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1st IEEE Global Conference on Life Sciences and Technologies, LifeTech 2019

作者： Wang, Tianyi Jeong, Hieyong Okada, Shima Ohno, Yuko Graduate School of Medicine Osaka University Department of Robotics and Design for Innovative Healthcare Suita Japan College of Science and Engineering Ritsumeikan University Department of Robotics Shiga Japan Department of Mathematical Health Science Graduate School of Medicine Osaka University Suita Japan

ISBN: (纸本)9781728105437

Acupuncture has been utilized as effective treatment for mental health recently. But knowledge about constant emotional arousal during acupuncture is still unknown. This study aims to propose a noninvasive approach to measuring emotional arousal during acupuncture. Four subjects volunteered in this study, every subject performed experiment three times for 50 min, including 30 min with acupuncture and 10 min without it before and after acupuncture. Subject's constant emotional arousal was measured from the nasal temperature through infrared thermometer, and cross checked with heart rate variability (HRV) analysis. According to the results, nasal temperature decreased when acupuncture began and HRV analysis showed subjects underwent emotional arousal after acupuncture was performed. It was concluded that emotion aroused could be detected through nasal temperature during acupuncture. © 2019 IEEE.

关键词： Acupuncture

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VibroSleeve: A wearable vibro-tactile feedback device for arm guidance

VibroSleeve: A wearable vibro-tactile feedback device for ar...

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

作者： Deepa Prabhu Muhammad Mehedi Hasan Lisa Wise Clare MacMahon Chris McCarthy Faculty of Science Engineering and Technology School of Software Engineering Robotics and Mechatronics Lab Faculty of Health Arts and Design School of Health Sciences Swinburne University of Technology Hawthorn VIC Australia Department of Rehabilitation La Trobe University Melbourne VIC Australia

ISBN: (数字)9781728119908

ISBN: (纸本)9781728119915

Vibro-tactile feedback offers a complementary augmentation cue for motor guidance and training. Motivated by the needs of prosthetic vision rehabilitation, we explore the use of the cylindrical forearm surface to deliver arm guidance cues via vibro-tactile stimulation. We present `VibroSleeve', a novel wearable arm motion guidance aid made up of 4×4 arrangement of vibration coin motors embedded within an elastic sleeve for delivering vibro-tactile patterns to the forearm. In this paper, we present the concept and design of VibroSleeve, along with results of preliminary evaluation. We outline key insights gained into the perceptual aspects of calibration and usable intensity bandwidth critical for reliable interpretation of encoded information. Our results demonstrate feasibility of the approach, and provide foundations for future work on developing the sleeve as a rehabilitation aid for guiding the arm towards visually perceived targets.

关键词： Vibrations Training Pulse width modulation Pattern recognition Prosthetics Visualization Calibration

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Comparative Analysis of Hybrid Sliding Mode and Classical Controllers for Ni-Ti SMA Smart Actuator Position Control 6

Comparative Analysis of Hybrid Sliding Mode and Classical Co...

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6th International Conference on Advanced Control Circuits and Systems and 5th International Conference on New Paradigms in Electronics and Information Technology, ACCS/PEIT 2019

作者： Alsayed, Y.M. Salem, Mahmoud M. Abouelsoud, A.A. Fath Elbab, A.M.R. School of Innovative Design Engineering Egypt-Japan University of Science and Technology Mechatronics and Robotics Engineering Department PO Box: 21934 New Borg E1 Arab City Alexandria Egypt Power Electronics and Energy Conversion Dept. Cairo Egypt Cairo University Dept. of Electrical Engineering Cairo Egypt Assiut University Dept. of Mechanical Engineering Assiut Egypt

ISBN: (纸本)9781728163543

In this paper, a comparative analysis of Hybrid Sliding Mode PI and classical PI with intelligent properties controllers for Ni-Ti SMA smart actuator position control is presented. The SMA actuator mechanical dynamics are obtained using one-way actuator model. The actuator returns to its initial position using bias spring force. The SMA material model using the shear-strain driven approach is discussed. Two different controllers are presented and compared as a SMA actuator position controllers. The Hybrid Sliding Mode PI and the classical PI with intelligent properties controllers are compared. The comparison results depict that the controller with intelligent properties advantages surpass the advantages of the Hybrid Sliding Mode PI controller and it improves the rising and settling times of output displacement response. Both controllers provide output displacement without overshoot and zero steady state error which are essential in smart actuators applications. © 2019 IEEE.

