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ARMin III - arm therapy exoskeleton with an ergonomic shoulder actuation

Applied Bionics and Biomechanics 2009年第2期6卷 127-142页

作者： Nef, Tobias Guidali, Marco Riener, Robert Department of Biomedical Engineering The Catholic University of America Washington DC United States National Rehabilitation Hospital Washington DC United States Balgrist University Hospital University Zurich Switzerland Sensory-Motor Systems Lab Institute of Robotics and Intelligent Systems ETH Zurich Switzerland

Rehabilitation robots have become important tools in stroke rehabilitation. Compared to manual arm training, robot-supported training can be more intensive, of longer duration and more repetitive. Therefore, robots have the potential to improve the rehabilitation process in stroke patients. Whereas a majority of previous work in upper limb rehabilitation robotics has focused on end-effector-based robots, a shift towards exoskeleton robots is taking place because they offer a better guidance of the human arm, especially for movements with a large range of motion. However, the implementation of an exoskeleton device introduces the challenge of reproducing the motion of the human shoulder, which is one of the most complex joints of the body. Thus, this paper starts with describing a simplified model of the human shoulder. On the basis of that model, a new ergonomic shoulder actuation principle that provides motion of the humerus head is proposed, and its implementation in the ARMin III arm therapy robot is described. The focus lies on the mechanics and actuation principle. The ARMin III robot provides three actuated degrees of freedom for the shoulder and one for the elbow joint. An additional module provides actuated lower arm pro/supination and wrist flexion/extension. Five ARMin III devices have been manufactured and they are currently undergoing clinical evaluation in hospitals in Switzerland and in the United States. © 2009 Taylor & Francis.

关键词： Ergonomics

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Integrated Gripper and Cutter in a Mobile Robotic System for Harvesting Greenhouse Products

Integrated Gripper and Cutter in a Mobile Robotic System for...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Guari S. Mittal Baozeng Jia Simon X. Yang Anmin Zhu Advanced Robotics and Intelligent Systems (ARIS) Lab School of Engineering University of GuelphCana Advanced Robotics and Intelligent Systems (ARIS) Lab School of Engineering University of GuelphCana

ISBN: (纸本)9781424447749

A novel integrated gripper and cutter is developed and tested on a robotic system for harvesting greenhouse products. The integrated tool is unique, and has many potential applications. It can pick up vegetables such as tomatoes, and fruits such as apples, grapes, crab apples, cherries. The integrated end-effector with gripper and cutter is small in size, light in weight, efficient in design, and low in cost. It is easy to use and can effectively perform the holding and cutting. It can be easily installed on robot manipulators, and can effectively harvest greenhouse products. The end-effector requires small robot payload due to its light weight, and can be mounted to small robots for harvesting fruits and vegetables. Experiments show that it can effectively pick up vegetables and fruits from plants and accurately place them to a container beside the robot. It only takes an average of 37 s for harvesting one fruit in laboratory tests. The successful rate of harvesting is almost 100％ if the robot can accurately move the integrated end-effector to the work point on the fruit peduncle.

关键词： Diluents CUTTERS Knitters harvesting small robots Crab Apple Workstations Robot Integrate greenhouses Robot Manipulator Fruits and vegetables PICK Vegetable

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Voluntary gait speed adaptation for robot-assisted treadmill training

Voluntary gait speed adaptation for robot-assisted treadmill...

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2009 IEEE International Conference on Rehabilitation robotics, ICORR 2009

作者： Koenig, Alexander Binder, Carmen Zitzewttz, Joachim V. Omlin, Ximena Bolliger, Marc Riener, Robert Sensory Motor Systems Lab. ETH Zurich Switzerland Institute of Robotics and Intelligent Systems Department of Mechanical Engineering and Process Engineering ETH Zurich Switzerland Spinal Cord Injury Center University Hospital Balgrist University of Zurich TAN E 4 Tannenstrasse 1 8092 Zurich Switzerland

ISBN: (纸本)9781424437894

Robot-assisted gait training currently lacks the possibility of the robot to automatically adapt to the patient's needs and demands (so called "bio-cooperative control strategies"). It is desired to give the patient voluntary control over training parameters such as gait speed or joint trajectories. We implemented a control algorithm for the driven gait orthosis Lokomat that allows severely disabled stroke patients a limited and safe allowance of influence on their gait speed. To exercise gait symmetry, our algorithm can be configured such that only activity in the paretic leg will cause changes in treadmill speed. The algorithm was successfully tested with eight healthy subjects and six stroke patients. ©2009 IEEE.

