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Design and development of a wearable rehabilitation robot

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4th International Conference on Social robotics, ICSR 2012

作者： He, Wei Ge, Shuzhi Sam Guo, Weian Zhao, Zhen Zhang, Jie Xiao, Shengtao Nuraisha, Fon Ping Quek Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore

ISBN: (纸本)9783642341021

In this paper, we present the design and development of a wearable robot for the lower limb rehabilitation including the mechanical, electrical system, software implementation, etc. To make the robot wearable and portable and simplify the mechanism structure, servo motors are used as robot's joints. A friendly human robot interface is designed to make the robot easy to use. The dynamics of the robot is described by a 2-link rigid robotic manipulator in the joint space. The simulation results are given to demonstrate the feasibility and effectiveness of the designed lower limb rehabilitation robot-assisted system. © 2012 Springer-Verlag.

关键词： Machine design

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A new hand exoskeleton device for rehabilitation using a three-layered sliding spring mechanism

A new hand exoskeleton device for rehabilitation using a thr...

引用

IEEE International Conference on robotics and Automation

作者： Jumpei Arata Keiichi Ohmoto Roger Gassert Olivier Lambercy Hideo Fujimoto Ikuo Wada Department of Computer Science and Engineering Graduate School of Engineering Nagoya Institute of Technology Gokiso-cho Showa-ku Nagoya 466-8555 Japan. Rehabilitation Engineering Laboratory Institute of Robotics and Intelligent Systems ETH Zurich 8092 Zurich Switzerland. Department of Rehabilitation Nagoya City University Hospital 1-Kawasumi MIzuho-cho Mizuho-ku Nagoya 467-8602 Japan.

ISBN: (纸本)9781467356404

In this paper, a new hand exoskeleton device using a three-layered sliding spring mechanism is presented. In contrast to state of the art hand exoskeleton mechanisms (typically link, wire or pneumatically driven), the proposed mechanism is driven through large deformations of the compliant mechanism body. The mechanism can be made compact and lightweight by adequately positioning the compliant elements. In addition, the mechanism is designed to distribute 1-DOF actuated linear motion into three rotational motions of the finger joints, which translate into natural finger flexion/extension. The primary applicatoin of the proposed mechanism is to provide robotic support during physical therapy at the hospital (e.g. Continuous Passive Motion). However, thanks to its light and wearable structure, the proposed device could also be used at home as an assistive/therapeutic device to support activities of daily living. We introduce the mechanical structure of the three-layered sliding spring mechanism, present a prototype implementation as a hand exoskeleton device, and provide a preliminary evaluation.

关键词： three-layered sliding spring mechanism art hand exoskeleton mechanisms compliant mechanism body

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Towards AER VITE: Building spike gate signal

Towards AER VITE: Building spike gate signal

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2012 19th IEEE International Conference on Electronics, Circuits, and Systems, ICECS 2012

作者： Perez-Pena, Fernando Morgado-Estevez, Arturo Rioja-Del-Rio, Carlos Linares-Barranco, Alejandro Jimenez-Fernandez, Angel Lopez-Coronado, Juan Munoz-Lozano, Jose Luis Applied Robotics Lab High School of Engineering University of Cadiz Spain Automatic and System Engineering Department University Polytechnics of Cartagena Spain Department of Computer Architecture and Technology ETSI Computer Science University of Seville Spain

ISBN: (纸本)9781467312615

Neuromorphic engineers aim to mimic the precise and efficient mechanisms of the nervous system to process information using spikes from sensors to actuators. There are many available works that sense and process information in a spike-based way. But there are still several gaps in the actuation and motor control field in a spike-based way. Spike-based Proportional-Integrative- Derivative controllers (PID) are present in the literature. On the other hand, neuro-inspired control models as VITE (Vector Integration To End point) and FLETE (Factorization of muscle Length and muscle Tension) are also present in the literature. This paper presents another step toward the spike implementation of those neuro-inspired models. We present a spike-based ramp multiplier. VITE algorithm generates the way to achieve a final position targeted by a mobile robotic arm. The block presented is used as a gate for the way involved and it also puts the incoming movement on speed with a variable slope profile. Only spikes for information representation were used and the process is in real time. The software simulation based on Simulink and Xilinx System Generator shows the accurate adjust to the traditional processing for short time periods and the hardware tests confirm and extend the previous simulated results for any time. We have implemented the spikes generator, the ramp multiplier and the low pass filter into the Virtex-5 FPGA and connected this with an USB-AER (Address Event Representation) board to monitor the spikes. © 2012 IEEE.

关键词： Muscle

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Proportional-integrative controller design of Pneumatic system using particle swarm optimization

Proportional-integrative controller design of Pneumatic syst...

引用

Student Conference on Research and Development (SCOReD)

作者： Khairuddin Osman Ahmad Athif Mohd Faudzi M. F. Rahmat Nu'man Din Mustafa Amar Faiz Zainal Abidin Koichi Suzumori Faculty of Electronic and Computer Engineering Universiti Teknikal Malaysia Melaka Durian Tunggal Melaka Malaysia Centre for Artificial Intelligent and Robotics Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor MY Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor Bahru Malaysia Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor MY Graduate School of Natural Science and Technology Okayama University Okayama Japan

Pneumatic systems are well known for their advantages, simplicity and can be applied in various industrial applications. This paper presents a comparative study of tuning methods on Proportional-Integral (PI) controller for position control performance both in simulation and in real system. A PI controller designed by optimization with the Particle Swarm Optimization (PSO) algorithm is proposed and its output is compared with the Ziegler-Nichols (Z-N) formula and manual (trial and error) results. Performance assessment of the tuned controllers was performed in MATLAB Simulink. It was observed that the controller designed using PSO gives better results and performance compared to the Z-N formula and manual tuning in simulation and real-time.