关键词： Controllers

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design methodology of a spring roll dielectric elastomer-based actuator for a hand rehabilitation system 15

Design methodology of a spring roll dielectric elastomer-bas...

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15th IEEE International Conference on mechatronics and Automation, ICMA 2018

作者： Amin, Heba Assal, Samy F.M. Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University ofScience and Technology Alexandria Egypt Faculty of Engineering Department of Production Engineeringand Mechanical Design Tanta University Tanta Egypt

ISBN: (纸本)9781538660720

Development of hand rehabilitation devices is crucial for recovering hand functions of impaired patients after stroke or injures. The demand for the development of new devices that avoid the defects of stationary systems or avoid the obstacles of other portable devices is increasing. In this paper, a spring roll Dielectric Elastomer (DE)-based actuator for a hand rehabilitation system, that avoid the bulky size, complicated structure and the difficulty in controlling the pneumatic actuation, is developed. A design methodology of pre-specified specifications is established to calculate the design parameters of the actuator;namely, the proper spring stiffness, the number oflayers and the pre-strain for the DE material. Theoretical analysis and ANSYS MULTIPHYSICS simulations are carried out throughout this design methodology to obtain those parameters. The fabrication procedures to obtain a prototype are finally presented. © 2018 IEEE.

关键词： Elastomers

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Magnetic Continuum Robot for Intelligent Manipulation in Medical Applications

SmartBot

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SmartBot 2025年

作者： Yuanbiao Ma Xuanyu An Qijun Yang Mingxue Cai Zhiqiang Tang Jinke Chang Veronica Iacovacci Tiantian Xu Li Zhang Qianqian Wang Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments School of Mechanical Engineering Southeast University Nanjing China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Mechanical Engineering National University of Singapore Queenstown Singapore Department of Engineering Science University of Oxford Oxford UK Department of Surgical Biotechnology Division of Surgery & Interventional Science Centre for Biomaterials in Surgical Reconstruction and Regeneration University College London London UK BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Chow Yuk Ho Technology Center for Innovative Medicine The Chinese University of Hong Kong Hong Kong China Multi-Scale Medical Robotics Center Hong Kong Science Park Hong Kong China

Magnetic continuum robots (MCRs) have garnered substantial attention as a new class of flexible robotic systems capable of navigating complex and confined spaces with remarkable dexterity. By combining continuous, deformable structures with remotely applied magnetic fields, MCRs achieve contactless, remote manipulation, making them well-suited for medical applications. This review introduces recent advances in MCR research, focusing on design principles, structural configurations, and control strategies. Various MCR designs and structures, including those integrated with permanent magnets, magnetic matter, ferromagnetic sphere, and micro coil, are discussed. Furthermore, different magnetic actuation platforms are introduced, and the level of MCR automation is classified based on control strategies. Key intelligent manipulation capabilities of MCRs, including navigation, delivery, printing, grasping, imaging, and sensing are explored. Finally, future development priorities and directions are identified to provide insights for advancing intelligent robotic systems.

关键词： intelligent manipulation magnetic actuation magnetic continuum robot medical application

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Wideband Cognitive Radio Networks Based Compressed Spectrum Sensing: A Survey

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Journal of Signal and Information Processing 2018年第2期9卷 122-151页

作者： Mohammed Abo-Zahhad Sabah M. Ahmed Mohammed Farrag Khaled Ali BaAli Electronics and Communication Engineering Department School of Electronics Communications and Computer Engineering Egypt-Japan University for Science and Technology Alexandria Egypt Electrical and Electronics Engineering Department Faculty of Engineering Assiut University Assiut Egypt Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University for Science and Technology Alexandria Egyp Electrical Engineering Department King Khalid University (KKU) Abha KSA Electronics and Communication Department Faculty of Engineering and Petroleum Hadhramaut University Mukalla Republic of Yemen

