robotics & EMC Lab Università Campus Bio-Medico via Longoni 83 00155 Roma - Italy. d.campolo@unicampus.it Psychopathology Dept I. R. C. C. S. Eugenio Medea Bosisio Parini Lecco Italy Biomedical Robotics & EMC Lab Università Campus Bio-Medico via Longoni 83 00155 Roma - Italy Developmental Neuroscience and Neural Plasticity Lab Universita Campus Bio Medico Rome Italy Scuola Superiore SantAnna Advanced Robotics Technology and Systems Laboratory Pisa Italy

This paper introduces Neurodevelopmental Engineering, a new interdisciplinary research area at the intersection of developmental neuroscience and bioengineering. Specifically, it presents current results of the design and development process of a set of instrumented toys equipped with a variety of sensors for behavioral analysis of infants in minimally structured environmental conditions. First the multidisciplinary design approach is presented, then the detailed functional and technical specifications of the proposed biomechatronic toys and of their scenarios of use are described. Finally, a clear picture of ongoing implementation of the proposed technology is provided together with preliminary results of verification tests

关键词： Biomechatronics Autism Pediatrics Humans Robots Neuroscience Biomedical engineering Testing Variable speed drives Mechatronics

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Development of a Bioinstrumentation System in the Interaction between a Human and a Robot

Development of a Bioinstrumentation System in the Interactio...

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Kazuko Itoh Hiroyasu Miwa Yuko Nukariya Massimiliano Zecca Hideaki Takanobu Stefano Roccella Maria Chiara Carrozza Paolo Dario Atsuo Takanishi ROBOCASA Tokyo Japan Department of Mechanical Engineering Waseda University Tokyo Japan Humanoid Robotics Institute (HRI) Waseda University Tokyo Japan Digital Human Research Center National Institute of Advanced Industrial Science and Technology (AIST) Tokyo Japan Graduate School of Science and Engineering Waseda University Tokyo Japan Department of Mechanical Systems Engineering Kogakuin University Tokyo Japan ASMeW Waseda University Tokyo Japan Scuola Superiore Sant Anna ARTS Laboratory Italy Scuola Superiore Sant' Anna ARTS Lab Pontedera Italy Advanced Research Institute for Science and Engineering Waseda University Tokyo Japan Tokyo Japan

Personal robots, which are expected to become popular in the future, are required to be active in joint work and community life with humans. Such robots must have no bad physical or psychical effect on humans. The psychical effect of a robot on humans has been subjectively measured using questionnaires. However, it has not been objectively measured yet. Human emotion and the consciousness direction can be measured by physiological parameters and body motion, respectively. Therefore, the bioinstrumentation system WB-1 was developed in order to objectively measure the psychical effect of a robot on a human. It can measure physiological parameters such as respiration, heart rate, perspiration and pulse wave, and arm motion. Analyzing human stress in the interaction with a robot from electrocardiogram, the robot could generate a motion for decreasing the stress

关键词： Human robot interaction Robot kinematics Humanoid robots Service robots Psychology Biomedical measurements Biomedical engineering Orbital robotics Intelligent robots Motion measurement

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A novel wearable interface for robotic hand prostheses

A novel wearable interface for robotic hand prostheses

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： M.C. Carrozza A. Persichetti C. Laschi F. Vecchi R. Lazzarini V. Tamburrelli P. Vacalebri P. Dario Advanced Robotics Technology and Systems Laboratory of the Scuola Superiore ARTS Laboratory Pisa Italy

This paper presents an experimental investigation on a novel interface for high level control of hand prostheses, based on selected foot movements. A prototype has been developed that integrates four sensitive areas, battery, and electronics for data acquisition and wireless transmission into a wearable insole. The prototype foot interface has been experimentally validated in the control of a robotic hand prosthesis. Comparative experimental trials were conducted with 10 able-bodied subjects, with both the foot interface and an electromyographic (EMG)-based control. The results confirmed the effectiveness of the foot interface in the control of the hand prosthesis and showed a significant decrease in required adaptation and learning from the user's side.

关键词： Robots Prosthetics Switches Batteries Flexible printed circuits Prototypes Legged locomotion Accelerometers Rehabilitation robotics Bluetooth

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A novel wearable foot interface for controlling robotic hands

A novel wearable foot interface for controlling robotic hand...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： M.C. Carrozza A. Persichetti C. Laschi F. Vecchi P. Vacalebri V. Tamburrelli R. Lazzarini P. Dario Scuola Superiore Sant'Anna Advanced Robotics Technology and Systems Laboratory ARTS Laboratory Pisa Italy

This paper presents an experimental investigation on a novel interface for high level control of robotic hands, based on selected foot movements. A prototype has been developed that integrates 4 sensitive areas, battery, and electronics for data acquisition and wireless transmission into a wearable insole. The prototype foot interface has been experimentally validated in the control of a robotic hand prosthesis. Comparative experimental trials were conducted with 10 able-bodied subjects, with both the foot interface and an EMG-based control, which represents the most advanced interface currently available in clinical implants for amputees. The results confirmed the effectiveness of the foot interface in the control of the hand prosthesis and showed a significant decrease in required adaptation and learning from the user's side.

