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Upper extremity physical therapy for stroke patients using a general purpose robot

Upper extremity physical therapy for stroke patients using a...

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20th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2011

作者： Jung, Hee-Tae Baird, Jennifer Choe, Yu-Kyong Grupen, Roderic A. MA 01003-9264 United States Motor Control Laboratory Department of Kinesiology UMass Amherst MA 01003-9258 United States Faculty of Department of Communication Disorders UMass Amherst MA 01003-9296 United States Laboratory for Perceptual Robotics United States Faculty of Department of Computer Science UMass Amherst MA 01003-9258 United States

ISBN: (纸本)9781457715716

In recent years, the potential of robot-mediated upper extremity therapy has been widely acknowledged in stroke rehabilitation. The primary focus of rehabilitation robotics has been on building exoskeleton robots as well as devising control strategies that leverage robotic forces to adaptively assist and resist the movements of patients' impaired arms during repetitive reach-touch exercises. In our single subject case study, a robot presents exercise target positions that are successively more difficult to the patient. This serves to adaptively challenge the patient, while inducing voluntary reach-touch movements. Through data collected during 12 weeks of therapy with a single subject, we demonstrate that a general purpose robot can induce desired therapeutic exercise movements from a patient. In addition, we have observed that the challenge level can be adapted as the patient improves his motor function, which leads to observable improvements in the motor function of the patient. © 2011 IEEE.

关键词： Exoskeleton (robotics)

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Synergy level impedance control for multifingered hands

Synergy level impedance control for multifingered hands

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thomas Wimböck Benjamin Jahn Gerd Hirzinger Institute of Robotics and Mechatronics German AeroSpace Center (DLR) Wessling Germany Control Engineering Group Computer Science and Automation Faculty Ilmenau University of Technology Ilmenau Germany

In many robotic manipulation tasks a robotic hand is used to just grasp and fix the object of interest while the object motion is performed by the arm. Motivated by the analysis on human grasping using data reduction techniques, we applied this concept to the DLR Hand II. Therefore, we analyzed the grasp database that was grown over the past years to find suitable robotic ¿synergy coordinates¿. 74% of these grasps can be represented by two coordinates that were originally defined by 12 joint variables. As a second step, a synergy impedance controller was derived and implemented extending the work on passivity based hand control at DLR. This controller for torque-controlled robot hands allows to imitate the behavior of a synergistic, respectively underactuated, hand. Such a controller provides furthermore a simplified interface for higher level grasping strategies and allows furthermore to manually teach new grasps easily. The controller was evaluated on the DLR Hand II by commanding steps that demonstrate the desired transient behavior. Finally, two objects were successfully grasped validating our approach.

关键词： Robot kinematics Joints Impedance Databases Grasping Symmetric matrices

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Computational image analysis for determination of the oil palm fruit maturity

Computational image analysis for determination of the oil pa...

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IASTED International Conference on Computational Photography, CPhoto 2011

作者： Razali, Mohammad Hudzari Ismail, Wan Ishak Wan Harun, Mohammad Haniff B. Ramli, Abdul Rahman Sulaiman, Muhammad Nasir Intelligent System and Robotics Laboratory Institute of Advanced Technology 43400 Universiti Putra Malaysia Serdang Selangor Malaysia Department of Biological and Agriculture Engineering Faculty of Engineering 43400 Universiti Putra Malaysia Serdang Selangor Malaysia Department of Computer Science and Information Technology Faculty of Science Computer and Information Technology 43400 Universiti Putra Malaysia Serdang Selangor Malaysia Biological Research Division Malaysian Palm Oil Board No. 6 Persiaran Institusi Bandar Baru Bangi 43000 Kajang Selangor Malaysia Department of Agriculture Universiti Sultan Zainal Abidin Kampus Kota Kuala Terengganu 20400 Terengganu Malaysia

ISBN: (纸本)9780889868748

The experiment was conducted to determine the Hue optical properties of the three categories of Fresh Fruit Bunches (FFB) namely unripe, underripe and ripe. The Nikon Coolpix 4500 digital camera with tele-converter zooming and the Keyence machine vision were used to capture the FFB images with two different settings of natural environment and direct sunlight. The species of oil palm tree used for the experiments were Elaeis Oleifera and Elaeis Guineensis Jacq. The images from the Nikon digital camera were analysed for optical properties of Red, Green, Blue (RGB) and then convert to Hue value using developed graphical user interface (GUI). The Hue values will then be compared to the value obtained from Keyence machine vision. The images of oil palm FFB in plantation were captured with setting cameras parameter namely shutterspeed which set to 0.125 seconds, image sensor's sensitivity (ISO) was set to Normal and white balance were calibrated using the standard white calibration CR-A74. The lighting intensity under oil palm canopy was simultaneously recorded and monitored using Extech Light Meter Datalogger. Using Analysis of Variance (ANOVA), the ratio of test statistic of F with F critical for experiments under natural environment of oil palm plantation indicated the best differences of the hue optical properties among different maturity level of unripe, ripe and overripe FFB. Using the SAS programming for statistical analysis, the Hue and Red color values were found had significant effect to distinguish the maturity level (fm) of FFB with Pr > F are showed less than 0.01. The Green and Blue color values were not significant effect to differentiate the FFB maturity level which indicated the value of Pr > F showed 0.0243 and 0.9938 respectively. The Hue and Blue color values were not interaction with different lighting condition and the maturity level which indicated Pr > F for ml*fm showed 0.0668 and 0.1667 respectively. From the ANOVA analysis, the Hue is the best c

关键词： computer vision

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Multifractal analysis of blood oxygen level dependent functional magnetic resonance imaging

Multifractal analysis of blood oxygen level dependent functi...

