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Analysis of Difference in Center-of-Pressure Positions between Experts and Novices during Asymmetric Lifting

IEEE Journal of Translational engineering in Health and Medicine 2016年 4卷 2100311页

作者： Jeong, Hieyong Yamada, Kenji Kido, Michiko Okada, Shima Nomura, Taishin Ohno, Yuko Department of Robotics and Design for Innovative Healthcare Graduate School of Medicine Osaka University Osaka565-0871 Japan Division of Health Sciences Graduate School of Medicine Osaka University Osaka565-0871 Japan Department of Mechanical Engineering Graduate School of Engineering Kindai University Osaka577-8502 Japan Department of Mechanical Science and Bioengineering Graduate School of Engineering Science Osaka University Osaka560-0043 Japan

Although numerous studies have analyzed the relationship between manual material handling (MMH) and the forces acting on the lumbar spine, the difference in the MMH between experts and novices through the analysis of measured data has not been well studied. The purpose of this paper was to analyze the difference in the MMH positions between ten skilled experts working at a freight transport company (Group 1) and five unskilled novices without any experience (Group 2) during asymmetric lifting. All the human subjects performed asymmetric lifting experiments with closed eyes;the experiments involved moving loads (6 and 18 kg) to the left side. Time series data of the vertical ground reaction force were measured, using a Wii Balance Board, and then, the center-of-pressure (CoP) trajectories were calculated. The balance board was used for the measurement, because it was reliable, inexpensive, and portable and provided good repeatability even on rough surfaces, and all the information pertaining to the load and worker under various conditions was captured without any omissions. Under the 18 kg load condition, the CoP positions for Group 2 were located on the same side during left asymmetric lifting;however, those for Group 1 were located on the opposite side during left asymmetric lifting ( P © 2013 IEEE.

关键词： Biophysics

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CSP and 'omics' technology apllied on versatile and intelligent portable platform for modeling complex bio-medical data

CSP and 'omics' technology apllied on versatile and intellig...

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2016 International Conference on Advanced Mechatronic Systems, ICAMechS 2016

作者： Vladareanu, Luige Iliescu, Mihaiela Wang, Hongbo Yongfei, Feng Vladareanu, Victor Yu, Hongnian Smarandache, Florentin Robotics and Mechatronics Department Institute of Solid Mechanics of the Romanian Academy 010141 C-Tin Mille 15 Romania Romania Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Oinhuangdao China Faculty of Electronics II University Politehnica of Bucharest 313 Splaiul Independentei Bucharest060042 Romania School of Design Engineering and Computing Bournemouth University Poole DorsetBH12 5BB United Kingdom Department of Mathematics University of New Mexico 705 Gurley Avenue GallupNM87301 United States

ISBN: (纸本)9781509053469

This paper presents relevant aspects of the idea of using the digital medicine in cancer, so that to shape a viable strategy for creating and implementing an interactive digital platform, NEO-VIP, that should be the basic support to design the strategy for integration of basic, clinical and environmental research on neoplasia progression to cancer. The two main components of the VIPRO Platform are represented by the workstation 'engineering Station' for CPS (Cyber Physical System) and 'omics' technology and by the 'Graphical Station' for the development of a virtual mechatronic system environment and virtual reality for system components' motion. The NEO-VIP Platform will consolidate the collaboration of specialized institutions in IT, medicine, health, life standards so that to enhance their capabilities to work as a consortium. The results lead to the possibility developing NEO-VIP Platform in the IT modelling field, applied on bio-medical data, as a new player alongside with the existing ones. So, new improved methodologies for investigating social implications of machines working with and for people will be applied. © 2016 IEEE.

