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

作者： Alex Lizotte Parisa Daemi Brendan DiFabio Ana Luisa Trejos School of Biomedical Engineering (BME) Western University BME Western University Department of Electrical and Computer Engineering (ECE) Department of Mechanical and Materials Engineering Mechatronics Program Western University ECE and BME Western University

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Fabric cooling channels for twisted coiled actuators (TCAs) were recently proposed to achieve the required response times for motion assistance in a manner suitable for soft wearable robotic devices. While previous work demonstrated that the fabric channel reduced the cooling time by 42% in comparison to the same TCA without the cooling channel, the TCAs were still not cooled quickly enough to support human motion. Therefore, in this paper, two variations to the channel are proposed to further reduce the cooling time of the TCAs. The variations include unsealing the inlet and adding vents along the length of the channel to take advantage of air entrainment and natural convection. While both variations reduced the cooling time on their own, when they were employed together there was a 34% reduction in cooling time compared to the original channel design ( $19.1 \pm 2.4\ \mathrm{s}$ vs. $13.5 \pm 0.9\ \mathrm{s}, \mathrm{p} < 0.001$ ). This decrease occurred without any significant differences in the stroke or heating time of the TCA. The modified channel was then compared to the TCA without the cooling apparatus and the cooling time was reduced by 57% ( $25.1 \pm 1.7\ \mathrm{s}$ vs. $14.0 \pm 1.2\ \mathrm{s}, \mathrm{p} < 0.001)$ . This work advances the development of a cooling system for TCAs, making it suitable for soft wearable robotic devices by improving portability, and thereby enabling their use in wearable devices for rehabilitation applications.

关键词： Heating systems Actuators Cooling Vents Soft robotics Fabrics Time factors Wearable devices Convection Testing

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Kinematic Modeling and Characterization of a Wearable Tremor Suppression Device for Pathological Tremor Reduction

Kinematic Modeling and Characterization of a Wearable Tremor...

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

作者： Parisa Daemi Yue Zhou Kyle Inzunza Michael D. Naish Aaron D. Price Ana Luisa Trejos School of Biomedical Engineering (BME) Western University BME Western University Mechatronics Program Western University MME ECE and BME Western University MME Western University ECE and BME Western University

ISBN: (数字)9781728159072

ISBN: (纸本)9781728159089

Wearable tremor suppression devices have been proposed as a promising alternative to suppress or reduce tremor motion associated with neurological disorders. To fully benefit patients, available tremor suppression devices need to be improved in their design, size, weight, and control. Although tendon-driven transmission systems are able to decrease the size and weight of these devices, they have complex control system requirements due to their substantially nonlinear behavior. For this purpose, this paper aims to develop a precise kinematic model of a wearable tremor suppression glove by considering the configuration of its tendons and sheaths, in order to improve the tendon arrangement, study the kinetic model of the glove, and increase the accuracy of the control system. A novel model is presented to calculate the tendon travel during hand motion. The derived kinematic model of the glove was verified by both simulation and benchtop experiments, and the new model has been validated. The mean correlation coefficient for the kinematic model is 0.90±0.01.

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MAKER: Automated pill dispenser 123

MAKER: Automated pill dispenser

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123rd ASEE Annual Conference and Exposition

作者： Chariah, Christopher Kumia, Nicholas Zubarriain, Jonathan R. He, Shouling Rahemi, Hossein Jack, Hugh Mechatronics Engineering Program Vaughn College of Aeronautics and Technology United States Western Carolina University United States

This paper outlines a project idea for an Automated Pill Dispenser (APD) for home usage. It is developed using CAD software, 3D printed parts, Arduino Mega Microcontroller, continuous and non-continuous servos, optical sensors and a 5-inch LCD display interface to create a cost effective and reasonably priced alternative to the traditional medication dispensers. The design is modular and able to house up to four dispensing units on one control unit. The basic housing for the dispensing unit consists of three pieces which connect to the control unit which holds the LCD interface. The target users for this project are senior citizens. According to an article published in the New England Journal of Medicine, between 2007 and 2009, 99,628 emergency room visits were made by seniors. Two thirds of them were due to accidental overdoses. The design of the machine could be improved by adding a safety measure that would prevent an incorrect amount of pills being dispensed. Aside from this, the current design is effective in showing the potential safety benefits of a low cost at-home pill dispenser. © American Society for engineering Education, 2016.