关键词： Robots

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A parallel XTS encryption mode of operation

A parallel XTS encryption mode of operation

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Student Conference on Research and Development (SCOReD)

作者： Mohammad Ahmed Alomari Khairulmizam Samsudin Abdul Rahman Ramli Computer Systems Research Group Faculty of Engineering Universiti Putra Malaysia Serdang Malaysia Intelligent Systems and Robotics Lab Universiti Putra Malaysia Serdang Malaysia

ISBN: (纸本)9781424451869;9781424451876

Securing data stored inside the storage devices is becoming an important concern in computer security now. It is known that the most efficient techniques to protect storage devices are using cryptography. Developing newer and more secure encryption algorithms and modes of operation might be critically important to protect these devices since conventional disk encryption algorithms, such as CBC mode, have shown serious security flaws. In this paper, the newly standardized IEEE XTS encryption mode of operation for storage encryption (P1619 standard) has been implemented using parallel design. A performance comparison between the sequential and parallel algorithms of XTS mode has been presented. The parallel XTS algorithm has shown a speedup of 1.80 (with 90% efficiency) faster than the sequential algorithm. In these simulations, AES is used as encryption algorithm with 256-bit encryption key.

关键词： Cryptography Secure storage Parallel processing intelligent robots Computer security Protection Standards development Velocity measurement Hardware Data security

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ARMin - Exoskeleton robot for stroke rehabilitation

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World Congress on Medical Physics and Biomedical engineering: Neuroengineering, Neural systems, Rehabilitation and Prosthetics

作者： Nef, Tobias Guidali, Marco Klamroth-Marganska, Verena Riener, Robert Department of Biomedical Engineering Catholic University of America Washington DC United States Center for Applied Biomechanics and Rehabilitation Research National Rehabilitation Hospital Washington DC United States Sensory-Motor Systems Lab. Institute of Robotics and Intelligent Systems ETH Zurich Switzerland Spinal Cord Injury Center Balgrist University Hospital University of Zurich Switzerland

ISBN: (纸本)9783642038884

Rehabilitation robots are becoming an important tool in rehabilitation of stroke, SCI and other neurological pathologies. Compared to manual arm training, robot-supported training can be more intensive, of longer duration, repetitive and task-oriented. Therefore, such devices have the potential to improve the rehabilitation process in stroke patients. Whereas a majority of previous work in upper limb rehabilitation robotics has focused on end-effector based robots, a shift toward exoskeleton robots is taking place because they offer a better guidance of the human arm, especially for movements with large range of motions. One of the first actuated exoskeleton robot that is ready for deployment in clinics is the ARMin III robot. This paper gives a short overview of the ongoing clinical application and evaluation process of the ARMin III robot. © 2009 Springer-Verlag.

关键词： Exoskeleton (robotics)

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Micromanipulation using artificial bacterial flagella

Micromanipulation using artificial bacterial flagella

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2009 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Li Zhang Jake J. Abbott Lixin Dong Bradley E. Kratochvil Haixin Zhang Kathrin E. Peyer Bradley J. Nelson Multi Scale Robotics Lab Institute of Robotics and intelligent Systems ETH Zurich Zurich Switzerland Department of Mechanical Engineering University of Utah Salt Lake UT USA Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA

Artificial bacterial flagella (ABF) are swimming microrobots that mimic the swimming motion of bacteria. The helical swimmer consists of an InGaAs/GaAs/Cr helical nanobelt tail fabricated by a self-scrolling technique with dimensions similar to a natural flagellum, and a thin soft-magnetic metal ¿head¿ consisting of a Cr/Ni/Au multi-layer. The swimming locomotion of ABF is precisely controlled in 3-D by external rotating magnetic fields. Microsphere manipulation is performed by ABF, and experimental results show that both the position and the orientation of microspheres can be precisely controlled. The propelling force of ABF is in the pico-Newton range. We also describe a swarm-like behavior in which three ABF swim in a pack, indicating the potential to handle several micro objects in parallel. Self-propelled devices such as these are candidates for wireless 6-DOF micro and nanomanipulation tools for handling cellular and sub-cellular objects.