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IEEE International Symposium on Signal Processing and Information Technology (ISSPIT)

作者： Catarina Runa Miranda Filipe Soares Inês Sousa Filipe Janela Mário Forjaz Secca Physics Department Faculty of Sciences and Technology New University of Lisbon Portugal Instituto de Telecomunicações Department of Computer Science University of Beira Interior Portugal Institute for Systems and Robotics Department of Bioengineering Instituto Superior Técnico Portugal Siemens S.A. Healthcare Sector Portugal

The aim of this work is to propose a multifractal analysis method for Multifractal Detrended Fluctuation analysis (MF-DFA) of Blood Oxygen Level Dependent (BOLD) functional Magnetic Resonance Imaging (fMRI). The fMRI signals exhibit a 1/f power spectrum, hence their structure has self-similarity and long memory, being usually successfully analyzed by different fractal analysis methods without a previous knowledge of haemodynamic models. Therefore, to validate activation detection using the MF-DFA method, a comparison study between images obtained using General Linear Model (GLM) and Independent Component Analysis (ICA) was conducted and evaluated by discrimination power, applying Receiver Operating Characteristic (ROC) analysis to the results.

关键词： Transforms Power measurement

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WORKSHOP: The role of expectations in intuitive human-robot interaction

WORKSHOP: The role of expectations in intuitive human-robot ...

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Verena Hafner Manja Lohse Joachim Meyer Yukie Nagai Britta Wrede Department of Computer Science Cognitive Robotics Berlin Germany CoR-Laboratory and Applied Informatics Technical Faculty Bielefeld University Germany Department of Industrial Engineering and Management University of Negev Israel Department of Adaptive Machine Systems Graduate School of Engineering Osaka University Japan Head of CoR-Laboratory research group Hybrid Society Technical Faculty Bielefeld University Germany

Human interaction is highly intuitive: we infer reactions of our opponents mainly from what we have learned in years of experience and often assume that other people have the same knowledge about certain situations, abilities, and expectations as we do. In human-robot interaction (HRI) we cannot take for granted that this is equally true since HRI is asymmetrical. In other words, robots have different abilities, knowledge, and expectations than humans. They need to react appropriately to human expectations and behaviour. With this respect, scientific advances have been made to date for applications in entertainment and service robotics that largely depend on intuitive interaction. However, HRI today is often still unnatural, slow, and unsatisfactory for the human interlocutor. Both the sensorimotor interaction with environment and interlocutor, and the social aspects of the interaction still need to be researched and improved. Therefore, this full-day workshop aims to bring together researchers from different scientific fields to discuss these crosscutting issues and to exchange views on what are the preconditions and principles of intuitive interaction.

关键词： Educational institutions computer science Robot sensing systems Electronic mail Humans Industrial engineering

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Mechatronics E-course for regular students and adults: Realization and comparison of efficiency

Mechatronics E-course for regular students and adults: Reali...

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2010 IEEE Education Engineering Conference, EDUCON 2010

作者： Rojko, Andreja Hercog, Darko Jezernik, Karel Faculty of Electrical Engineering and Computer Science University of Maribor Institute of Robotics Maribor Slovenia

ISBN: (纸本)9781424465682

This paper describes execution and gained experience with two practically oriented E-courses from mechatronics. Both courses have in common that they include remote experiments and are executed completely online, which is still rarity in the practically oriented engineering education, especially in nonuniversity education. The execution details and educational approach applied in each course were adjusted to two specific target groups. The target groups of a first course 'Control of nonlinear mechanisms' is a group of regular local and regular international students of mechatronics. The target group of second course 'Basics of mechatronics' are employed and unemployed adult professionals from various engineering fields who have already finished their formal education but want to acquire new knowledge. For both courses interactive E-materials and E-tests in Slovene, English and partially also in German language are available within two learning portals, also adjusted to the needs of each target groups. First course was tested with 40 regular students and the second course with the group of 70 adult professionals mostly from industry. While adult professionals appreciated the fact that the course was executed completely online, the regular students have still preferred conventional lectures and especially conventional laboratory exercises over remote ones. Based on the teaching instructor's observances and on the results of anonymous questionnaires, the advantages and disadvantages of the replacement of traditional laboratories with remote laboratories are discussed from a critical point of view. © 2010 IEEE.