关键词： Cyber Physical System

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CSP and “omics” technology apllied on versatile and intelligent portable platform for modeling complex bio-medical data

CSP and “omics” technology apllied on versatile and intell...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Luige Vladareanu Mihaiela Iliescu Hongbo Wang Feng Yongfei Victor Vladareanu Hongnian Yu Florentin Smarandache Robotics and Mechatronics Department Institute of Solid Mechanics of the Romanian Academy Bucharest Romania Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Faculty of Electronics II University Politehnica of Bucharest Romania School of Design Engineering and Computing Bournemouth University Poole Dorset UK Department of Mathematics University of New Mexico USA

This paper presents relevant aspects of the idea of using the digital medicine in cancer, so that to shape a viable strategy for creating and implementing an interactive digital platform, NEO-VIP, that should be the basic support to design the strategy for integration of basic, clinical and environmental research on neoplasia progression to cancer. The two main components of the VIPRO Platform are represented by the workstation “engineering Station” for CPS (Cyber Physical System) and “omics” technology and by the “Graphical Station” for the development of a virtual mechatronic system environment and virtual reality for system components' motion. The NEO-VIP Platform will consolidate the collaboration of specialized institutions in IT, medicine, health, life standards so that to enhance their capabilities to work as a consortium. The results lead to the possibility developing NEO-VIP Platform in the IT modelling field, applied on bio-medical data, as a new player alongside with the existing ones. So, new improved methodologies for investigating social implications of machines working with and for people will be applied.

关键词： Cancer Neoplasms Solid modeling Data models Bioinformatics Genomics Real-time systems

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Controller design and Implementation of The Transformation/Manipulation System of a Novel Hybrid Ground Aerial Robot

Controller Design and Implementation of The Transformation/M...

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2015 IEEE Advanced Information Technology,Electronic and Automation Control Conference(IAEAC 2015)

作者： Maha Saeed Mohamed Fanni Abdelfatah M.Mohamed Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and TechnologyE-JUST Mechanical Design Dep. Faculty of EngineeringMansoura University Electrical Engineering Dep. Faculty of EngineeringAssuit University

ISBN: (纸本)9781479919819

This paper presents the design and implementation of the control system for the transformation/manipulation system that is used in a new Hybrid Ground Aerial Robot(HGAR).The transformation mechanism is used to transform the robot from flying configuration to ground motion configuration and vice *** manipulator is attached to one of the four propeller arms to manipulate objects during ground *** controller is designed based on feedback linearization method.A simple algorithm is implemented on Arduino board for controlling the angle of the propeller arm with and without *** angle of the arm is controlled by propeller *** angle of the arm is measured by inertial measurement unit(IMU).The manipulator is controlled by *** configuration of the manipulator is determined using the joint-angles data and fed to the propeller arm controller to estimate the compensated *** addition,an integral term is added to the controller to introduce robustness against payload variation and parameters *** set up is built to apply the proposed controller on the system and test its ***,the experimental results showed the effectiveness and accuracy of the proposed controller.

关键词： Feedback Linearization Propeller Thrust Inertial Measurement Unit Manipulator Ground Aerial Robot Transformation Mechanism

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Optimized control of skid steering mobile robot with slip conditions

Optimized control of skid steering mobile robot with slip co...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Osama Elshazly Zakarya Zyada Abdelfatah Mohamed Giovanni Muscato Mechatronics and Robotics Engineering Department-School of Innovative Design Engineering Egypt-Japan University of Science and Technology E-JUST New Borg E1 Arab City Alexandria Egypt “On-leave” Mechanical Power Engineering Tanta University Tanta Egypt Mechatronics and Robotics Engineering Department-School of Innovative Design Engineering Assiut University New Borg E1 Arab City Alexandria Egypt (DIEEI) Dipartimento di Ingegneria Elettrica Elettronica e Informatica - Universita degli Studi di Catania Catania Italy