关键词： Automation C++ programming Commercial modular design Medical assistance

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Correction to: Material Mapping of QCT-Derived Scapular Models: A Comparison with Micro-CT Loaded Specimens Using Digital Volume Correlation

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Annals of biomedical engineering 2019年第11期47卷 2342页

作者： Nikolas K Knowles Jonathan Kusins Mohammadreza Faieghi Melissa Ryan Enrico Dall'Ara Louis M Ferreira School of Biomedical Engineering The University of Western Ontario London ON Canada. nknowle@uwo.ca. Roth|McFarlane Hand and Upper Limb Centre St. Josephs Health Care London ON Canada. nknowle@uwo.ca. Collaborative Training Program in MSK Health Research and Bone and Joint Institute The University of Western Ontario London ON Canada. nknowle@uwo.ca. Roth|McFarlane Hand and Upper Limb Centre Surgical Mechatronics Laboratory St. Josephs Health Care 268 Grosvenor St. London ON Canada. nknowle@uwo.ca. Department of Mechanical and Materials Engineering The University of Western Ontario London ON Canada. Roth|McFarlane Hand and Upper Limb Centre St. Josephs Health Care London ON Canada. Collaborative Training Program in MSK Health Research and Bone and Joint Institute The University of Western Ontario London ON Canada. School of Biomedical Engineering The University of Western Ontario London ON Canada. Department of Oncology and Metabolism and INSIGNEO Institute for In Silico Medicine University of Sheffield Sheffield UK.

The article Material Mapping of QCT-Derived Scapular Models: A Comparison with Micro-CT Loaded Specimens Using Digital Volume Correlation, written by Knowles et al, was originally published electronically on the publisher's internet portal (currently SpringerLink) on 11 July 2019 without open access. With the author(s)' decision to opt for Open Choice the copyright of the article changed on [August 30] to © The Author(s) 2019 and the article is forthwith distributed under the terms of the Creative Commons Attribution 4.0 International License (http://***/licenses/by/4.0/), which permits use, duplication, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Quantitative Computed Tomography (QCT) derived Bone Mineral Density (BMD) in finite element studies: a review of the literature

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Journal of Experimental Orthopaedics 2016年第1期3卷 1-16页

作者： Knowles, Nikolas K. Reeves, Jacob M. Ferreira, Louis M. Graduate Program in Biomedical Engineering The University of Western Ontario 1151 Richmond St London ON Canada Roth|McFarlane Hand and Upper Limb Centre Surgical Mechatronics Laboratory St. Josephs Health Care 268 Grosvenor St London ON Canada Collaborative Training Program in Musculoskeletal Health Research and Bone and Joint Institute The University of Western Ontario 1151 Richmond St London ON Canada Department of Mechanical and Materials Engineering The University of Western Ontario 1151 Richmond St London ON Canada