关键词： Microorganisms Chromium Indium gallium arsenide Gallium arsenide Tail Gold Magnetic fields Propulsion Force control Nanoscale devices

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Model-based Heart rate prediction during Lokomat walking

Model-based Heart rate prediction during Lokomat walking

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

作者： Alexander C. Koenig Luca Somaini Michael Pulfer Thomas Holenstein Ximena Omlin Martin Wieser Robert Riener Spinal Cord Injury Center University Hospital Balgrist Switzerland Department of Mechanical Engineering and Process Engineering Sensory Motor Systems Lab Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Spinal Cord Injury Center University of Zurich Switzerland

We implemented a model for prediction of heart rate during Lokomat walking. Using this model, we can predict potential overstressing of the patient and adapt the physical load accordingly. Current models for treadmill based heart rate control neglect the fact that the interaction torques between Lokomat and human can have a significant effect on heart rate. Tests with five healthy subjects lead to a model of sixth order with walking speed and power expenditure as inputs and heart rate prediction as output. Recordings with five different subjects were used for model validation. Future work includes model identification and predictive heart rate control with spinal cord injured and stroke patients.

关键词： Predictive models Heart rate Legged locomotion Humans Cardiology Velocity control Spinal cord injury Patient monitoring Heart rate measurement Automatic control

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Fuzzy machine vision based porosity detection

Fuzzy machine vision based porosity detection

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： Pejman Mehran Kudret Demirli Gary Bone Brian Surgenor Intelligent Fuzzy Systems Laboratory Department of Mechanical and Industrial Engineering Concordia University Montreal QUE Canada Robotics and Manufacturing Automation Lab Department Mechanical Engineering McMaster University Hamilton ONT Canada Intelligent Automation Laboratory Department of Mechanical and Materialś Engineering Queen's University Kingston ONT Canada

In this paper an objective fuzzy approach for fast and accurate porosity vision based inspection is presented. An automated methodology of detection of pores, which are formed in aluminum alloys during production of water-pumps for car engines with the die casting method, is described. The proposed method is based on the correlation of the core of pore candidates with twelve developed matrices resulted in five novel features. The fuzzy decision making on porosity detection adopted and presented in this paper, adds great value to the whole production system, by increasing the confidence of the inspectors in the machine performing real-time verification. The fuzzy porosity detection was carried out on a database of 105 gray level images. The proposed model properly identifies 93.36% of the pores in the entire database.

关键词： Machine vision Image databases Inspection Aluminum alloys Engines Die casting Fuzzy systems Decision making Production systems Real time systems

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A fuzzy inference controller with Accelerate/Brake Module for mobile robots

A fuzzy inference controller with Accelerate/Brake Module fo...

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IEEE International Conference on Automation and Logistics

作者： Suo Tan Simon X. Yang Advanced Robotics and Intelligent Systems (ARIS) Lab School of Engineering University of Guelph Guelph ONT Canada

ISBN: (纸本)9781424425020

In this paper, a fuzzy-inference controller with Accelerate/Brake (A/B) Module is proposed for navigation control of a mobile robot in dynamic environments. This approach includes target seeking, obstacle avoidance, and optimal path planning. By utilizing the fuzzy controller, a mobile robot could approach a target in a dynamic environment autonomously. The A/B Module of the proposed system is to enable the mobile robot to make human-like decisions as it moves toward a target. Under the control of the proposed fuzzy inference model, the robot can perform well both in avoiding static and moving obstacles like human beings along a reasonable short path.

关键词： Mobile robots Robots Robot sensing systems Navigation Acceleration Wheels Heuristic algorithms

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Learning structurally discriminant features in 3D faces

Learning structurally discriminant features in 3D faces

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IEEE International Conference on Image Processing

作者： Sreenivas R. Sukumar Hamparsum Bozdogan David L. Page Andreas F. Koschan Mongi A. Abidi Imaging Robotics and Intelligent Systems Lab Department of Electrical and Computer Engineering University of Tennessee Knoxville USA Department of Statistics University of Tennessee Knoxville USA

In this paper, we derive a data mining framework to analyze 3D features on human faces. The framework leverages kernel density estimators, genetic algorithm and an information complexity criterion to identify discriminant feature-clusters of lower dimensionality. We apply this framework on human face anthropometry data of 32 features collected from each of the 300 3D face mesh models. The feature-subsets that we infer as the output establishes domain knowledge for the challenging problem of 3D face recognition with dense 3D gallery models and sparse or low resolution probes.

关键词： Probes Face recognition Data mining Humans Facial features Feature extraction Principal component analysis Linear discriminant analysis Input variables intelligent robots

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