ISBN: (纸本)9781467391085

Application of different optimization techniques for nonlinear controller parameters of a skid steering mobile robot (SSMR) with its inherited slip characteristics is crucial in saving designer's time and effort. In this paper, two computational optimization techniques, particle swarm optimization (PSO) and genetic algorithms (GA), are applied, evaluated and compared to optimize the nonlinear controller parameters of an SSMR moving in a plane. The SSMR controller is designed for tracking a reference robot with the same kinematics. For the purpose of simulation, SSMR kinematics is extended to include slip effects. Simulation programs for both optimization techniques are implemented and the optimized controller parameters are obtained. The system response is examined with the optimized parameters for tracking different trajectories in the presence of different types of disturbances and slip coefficients. Simulation results show better performance of PSO tuning based algorithm than GA one, especially in terms of Mean Square Error (MSE) performance index and computational time.

关键词： Mobile robots Kinematics Genetic algorithms Mathematical model Trajectory Conferences

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Dynamic Control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Dynamic Control of a Walking Robot Using the Versatile Intel...

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International Conference on Control Systems and Computer Science (CSCS)

作者： Victor Vladareanu Corina Boscoianu Radu I. Munteanu Hongnian Yu Luige Vladareanu Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest ROMANIA Department of Automatic Control and Systems Engineering Faculty of Electrical Engineering Technical University of Cluj-Napoca Napoca ROMANIA School of Design Engineering and Computing Bournemouth University Poole UK Bournemouth UK

This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effect or and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.

关键词： Legged locomotion Stability analysis Control systems Real-time systems Robot kinematics Dynamics

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Characterizing the human-robot haptic dyad in robot therapy of stroke survivors

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International Journal of Intelligent Computing and Cybernetics 2014年第3期7卷 267-288页

作者： Dalia De Santis Jacopo Zenzeri Maura Casadio Lorenzo Masia Valentina Squeri Pietro Morasso Robotics Brain and Cognitive Sciences DepartmentIstituto Italiano di TecnologiaGenoaItaly Department of Informatics BioengineeringRobotics and Systems EngineeringUniversity of GenoaGenoaItaly Robotic Research Center Division of Mechatronics&DesignSchool of Mechanical&Aerospace EngineeringNanyang Technological UniversitySingaporeSingapore

Purpose–The working hypothesis,on which this paper is built,is that it is advantageous to look at protocols of robot rehabilitation in the general context of human-robot interaction in haptic *** purpose of this paper is to propose a new method to detect and evaluate an index of active participation(AC index),underlying the performance of robot-assisted *** is important for avoiding the slacking phenomenon that affects robot ***/methodology/approach–The evaluation of the AC index is based on a novel technique of assistance which does not use constant or elastic forces but trains of small force impulses,with amplitude adapted to the level of impairment and a frequency of 2 Hz,which is suggested by recent results in the field of intermittent motor control.A preliminary feasibility test of the proposed method was carried out during a haptic reaching task in the absence of visual feedback,for a group of five stroke patients and an equal group of healthy ***–The AC index appears to be stable and sensitive to training in both populations of ***/value–The main original element of this study is the proposal of the new AC index of voluntary control associated with the new method of pulsed haptic interaction.

关键词： Human-robot haptic interaction Robot therapy Stroke survivors

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on Control (CONTROL)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Methodology for identifying quadrotor parameters, attitude estimation and control

Methodology for identifying quadrotor parameters, attitude e...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： M. Elsamanty A. Khalifa M. Fanni A. Ramadan A. Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Production. Engineering & Mechanical Design Department Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467353199

This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship between the motor input Pulse Width Modulation (PWM) signal and the angular velocity, the thrust force, and drag moment of the rotors. A simple algorithm is implemented to an inertial measurement unit (IMU) for estimating the attitude and altitude of the quadrotor. Experimental set up is built to verify and test the accuracy of these proposed techniques. A controller is designed based on the feedback linearization method such that the quadrotor attitude can be stabilized. Finally, the experimental results show the effectiveness of the proposed techniques and the controller design.

关键词： Rotors Pulse width modulation Propellers Force Drag Angular velocity Assembly

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. Computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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