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IEEE International Conference on robotics and automation (ICRA)

作者： Sami Hussein Moritz Büchel Jörg Krüger Rehabilitation Robotics Group (IPK/TU Berlin) Faculty of Mechanical Engineering Technical University Berlin Berlin Germany Department of Industrial Automation Technology Division Fraunhofer Institute Technical University Berlin Berlin Germany

In robot assisted rehabilitation the development of sophisticated training strategies using force and impedance control methods is an important field of research. The objective of the presented work is to provide a haptic control framework for end-effector based gait rehabilitation robots, which allows for the training of arbitrary foot trajectories of daily life and the design of sophisticated, patient-adaptive training environments. Due to the end-effector design principle the machine carries the patient's full bodyweight during the whole training cycle which implies excessively high forces at the interaction ports. To allow for a guided movement under the described conditions the machine features powerful drives and a massive, stiff mechanical structure. This results in exceptionally high device inertia comparable to heavy-duty industrial robots and normally not common in haptic displays. To ensure stable interaction with a passive user and a known range of stiff and viscose virtual environments an adaptive virtual coupling controller is developed. To minimize the complexity of design procedure, a linear, discrete-time coupled and contact transition stability analysis is derived, taking into account the known target range of environments. The developed haptic controller was implemented and tested experimentally on the robotic walking simulator HapticWalker. It was shown to interact stably with virtual environments within the defined stiffness bounds. Further a set of lower target impedance parameters was evaluated in free motion without contact. An algorithm for the adaptation of the target damping was suggested to improve transparency during free motion while still ensuring a stable contact transition and interaction with stiff environment objects. The feasibility of the adaptive coupling controller was proven in free motion and walking experiments on the HapticWalker with the simulation static and dynamic virtual environments.

关键词： Haptic interfaces Impedance Legged locomotion Stability analysis Foot Virtual environments

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Robotic Force Control Assembly Parameter Optimization for Adaptive Production

Robotic Force Control Assembly Parameter Optimization for Ad...

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2011 IEEE International Conference on robotics and automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Jianjun Wang Biao Zhang Dave Gravel George Zhang Arnold Bell Corporate Research Center of ABB Inc. WindsorCT 06095US Advanced Manufacturing Technology Development Ford Motor CompanyLivoniaMI US Powertrain Automation Department in Robotics Division in ABB Engineering ShanghaiChina ABB Robotics Auburn HillsMI US

This paper presents a study on the Design Of Experiments (DOE)-based parameter optimization technique to adapt to the manufacturing environment changes in robotic force control assembly. Based on a real-world transmission torque converter assembly production process, investigation and analysis are performed in production. An on-pendant robotic assembly parameter optimization tool is introduced. When manufacturing environment changes such as the changes of geometrical dimension of part and tool (the location of feature on part, the size of the feature, the dimension of the tool, etc.), the changes of position and orientation of part, fixture or robot;the changes of properties of part (weight, spring constant, etc.), the performance metrics such as mean of the cycle time, mean plus 3 sigma of the cycle time, first time through (FTT) rate are degraded. The on-pendant optimization tool applies full factorial experiments on the most influential parameters. Then the results are subjected to statistical analysis to find the optimal parameter set. Finally verifying the optimized parameter set through running a number of experiments and checking on performance of the force control assembly to adapt the changes. The efficiency of proposed method is proved in the Ford Powertrain assembly production. The program continues running in production and adjusting the process parameters to adapt the manufacturing variations. The real factory acceptance testing results are presented and analyzed. Finally, conclusions are drawn and discussion and further investigation is proposed.

关键词： Assembly Robots Optimization Production Force control Torque converters

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Adaptive control of an end-effector based electromechanical gait rehabilitation device

Adaptive control of an end-effector based electromechanical ...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Sami Hussein Henning Schmidt Jorg Kruger Rehabilitation Robotics Group (IPK/TU Berlin) Faculty of Mechanical Engineering Technical University Berlin Berlin Germany Rehabilitation Robotics Group (IPK/TU Berlin) Automation Technology Division Fraunhofer Institute IPK-Berlin Berlin Germany Automation Technology Division Fraunhofer Institute IPK-Berlin Berlin Germany

In industrialized countries stroke is the major cause for physical disabilities in adults. In various clinical studies gait therapy with the help of the electromechanical gait trainer GT-I proved to enhance the rehabilitation outcome for subacute stroke patients. This paper presents control methods that were developed to enable variability during treatment in order to further improve gait therapy with this class of devices. The algorithms suitable for the gait trainer GT-I are analyzed in a simulation study. Therefore models which simulate the practicing subjects' behaviour were developed. A purely mechanical mass-damper system models the passive subjects behaviour while motor learning models were adopted to simulate patient adaptation different types of footplate guidance characteristics. Several adaptive approaches have been developed for other rehabilitation devices in the past. In this work two controllers were developed and evaluated. The first features a one dimensional control window along the footplate trajectory within which the patient is only slightly guided. Outside the window a force field draws the subject back to the window. The second algorithm extends the window controller with a human motor learning strategy for to adapt the window size and thereby the assistance provided to the subjects. They were tested in a simulation study with different human behaviour models, the results are presented in this paper.