关键词： Foot Robot control Robot sensing systems Prototypes Prosthetics Level control Batteries Data acquisition Wireless sensor networks Implants

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A step toward GPS/INS personal navigation systems: real-time assessment of gait by foot inertial sensing

A step toward GPS/INS personal navigation systems: real-time...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： F. Cavallo A.M. Sabatini V. Genovese ARTS Lab-Advanced Robotics Technology & Systems Lab Scuola Superiore Sant'' Anna Pisa Italy

In this paper, we develop a system for which applications in the field of personal navigation are planned. In the current version, the system embodies a Global Positioning System (GPS) receiver and an inertial measurement unit (IMU), composed of two dual-axis accelerometers and one single-axis gyro. The IMU is positioned at a subject's foot instep, and it is intended to produce estimates of some gait parameters, including stride length, stride time, and walking speed. Data from GPS and IMU are managed by a DSP-based control box. The computations performed by the DSP processor allow to detect subsequent foot contacts by a threshold-based method applied to gyro signal, and to reconstruct the trajectory of the foot instep by numerical strapdown integration. Features of human walking dynamics are incorporated in the algorithm to enhance the estimation accuracy against errors due to sensor noise and integration drift. All computations are performed by the DSP processor in real-time conditions. The foot sensor performance is assessed during outdoor level walking trials. The traveled distance estimated by inertial dead-reckoning is compared with the estimate produced by GPS in experimental conditions where GPS can be used as a reference source for accurate absolute positioning. Results show the remarkable accuracy achieved by foot inertial sensing.

关键词： Global Positioning System Navigation Real time systems Foot Legged locomotion Digital signal processing Measurement units Accelerometers Signal processing Humans

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A bio-inspired sensory-motor neural model for a neuro-robotic manipulation platform

A bio-inspired sensory-motor neural model for a neuro-roboti...

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International Conference on advanced robotics (ICAR)

作者： G. Asuni G. Teti C. Laschi E. Guglielmelli P. Dario ARTS Lab (Advanced Robotics Technology and System Laboratory) Scuola Superiore Sant' Anna Pisa Italy Laboratory of Biomedical Robotics & EMC Università Campus Bio-Medico di Roma Rome Italy

This paper presents a neural model for visuo-motor coordination of a redundant robotic manipulator in reaching tasks. The model was developed for, and experimentally validated on, a neurobotic platform for manipulation. The proposed approach is based on a biologically-inspired model, which replicates the human brain capability of creating associations between motor and sensory data, by learning. The model is implemented here by self-organizing neural maps. During learning, the system creates relations between the motor data associated to endogenous movements performed by the robotic arm and the sensory consequences of such motor actions, i.e. the final position of the end effector. The learnt relations are stored in the neural map structure and are then used, after learning, for generating motor commands aimed at reaching a given point in 3D space. The approach proposed here allows to solve the inverse kinematics and joint redundancy problems for different robotic arms, with good accuracy and robustness. In order to validate this, the same implementation has been tested on a PUMA robot, too. Experimental trials confirmed the system capability to control the end effector position and also to manage the redundancy of the robotic manipulator in reaching the 3D target point even with additional constraints, such as one or more clamped joints, tools of variable lengths, or no visual feedback, without additional learning phases

关键词： Biosensors Biological system modeling Robot kinematics Orbital robotics Robot sensing systems Manipulators End effectors Brain modeling Humans Arm

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Behavior model of humanoid robots based on operant conditioning

Behavior model of humanoid robots based on operant condition...

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IEEE-RAS International Conference on Humanoid Robots

作者： K. Itoh H. Miwa M. Matsumoto M. Zecca H. Takanobu S. Roccella M.C. Carrozza P. Dario A. Takanishi Department of Mechanical Engineering Waseda University Tokyo Japan Institute for Biomedical Engineering ASMew Waseda University Tokyo Japan Digital Human Research Center National Institute for Advanced Industrial Science and Technology Tokyo Japan Graduate School of Science and Engineering Waseda University Tokyo Japan Scuola Superiore Sant'Anna ARTS Laboratory Pontedera Italy Humanoid Robotics Institute (HRI) Waseda University Tokyo Japan Department of Mechanical Systems Engineering Kogakuin University Tokyo Japan Advanced Research Institute for Science and Engineering Waseda University Shinjuku Tokyo Japan

Personal robots, which are expected to become popular in the near future, are required to be active in work and community life alongside humans. Therefore, we have been developing new mechanisms and functions in order to realize natural bilateral interaction by expressing emotions, behaviors and personality in a human-like manner. We have proposed a mental model with emotion, mood, personality and needs. However, the robot behavior was very simple since the robot shows just a single kind of behavior in response to a robot mental state. In this paper, we present a new behavior model for humanoid robots based on operant conditioning, which is a well-known psychological behavior model. We implemented this new behavior model into the emotion expression humanoid robot WE-4RII (Waseda Eye No.4 Refined II), developed in 2004. Through the experimental evaluations, we confirmed that the robot with the new behavior model could autonomously select suitable behavior for the situation within a predefined behavior list