Background: Finite element modeling of human bone provides a powerful tool to evaluate a wide variety of outcomes in a highly repeatable and parametric manner. These models are most often derived from computed tomography data, with mechanical properties related to bone mineral density (BMD) from the x-ray energy attenuation provided from this data. To increase accuracy, many researchers report the use of quantitative computed tomography (QCT), in which a calibration phantom is used during image acquisition to improve the estimation of BMD. Since model accuracy is dependent on the methods used in the calculation of BMD and density-mechanical property relationships, it is important to use relationships developed for the same anatomical location and using the same scanner settings, as these may impact model accuracy. The purpose of this literature review is to report the relationships used in the conversion of QCT equivalent density measures to ash, apparent, and/or tissue densities in recent finite element (FE) studies used in common density-modulus relationships. For studies reporting experimental validation, the validation metrics and results are presented. Results: Of the studies reviewed, 29% reported the use of a dipotassium phosphate (K₂HPO₄) phantom, 47% a hydroxyapatite (HA) phantom, 13% did not report phantom type, 7% reported use of both K₂HPO₄ and HA phantoms, and 4% alternate phantom types. Scanner type and/or settings were omitted or partially reported in 31% of studies. The majority of studies used densitometric and/or density-modulus relationships derived from different anatomical locations scanned in different scanners with different scanner settings. The methods used to derive various densitometric relationships are reported and recommendations are provided toward the standardization of reporting metrics. Conclusions: This review assessed the current state of QCT-based FE modeling with use of clinical scanne

关键词： Bone density Finite element analysis Mechanical properties QCT

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A wearable mechatronic brace for arm rehabilitation

A wearable mechatronic brace for arm rehabilitation

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

作者： T. Desplenter A. Kyrylova T. K. Stanbury A. Escoto S. Chinchalkar A. L. Trejos Department of Electrical and Computer Engineering Western University (Western) London ON Canada Biomedical Engineering Program at Western Mechatronics Engineering Program at Western Department of Electrical and Computer Engineering at Western Lawson Health Research Institute London ON Canada Division of Hand Therapy Hand and Upper Limb Centre London ON Canada Department of Electrical and Computer Engineering at Western Lawson Health Research Institute

In recent years, the possibility of using smart technologies to enhance rehabilitative therapies has become a reality. Smart technologies can adjust their functionality based on real-time performance to provide the most effective therapy. This paper presents the design, development and testing of a wearable mechatronic brace created to assist in upper limb rehabilitation. The purpose of the smart brace is to provide safe therapy of musculoskeletal disorders, in particular brachial plexus injuries. A control system has been developed that facilitates the retraining of the biceps for individuals who have suffered brachial plexus nerve damage. Electromyography (EMG) data for flexion and extension of the elbow were recorded from three healthy subjects and used to scale velocity profiles. The experiments assessed the performance of the smart brace in its ability to reproduce a motion, to compensate for the effect of muscle disability and to detect fatigue. The results showed that the control system was able to adjust velocities to accommodate for disability or fatigue. This initial implementation provides a control model and logic from which the brace can be improved. Future testing of the brace using subjects with a brachial plexus injury will help solidify the techniques used for brace control.

关键词： Electromyography Fatigue Elbow Brachytherapy mechatronics Muscles

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A gait adaptation scheme for biped walking robots

A gait adaptation scheme for biped walking robots

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International Workshop on Advanced Motion Control (AMC)

作者： O. Bebek K. Erbatur Department of Electrical Engineering and Computer Science Case Western Reserve University USA Mechatronics Program Faculty of Engineering and Natural Sciences Sabanci University Turkey

Recent years witnessed a growing interest in biped walking robots because of their advantageous use in the human environment. However, their control requires many problems to be solved because of the many degrees of freedom and nonlinearity in their dynamics. The so-called open loop walking with offline trajectory generation is one of the control approaches in the literature. There are various difficulties involved in this approach, the most important one being the difficulty in tuning the gait parameters. This paper proposes an online fuzzy adaptation scheme for one of the trajectory parameters in the offline generated walking pattern. A fuzzy identifier system, represented as a three-layer feed-forward neural network is employed to compute the parameter as a function of time in simulations. Fuzzy system parameters are adapted via back-propagation. Virtual torsional springs are attached to the trunk center of the biped. The torque generated by the springs serve as the criterion for the tuning and they help maintaining a stable and a longer walk which is necessary for the online tuning process. 3D simulation and animation techniques are employed for a 12-DOF biped robot to test the proposed adaptive method.

关键词： Legged locomotion Open loop systems Fuzzy systems Springs Humans Fuzzy neural networks Feedforward systems Neural networks Feedforward neural networks Computer networks

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