关键词： Adaptive control Rehabilitation robotics Legged locomotion Humans Medical treatment Manuals Extremities Hospitals Velocity control Motor drives

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Effect of different training modes on ground reaction forces during robot assisted floor walking and stair climbing

Effect of different training modes on ground reaction forces...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Sami Hussein Henning Schmidt Stefan Hesse Jorg Kruger Rehabilitation Robotics Group (IPK/TU Berlin) Faculty of Mechanical Engineering Technical University Berlin Berlin Germany Rehabilitation Robotics Group (IPK/TU Berlin) Automation Technology Division Fraunhofer Institute IPK-Berlin Berlin Germany Department of Neurological Rehabilitation Medical Park Humboldtmühle/Charité University Hospital Berlin Germany Automation Technology Division Fraunhofer Institute IPK-Berlin Berlin Germany

The HapticWalker is a robotic walking simulator for neurological gait rehabilitation. The device is based on the end-effector principle, i.e. the patients' feet are fixed on two footplates, his trunk is secured via a suspension harness. The footplates (end-effectors) of the robot guide the feet of the patient on freely programmable trajectories. Currently two different training modes are provided for each foot trajectory on the HapticWalker. Firstly training trajectories based on real motion capture data can be used. Secondly the vertical center of mass (CoM) motion can be incorporated into the foot trajectory. The latter method leaves the absolute position of the CoM constant, while the relative movement between CoM and feet remains the same as in free walking. Thereby the vertical CoM motion can be actively supported by using a fixed passive suspension, any type of controlled body weight support will then be accomplished via force controlled footplates. To characterize the training on the machine in position controlled mode, muscle activities as well as ground reaction force data of healthy subjects were collected. This article presents preliminary results from the investigation of ground reaction force data of healthy subjects. Therefore data of 10 healthy subjects was used to compare HapticWalker training modes vs. free walking on level ground and upstairs without any assistive devices and the aforementioned two HapticWalker training modes against each other. Amplitude and timing of force peaks during heel strike, foot flat and push off in vertical ground reaction forces were used for the assessment. In spite of a footplate, which does not provide a separate metatarsal joint for relative motion between fore and hind foot, during heel strike and push off the known characteristic peaks at the beginning and the end of the stance phase can be clearly distinguished. Though compared to free walking a slower and premature rise and slower decline of ground reaction forc

关键词： Legged locomotion Rehabilitation robotics Force control Foot Force measurement Exoskeletons Motion control Humans Electromyography Biomechanics

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A comparative study of invariant descriptors for shape retrieval

A comparative study of invariant descriptors for shape retri...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： A. Amanatiadis V.G. Kaburlasos A. Gasteratos S.E. Papadakis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Division of Computing Systems Department of Industrial Informatics Technological Educational Institute of Kavala Kavala Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper presents a comparative study between scale, rotation and translation invariant descriptors for shape representation and retrieval. Specifically, we studied Fourier, angular radial transform and image moment descriptors for shape representation. Since shape is one of the most widely used image feature exploited in content-based image retrieval systems, we studied for each descriptor, the number of coefficients needed for indexing and their retrieval performance. Results showed that moment descriptors present the best performance in both terms of shape representation quality as well as in the amount of required coefficients.

关键词： Shape Fourier transforms Image retrieval Subspace constraints Laboratories Character recognition Content based retrieval Data mining Computer industry Electrical products industry

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Muscle coordination in healthy subjects during floor walking and stair climbing in robot assisted gait training

Muscle coordination in healthy subjects during floor walking...

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

作者： S. Hussein H. Schmidt M. Volkmar C. Werner I. Helmich F. Piorko J. Kruger S. Hesse Rehabilitation Robotics Group Faculty of Mechanical Engineering Technical University Berlin Berlin Germany Rehabilitation Robotics Group Automation Technology Division Fraunhofer Institute Berlin Germany Department of Neurological Rehabilitation Klinik Berlin University Hospital Berlin Germany Automation Technology Division Fraunhofer Institute Berlin Germany

The aim of gait rehabilitation is a restoration of an independent gait and improvement of daily life walking functions. Therefore the specific patterns, that are to be relearned, must be practiced to stimulate the learning process of the central nervous system (CNS). The Walking Simulator HapticWalker allows for the training of arbitrary gait trajectories of daily life. To evaluate the quality of the training a total of 9 subjects were investigated during free floor walking and stair climbing and during the same tasks in two different training modes on the HapticWalker: 1) with and 2) without vertical center of mass (CoM) motion. Electromyograms (EMG) of 8 gait relevant muscles were measured and muscle activation was compared for the various training modes. Besides the muscle activation as an indicator for the quality of rehabilitation training the study investigates if a cancellation of the vertical CoM movement by adaption of the footplate trajectory is feasible i.e. the muscle activation patterns for the two training modes on the HapticWalker agree. Results show no significant differences in activation timing between the training modes. This indicates the feasibility of using a passive patient suspension and emulate the vertical CoM motion by trajectory adaption of the footplates. The muscle activation timing during HapticWalker training shows important characteristics observed in physiological free walking though a few differences can still remain.