Spectrum sensing is a core function at cognitive radio systems to have spectrum awareness. This could be achieved by collecting samples from the frequency band under observation to make a conclusion whether the band is occupied, or it is a spectrum hole. The task of sensing is becoming more challenging especially at wideband spectrum scenario. The difficulty is due to conventional sampling rate theory which makes it infeasible to sample such very wide range of frequencies and the technical requirements are very costly. Recently, compressive sensing introduced itself as a pioneer solution that relaxed the wideband sampling rate requirements. It showed the ability to sample a signal below the Nyquist sampling rate and reconstructed it using very few measurements. In this paper, we discuss the approaches used for solving compressed spectrum sensing problem for wideband cognitive radio networks and how the problem is formulated and rendered to improve the detection performance.

关键词： Cognitive Radio Spectrum Sensing Compressive Sensing Compressed Measurements Nyquist Sampling Rate

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Micro/macro-positioning control of a novel contactless active robotic joint using active magnetic bearing

Micro/macro-positioning control of a novel contactless activ...

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2017 IEEE International Conference on Industrial Technology, ICIT 2017

作者： Selmy, Mohamed Fanni, Mohamed Mohamed, Abdelfatah M. Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology E-JUST New Borg El Arab City Alexandria Egypt

ISBN: (纸本)9781509053209

In this paper the micro/macro-positioning control of a novel contactless active robotic joint using active magnetic bearing (AMB) is presented. In clean environments, such as surgery or clean rooms, the use of robots with this novel joint is useful to avoid friction, dust generation, and oil lubrication. Moreover, this kind of robots can be used in the applications that need high precision micropositioning control such as semiconductor wafers manipulation to form semiconductor devices. The novel robotic joint used in this paper is designed using finite element method. This joint has 6 degrees-of-freedom (DOFs), 1-DOF for robot joint roll angle and 5-DOF for AMB. The robot joint roll angle is controlled in macro-scale accuracy. The macro-scale positioning of the joint roll angle is needed for gross motion like normal robot revolute joint. The other 5-DOF of the joint are controlled like AMB with the different that the target pitch and yaw angles as well as the axial, vertical and horizontal movements are different than zero but in micro-scale range. The robot joint roll angle is controlled using a PID-based Feedback linearization controller, while a state feedback controller with integral term is used for controlling the AMB 5-DOFs. The micro/macro-positioning control of the novel robotic joint is implemented using MATLAB/Simulink. The robustness of the controllers is tested against payload variations. The results demonstrate that the proposed novel robotic joint is feasible and valid in the applications that need high precision micro-macro-positioning control. © 2017 IEEE.

关键词： Controllers

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Aerial Robot Model based design and verification of the single and multi-agent inspection application development

arXiv

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arXiv 2018年

作者： Yamaguchi, Seiko P. Sakuma, Masaru Ueno, Takaki Karolonek, Filip Uhl, Tadeusz Ravankar, Ankit A. Emaru, Takanori Kobayashi, Yukinori Laboratory of Robotics & Dynamics Div. of Human Mechanical Systems and Design Graduate School Faculty of Engineering Hokkaido University Sapporo Japan Department of Robotics and Mechatronics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Cracow Poland