关键词： Humanoid robots Robot kinematics Humans Service robots Biomedical engineering Cognitive science Psychology Orbital robotics Mood Robotic assembly

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On the analysis of knee biomechanics using a wearable biomechatronic device

On the analysis of knee biomechanics using a wearable biomec...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： S. Micera J. Carpaneto A. Scoglio F. Zaccone C. Freschi E. Guglielmelli P. Dario Advanced Robotics Technology and Systems (ARTS) Laboratory Scuola Superiore Sant'' Anna Pisa Italy

In this paper a wearable biomechatronic system (named MEKA) for the analysis of knee movements in two degrees of freedom is presented. The system has been designed in order to be used not only in laboratory environment (as many other commercial systems) but also in real-life conditions (e.g. for experiments on sport biomechanics). The performance of the MEKA device and of two commercial systems (an electrogoniometer and a camera-based motion analyzer) has been compared. The results showed that the MEKA system is able to obtain similar or even better performance during movements. After this preliminary assessment phase, the MEKA system has been used to analyse the modifications of motor performance of elderly and young people during gait using a "dual-task" approach. The results show that elderly people seems to be more affected by the increase cognitive efforts. In conclusion, the MEKA system seems to be able to provide interesting information for experiments on biomechanics and motor control.

关键词： Knee Biomechanics Biomechatronics Motion analysis Performance analysis Senior citizens Goniometers Magnetic analysis Kinematics Hardware

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Experimental analysis of the conditions of applicability of a robot sensorimotor coordination scheme based on expected perception

Experimental analysis of the conditions of applicability of ...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： E. Datteri G. Asuni G. Teti C. Laschi P. Dario E. Guglielmelli Department of Philosophy University of Pisa Pisa Italy Scuola Superiore Sant'Anna ARTS Lab (Advanced Robotics Technology and Systems Laboratory) Pisa Italy

This paper describes an experimental work conducted in order to estimate the conditions of applicability of expected perception (EP) based on a scheme for robot sensorimotor coordination. The starting hypothesis is that predictions of incoming sensory data can improve sensorymotor coordination respect to pure feedback loops. This implies that the environment presents a level of predictability, as in realistic environments. An implementation of the EP-based scheme has been realized on a platform composed by the Dexter 8-d.o.f. robotic arm and a color camera, for executing a pushing task in a real-world environment. Its performance, where defined as a combination of the error in the trajectory following and the computational effort, has been compared with that of a feedback-based system executing the same task in the same environmental conditions. The results have been put in relation with the degree of environmental predictability, which was controlled in the experimental trials. The experimental results give support and useful insights for analyzing the applicability of the EP-based scheme.

关键词： Robot sensing systems Robot kinematics Humans Delay Sensor systems Subspace constraints Paper technology laboratories Feedback loop Robot vision systems

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A neuro-controller for robotic manipulators based on biologically-inspired visuo-motor co-ordination neural models

A neuro-controller for robotic manipulators based on biologi...

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International IEEE/EMBS Conference on Neural Engineering, CNE

作者： G. Asuni F. Leoni E. Guglielmelli A. Starita P. Dario ARTS LAB (Advanced Robotics Technology and Systems Laboratory) Scuola Superiore Sant Anna Department of Informatics University of Pisa Pisa Italy ARTS LAB (Advanced Robotics Technology and Systems Laboratory) Scuola Superiore Sant'' Anna Pisa Italy Department of Informatics University of Pisa Italy

This paper presents a novel scheme for sensor-based control of robotics manipulators by means of artificial neural networks. The system is able to control simple reaching tasks by only fusing visual and proprioceptive sensory data, without computational kinematic modeling of the arm structure, Thanks to the generalization features typical of the neural approach, the same neurocontroller has been easily adapted and successfully validated for controlling different manipulators with different mechanical structures, i.e. number of degrees of freedom, link length and weight, etc. The proposed scheme is directly inspired to research results in the field of neuroscience, specifically on nervous structures and physiological mechanisms involved in sensory motor coordination. From a psychological point of view J. Piaget (1976) explained visuo-motor associations in his scheme of circular reaction. He observed how, by making endogenous movements and correlating the resulting arm and hand spatial locations, the brain allows an auto-association to be created between visual and proprioceptive sensing. The work presented in this paper is derived from the more recent DIRECT model proposed D. Bullock et al. (1993). Significant and original modifications of such model have been introduced by the authors to increase, at the same time, both system performance and the biological coherence. The proposed neurocontroller has been first simulated both in the 2-dimensional and the 3-dimensional case, and then implemented for experimental trials on two real robotic manipulators.

关键词： Manipulators Biological system modeling Robot kinematics Robot sensing systems Neurocontrollers Robot control Artificial neural networks Biology computing Computational modeling Neuroscience

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