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Integration solution for the communication with Healthcare devices in Intensive Care Units

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IFAC Proceedings Volumes 2008年第2期41卷 9643-9648页

作者： José Luis Rodríguez Susana Martin Toral Javier Perez Turiel Computer and Information Technologies Division CARTIF Foundation (Centre for Automation Robotics and Information and Manufacturing Technology. Ave. Francisco Valles 204-205 Parque Tecnológico de Boecillo Valladolid Spain Head of Biomedical Engineering Division CARTIF Foundation

This paper presents a free Critical Care Information System (CCIS) that shows an essential infrastructure for critical care medical and nursing practice. Specifically, a Patient Integral Analysis Aid System (SAIP) in Intensive Care Units (ICU) has been developed to cover the needs discovered in these scenarios. An importart part of this system is related to medical equipment that offers important information to help in medical diagnosis. ICU patients are usually connected to several of these devices which register their physiological parameters. The integration of these devices, in order to exchange the generated information, is difficult because they are developed by different manufacturers and with different communication protocols and information representations. To reach this objective, the developed drivers have a common interface for the access and collection of medical device data. The main goal of the present paper is to show the work done to obtain a real interoperability among medical devices from different manufacturers and with different communication protocols in ICU services for automatic data collection, storage and retrieval.

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Muscle activation of stroke patients during stair climbing in robot assisted gait training

Muscle activation of stroke patients during stair climbing i...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： S. Hussein H. Schmidt M. Volkmar J. Kruger S. Hesse Rehabilitation Robotics Group (IPK/TU Berlin) Faculty of Mechanical Engineering Technical University Berlin Berlin Germany Rehabilitation Robotics Group (IPK/TU Berlin) Automation Technology Division Fraunhofer Institute IPK-Berlin Berlin Germany Department of Neurological Rehabilitation Klinik Berlin/Charité University Hospital Berlin Germany Automation Technology Division Fraunhofer Institute IPK-Berlin Berlin Germany

For central nervous system (CNS) impaired patients, e.g. after stroke, the achievement of an independent, stable gait function and endurance in walking is essential for independent mobility in daily life. Modern concepts of rehabilitation favor a task specific repetitive training, that facilitates natural motion and muscle activation patterns, i.e. in addition to commonly practiced floor walking other gait motions of daily living (ADL), such as stair climbing, should be trained. In gait rehabilitation of severely affected non-ambulatory patients, a guided training must be applied as no or only little voluntary motor control is left in the affected side. The rehabilitation robot HapticWalker is the first device that allows for robot assisted guided training of arbitrary foot trajectories, e.g. also stair climbing. The goal of this study was to assess the effect of guided training in stair climbing condition on the HapticWalker on the movement and muscle activation patterns of stroke patients. Generally rhythmic and phasic muscle activation patterns were observed, which is an important factor in gait rehabilitation. The training of stair climbing condition on the HapticWalker also facilitated body weight shift in all patients and proper activation of weight bearing muscles. The HapticWalker currently lacks a lateral hip guidance facility, hence individual differences in the ability of controlling hip movement and body weight shift depending on the level of gait ability were observed.

关键词： Muscles Legged locomotion Rehabilitation robotics Mobile robots Foot Hip Medical treatment Biomechatronics USA Councils Central nervous system

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Output feedback decoupling of neutral time delay systems

Output feedback decoupling of neutral time delay systems

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2007 Mediterranean Conference on Control and automation, MED

作者： Panagiotakis, G.E. Koumboulis, F.N. Paraskevopoulos, P.N. Halkis Institute of Technology Department of Automation 34400 Psahna Evias Greece National Technical University of Athens Division of Signals Control and Robotics Department of Electrical and Computer Engineering 15773 Zographou Athens Greece

ISBN: (纸本)142441282X

The problem of Input Output Decoupling is studied for the case of general neutral multi-delay systems, via proportional realizable output feedback. Using a pure algebraic approach, the necessary and sufficient conditions for the problem to have a realizable solution are established and the general analytical expressions of the proportional realizable controller matrices, are derived. © 2007 IEEE.

关键词： Timing circuits

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