关键词： Students

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Projects in mechatronics program: Practical examples

Projects in mechatronics program: Practical examples

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19th International Workshop on robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Rojko, Andreja Španer, Marijan Jezernik, Karel Faculty of Electrical Engineering and Computer Science University of Maribor Institute of Robotics Maribor Slovenia

ISBN: (纸本)9781424468867

This paper describes organization, educational approach and contents of students' project work in mechatronic program at the University of Maribor, Slovenia. Program is executed by two faculties;faculty of Electrical Engineering and computer science, and faculty of Mechanical Engineering. Three courses Project I, II, III, are assigned to the project work in second and third year. The students in Project I are lead by the mentors. The portion of autonomous work is then increasing with each following course. Project work typically ends with a diploma. By a careful choice of interesting up-to-date real life problems, project work provides the students with the practical skills and a broad knowledge of the essential contents from mechanical engineering, control theory, electronics, power electronics, automatic control and mechatronics design, but it still allows the students to specialize in a field of their choice © 2010 IEEE.

关键词： Students

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Mechatronics projects at the University of Maribor

Mechatronics projects at the University of Maribor

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4th IEEE International Conference on E-Learning in Industrial Electronics, ICELIE 2010

作者： Rojko, Andreja Španer, Marijan Jezernik, Karel University of Maribor Faculty of Electrical Engineering and Computer Science Institute of Robotics Maribor Slovenia

ISBN: (纸本)9781424472529

The paper presents three mechatronics project courses for the students of the first degree of Bologna program at the University of Maribor, Slovenia. Three courses, Project I, Project II and Project III, are assigned to the project work in the second and third study year. First course, Project I is some kind of introduction into the project work and the students are almost fully supervised by the mentors. The portion of autonomous work is then increasing trough other two courses and until diploma. In diploma the students typically continue the work on the project, but concentrate on specific details. By a careful choice of attractive, up-to-date real life problems, the project work provides the students with the practical skills and a broad knowledge from the mechanical engineering, motion control theory, electronics, drives, sensors, power electronics, automatic control and mechatronics design. Since quite complex projects are undertaken, many sub-tasks are available within one project, which allows the students to specialize in a field of their choice, by choosing the appropriate sub-task. The paper presents in more details a very popular this year's project 'Design and realization of a hybrid drive'. ©2010 IEEE.

关键词： Students

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A particle swarm and neural network approach for position control of XY Piezo Actuator Stage

A particle swarm and neural network approach for position co...

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19th International Workshop on robotics in Alpe-Adria-Danube Region, RAAD 2010

作者： Kusić, Dragan Čas, Jure Faculty of Electrical Engineering and Computer Science Institute of Automation University of Maribor Slovenia Faculty of Electrical Engineering and Computer Science Institute of Robotics University of Maribor Slovenia

ISBN: (纸本)9781424468867

This paper describes a position control of 2 degrees of freedom (DOF) XY Piezo Actuator Stage (XY PAS) with Feedforward Neural Network (FNN) and additional Particle Swarm Optimization (PSO) approach, which is used as an improved learning method for optimizing the weights of FNN rather than just the standard technique of back-propagation of errors. XY PAS is fabricated by a photo structuring process from micro-structured photosensitive glass and two piezo actuators (PEAs), which are built-on to meet the request for its precise movement on the working plane with approximate dimensions 60 by 60 micrometres. It is evident from the simulation model of XY PAS, that accurate positional control is an exact piece of work. The FNN is used as adaptive feedforward controller describing the estimated inverse function of XY PAS for each reference position of XY PAS's tip. Due to the optimal control performance of FNN, the PSO is introduced in order to improve the learning method of FNN. A simulation model of the XY PAS and the proposed FNN control algorithm with PSO have been developed in Matlab/Simulink. The obtained results show quick convergence capability and a satisfactory global search. © 2010 IEEE.

关键词： Position control

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Decentralized Task Sequencing and Multiple Mission Control for Heterogeneous Robotic Networks

Decentralized Task Sequencing and Multiple Mission Control f...

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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： Donato Di Paola Andrea Gasparri Giovanni Ulivi David Naso Frank L. Lewis Institute of Intelligent Systems for Automation (ISSIA) National Research Council (CNR)70126 BariI Faculty of Engineering Computer Science and Automation DepartmentUniversity "Roma Tre"00146 RomeI Department of Electrical and Electronic Engineering (DEE) Polytechnic of Bari70126 BariItaly the Automation and Robotics Research Institute University of Texas at ArlingtonFort WorthTX 76118-

In this paper a novel decentralized approach for task sequencing within a multiple missions control framework is presented. The main contribution of this work concerns the decentralization of a control framework for multiple mission execution in order to enhance the robustness of the system, and the application of the latter to a heterogeneous robotic network. The proposed approach is based on the Matrixbased Discrete Event Framework (MDEF). This formalism is adapted to networks of heterogeneous robots, i.e., robots with different capabilities, and to the decentralized control of mission execution using a consensus-based approach which guarantees the agreement among robots on executed actions and their consequences.

关键词： Mathematical model Equations Resource management Robot sensing systems Availability Multiagent systems

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