As we all know, rigid structure is the universal form of robots. They can be controlled accurately, but are not suitable enough for applying in rehabilitation, especially for hands. Human's hands have some complic...
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ISBN:
(纸本)9781479970995
As we all know, rigid structure is the universal form of robots. They can be controlled accurately, but are not suitable enough for applying in rehabilitation, especially for hands. Human's hands have some complicated patterns of movement and narrow joint range of motion, so rigid accessory equipment may cause secondary injury. For the purpose of avoiding this potential risk, the idea of applying soft structure to hand rehabilitation robot is presented in this paper. The soft robot is a new research direction in the field of robot industry, especially in rehabilitation. The soft actuator we presented is made of liquid silicone and thread, and can be tied to the back of human's hands. When it is inflated or deflated, a bending and stretching motion of hands follow with the deformation of soft actuators. It works by deforming repeatedly. The soft actuator has some advantages such as portable, lightweight, low-cost, safe, low-impedance and so on. It works well by the cooperation of vacuum pump which can provide incessant air and solenoid valve which is used for reversing. In the whole system, force sensing resistor and bending sensor are used in the experiments. In order to prove that the soft actuator can work smoothly, we had a test to explore the relationship between air inflow and bending angle. The result that their relationship is close to a straight line means controlling easily and working well. Beacons of these advantages the soft robots have, a wide application prospect in rehabilitation or other fields is available.
This paper proposed a novel grasper for a novel master-slave robotic catheter navigation system in Vascular Interventional Surgery (VIS). The developed novel grasper can imitate the catheter grasping motion of the sur...
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This paper proposed a novel grasper for a novel master-slave robotic catheter navigation system in Vascular Interventional Surgery (VIS). The developed novel grasper can imitate the catheter grasping motion of the surgeon during VIS. The grasper is a key factor to drive the catheter into the vessel accurately. It adopts a common structure like the pliers, which can guarantee that the catheter can be clamped on the same axes with other via hole. The clamping force can be adjusted by the screw through changing the entered length of the screw to change the compression length of the spring. The clamping system consists of two graspers both master side and slave side respectively. The graspers clamp the catheter just like the surgeon's hand and the clamping method of the grasper imitates the surgeon's operation. The performance evaluation experiments of the novel grasper were done. The experimental results indicated that the grasper was effective to clamp catheter tightly to increase accuracy of surgery, which can satisfy the design demand.
An Active Disturbance Rejection based solution is proposed for the position control of a standard inverted pendulum system, demonstrating a largely model independent design that is distinctly different from existing m...
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An Active Disturbance Rejection based solution is proposed for the position control of a standard inverted pendulum system, demonstrating a largely model independent design that is distinctly different from existing model-based designs from classical as well as modern controltheory. The quality of the control loop is further improved with a unique double disturbance observer design, which rejects independently the disturbance and uncertainty in both the pendulum itself and the cart that carries it. This proposed approach offers a promising and practical solution because it's intuitive to understand and easy to tune, in addition to its strong performance and effectiveness shown in both simulation study and real time experimentation.
Complex networks have, in recent years, brought many innovative impacts to large-scale systems. However, great challenges also come forth due to distinct complex situations and imperative requirements in human life no...
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A wireless microrobot may be used in the small space and biomedical practice, especially in the industrial field and biomedical application. In this paper, we designed a new kind of wireless microrobot with symmetrica...
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ISBN:
(纸本)9781479927456
A wireless microrobot may be used in the small space and biomedical practice, especially in the industrial field and biomedical application. In this paper, we designed a new kind of wireless microrobot with symmetrical spiral structure, which have more compact volume, completely symmetrical mechanical structure, quick response, forward-backward motions and can clean the dirt adhering to the inner wall. According to the hydromechanical lubrication theory and Newton viscous law, we build the motion model of the microrobot. Through analysis, simulations and experiments, this paper had evaluated the effect of spiral depth and thread unit number. In addition, we verified the feasibility of this new kind of microrobots, and obtained the moving speeds of forward-backward and upward-downward motion in the pipe. The experimental results indicated that the maximum moving speed is 22.68 mm/s at 12 Hz in the horizontal direction and 6.29 mm/s at 13Hz in the vertical direction with input currents of 0.7A. Finally, we designed a control panel for this system, which can control the microrobot current motion states easily, and make our system more portable and compact. The designed wireless microrobot can move smoothly in water and other liquid medium and is very useful in the industrial application and microsurgery application.
Muscle forces modeling and computation around the elbow are focused on in this paper when the elbow flexing and extending in the sagittal plane. The paper introduces a Rehabilitation intelligent Training System (RITS)...
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ISBN:
(纸本)9781479927456
Muscle forces modeling and computation around the elbow are focused on in this paper when the elbow flexing and extending in the sagittal plane. The paper introduces a Rehabilitation intelligent Training System (RITS) for restoration of motor function. The system has advantages of small size, less weight and interaction during the rehabilitation process. Furthermore, this system mainly consists of a force feedback device called PHANTOM Premium 1.5, ULERD, EEG (Electroencephalogram) based Brain-Computer Interfaces (BCI). The impaired hand wears the ULERD, so the therapist can control and move the injured hand by PHANTOM Premium in tele-operation. If the force feedback from PHAMTOM Premium is similar to the force generated by the muscle force of upper limb, the effect of upper limb rehabilitation to restore elbow motion may be suitable and satisfactory. This paper aims to computing the natural muscle forces and realizing the force which is generated by PHAMTOM and close to the computed one. Experiment has been performed to prove that the method is feasible in such robots. The development of this method can be a promising approach for further research in more effective rehabilitation to the elbow joint.
The Probabilistic Roadmap method (PRM) has been widely used in the field of robot path planning and based on it, a great number of variants have been developed addressing for different purposes, e.g. the Lazy PRM meth...
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ISBN:
(纸本)9781424447749;9781424447756
The Probabilistic Roadmap method (PRM) has been widely used in the field of robot path planning and based on it, a great number of variants have been developed addressing for different purposes, e.g. the Lazy PRM method, the Dynamic Roadmap (DRM) method, and the Dynamic Bridge Builder method (DBB). In this paper, PRM is extended as well-a hierarchical roadmap based rapid path planner is presented, which combines DRM with DBB to achieve good planning performance in environments including moveable obstacles. Through observation, we find that how to determine precise location of a robot's end-effector is quite important for nearly all practical planning tasks. Moreover, the workspace that can be swept by its end-effector determines scope of action of a robot. In consideration of the safety factor, the velocity of planning should be limited. Accordingly, its scope of action must be limited during a certain time interval, as well. In this paper, a hierarchy sampling strategy oriented towards the end-effector position is employed. Initially only a fundamental global roadmap is constructed and visible. Then the scope of a manipulator, called manipulator space in this paper, is computed. Moveable obstacles lying inside the manipulation space are used to update the global roadmap and activate other two layers of nodes with Dynamic Bridge Builder. The approach has been implemented and tested in simulation, and results show that it meets the real-time demand well.
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