In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as: inspection, surveillance or search and rescue applications in challenging and complex environments. Furthermore, aerial robotics application with multi-agent systems are anticipated to further extend its potential. However, one of the major difficulties in aerial robotics applications is the testing of the elaborated system within safety concerns, especially when multiple agents are simultaneously applied. Thus, virtual prototyping and simulation-based development can serve in development, assessment and improvement of the aerial robot applications. In this research, two examples of the specific applications are highlighted: harbor structure and facilities inspection with UAV, and development of autonomous positioning of multi-UAVs communication relaying system. In this research, virtual prototype was designed and further simulated in multi-body simulation (MBS) feigning the sensing and actuating equipment behaviors. Simultaneous simulation of the control and application system running with software in the loop (SITL) method is utilized to assess the designed hardware behavior with modular application nodes running in Robot Operating System. Furthermore, prepared simulation environment is assessed with multi-agent system, proposed in previous research with autonomous position control of communication relaying system. Application of the virtual prototype’s simulation environment enables further examination of the proposed system within comparison degree with postfield tests. In future work, the proposed simulation environment can be further applied for motion and vibration control of the UAV applications. The research aims to contribute through case assessment of the design process to safer, time and cost-efficient development and application design in the field of aerial robotics. Copyright © 2018, The Authors. All

关键词： Multi agent systems

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Error Source Identification in Measuring Soft Tissue Stiffness and Self Compensating This Error Using Three Probes Configuration

Error Source Identification in Measuring Soft Tissue Stiffne...

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International Conference on Intelligent Systems, Modelling and Simulation (ISMS)

作者： Ahmed Fouly Ahmed M. R. Fath El Bab A. A. Abouelsoud Mohamed N. A. Nasr Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt Department of Production and Design Engineering Minia University Egypt Department of Mechanical Engineering Assiut University Egypt Electronics and Communications Eng. Dept. Cairo University Egypt Department of Mechanical Engineering Alexandria University Egypt Department of Mechanical Engineering American University of Sharjah UAE

ISBN: (纸本)9781509006663

One of the biggest challenges for measuring soft tissue stiffness using tactile sensors is to have an output independent of the contact conditions. Although the approach of using two springs with different stiffness is used, the output of sensor is usually unstable because of the soft tissue surface irregularity. This irregularity creates an inclination angle between the sensor tips and the tissue. By scanning some real organs of a chicken using laser microscope, it is found that the angle value does not exceed 3 degrees. A modification on the original sensor is proposed to compensate that error. A finite element analysis for the two sensors is carried out to compare their behavior. The error of the original approach is about 55% and 103% with an inclination angle 3 degrees on the left and right direction, respectively. However, the modified sensor output is stable up to 8 degrees with an error not exceeding 4%. Furthermore, it could differentiate between different soft tissues stiffness within the specified range.

关键词： Biological tissues Springs Tactile sensors Finite element analysis Force measurement Resonant frequency

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Singularity Analysis of a Novel 4-DOF Surgical Robot

Singularity Analysis of a Novel 4-DOF Surgical Robot

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International Conference on Information Science and Control engineering (ICISCE)

作者： Alaa Khalifa Mohamed Fanni Abdelfatah M. Mohamed Mechatronics and Robotics Engineering Dep. School of Innovative Design Engineering New Borg EI-Arab city Alexandria Egypt On leave: Production Engineering and Mechanical Design Dep. Mansoura University Egypt On leave: Electrical Engineering Dep. Assuit University Egypt

ISBN: (纸本)9781509025367

This paper presents the singularity analysis of a novel endoscopic surgical parallel manipulator. The 4-DOF, 2- PUU_2-PUS, surgical robot design has larger bending angles and workspace volume. All previous manipulators have a zero pitch and infinity pitch reciprocal screws, so it is easy to find out the singular configurations inside the workspace. On the other hand, the novel 4-DOF surgical robot (2-PUU_2-PUS) has h-pitch reciprocal screws. The known geometrical approach for reciprocal-screws could not provide all singular configurations of the novel manipulator. Geometrical/Analytical approach for reciprocal-screws based singularity analysis of 2-PUU_2-PUS is proposed. The proposed algorithm can find all singular configurations of any limited DOF parallel manipulator with h-pitch reciprocal screws. The results show the feasibility of the proposed algorithm to find all singular configurations of the 4-DOF parallel manipulator. The discovered singularity configurations shrieked greatly the singularity free workspace to one fourth the original workspace. In order to be able to work through the entire workspace, we suggest changing the topology structure of the manipulator.

关键词： Fasteners Manipulators Actuators Wires Surgery Medical robotics Algorithm design and analysis

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