关键词： Tuning Pneumatic systems Particle swarm optimization System identification Mathematical model Mechatronics Real-time systems

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Modeling and Control Design for a Multi-cable Mooring System

Modeling and Control Design for a Multi-cable Mooring System

引用

第三十一届中国控制会议

作者： Shuzhi Sam Ge Robotics Institute School of Computer Science and EngineeringUniversity of Electronic Science and Technology of China

In this paper,modeling and control are investigated for a multi-cable mooring *** mathematical model of the system is described as partial differential equations(PDEs) via the Hamilton's *** is designed at the top boundary of the mooring lines based on the Lyapunov's direct method to suppress the vessel's *** control is developed to handle the system parametric *** the proposed boundary control,uniform boundedness of the system is achieved. Simulations are carried out to verify the effectiveness of the proposed control.

关键词： Boundary Control Distributed Parameter System Adaptive Control Flexible system

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A framework for cognitive robots to learn behaviors through imitation and interaction with humans

A framework for cognitive robots to learn behaviors through ...

引用

2012 IEEE International Multi-Disciplinary Conference on Cognitive Methods in Situation Awareness and Decision Support, CogSIMA 2012

作者： Tan, Huan Du, Qian Wu, Na Electrical Engineering and Computer Science Department Vanderbilt University Nashville TN 37212 United States Institute of Robotics Nankai University Tianjin 300071 China Graduate School of Decision and Technology Tokyo Institute of Technology Japan

ISBN: (纸本)9781467303453

This paper proposes a general learning framework for robots to learn behaviors through imitation and interaction. A modified codebook based method is used for robots to segment and recognize new objects in the environment. Task related semantic information is learned by robots through the speech communication with humans. Dynamic Movement Primitive method is used to generate similar behaviors to complete similar but slightly different tasks. Experimental results are given to verify the effectiveness of this framework. © 2012 IEEE.

关键词： Speech communication

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Balancing and posture controls for biped robots with unmodelled dynamics

Balancing and posture controls for biped robots with unmodel...

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Li, Zhijun Ge, Shuzhi Sam Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore

ISBN: (纸本)9783642335082

This paper presents a structure of robust adaptive control for biped robots which includes balancing and posture control for regulating the center of mass position and trunk orientation of bipedal robots in a compliant way. First, the biped robot is decoupled into the dynamics of center of mass (COM) and the trunks. Then, the adaptive robust controls are constructed in the presence of parametric and functional dynamics uncertainties. The control computes a desired ground reaction force required to stabilize the posture with unknown dynamics of COM and then transforms these forces into full-body joint torques even if the external disturbances exist. The verification of the proposed control is conducted using the extensive simulations. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Dynamics

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Impedance control of a rehabilitation robot for interactive training

引用

4th International Conference on Social robotics, ICSR 2012

作者： He, Wei Ge, Shuzhi Sam Li, Yanan Chew, Effie Ng, Yee Sien Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Social Robotics Lab. Interactive Digital Media Institute National University of Singapore Singapore 119613 Singapore Division of Neurology National University Hospital Singapore 119074 Singapore Department of Rehabilitation Medicine Singapore General Hospital Singapore 169608 Singapore

ISBN: (纸本)9783642341021

In this paper, neural networks based impedance control is developed for a wearable rehabilitation robot in interactions with humans and the environments. The dynamics of the robot are represented by an n-link rigid robotic manipulator. To deal with the system uncertainties and improve the robustness of the system, the adaptive neural networks are used to approximate the unknown model of the constrained robot. With the proposed control, uniform ultimate boundedness of the closed loop system is achieved based on the Lyapunov method. The states of the system converge to a small neighborhood of zero by properly choosing control gains. Extensive simulations are conducted to verify the proposed control. © 2012 Springer-Verlag.

关键词： Lyapunov methods

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Modified SOM based intelligent semi-autonomous navigation system

Modified SOM based intelligent semi-autonomous navigation sy...

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2012 9th International Conference on High Capacity Optical Networks and Enabling Technologies, HONET 2012

作者： Ul Hassan, Shabih Ahmed, Bilal Shaukat, Bilal Paracha, Habib Ur Rehman Malik, Usman Qaiser, Saad Anwar, Nabeel Ayaz, Yasar Department of Electrical Engineering School of Electrical Engineering and Computer Science National University of Science and Technology Sector H-12 Islamabad 44000 Pakistan Department of Robotics and Artificial Intelligence School of Mechanical and Manufacturing Engineering National University of Science and Technology Sector H-12 Islamabad 44000 Pakistan Biomedical Engineering Department School of Mechanical and Manufacturing Engineering National University of Science and Technology Sector H-12 Islamabad 44000 Pakistan

ISBN: (纸本)9781467315722

The fundamental problem in today's world when robots are becoming a part of daily routine is getting them to move from one desired place to another without any problem and collision. In doing so a robot needs to perceive its environment to efficiently navigate through it. The navigation is possible only if the robot differentiates between different scenarios around it in real time. In this paper we present a semi-autonomous navigation strategy designed for low throughput interfaces. The task is to minimize the user input by intelligently interpreting and executing the commands. Analyzing the environment in real time, the robot selects the most probable action using collision free steering techniques which employ the Self Organizing Map in cooperation with Artificial Potential Field, in which both the user and an intelligent robot co-exist. The performance of the proposed navigation algorithm is confirmed with computer simulations and experiments using the Pioneer 3-AT mobile robot. © 2012 IEEE.

关键词： Collision avoidance

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Human-robot handshaking: A hybrid deliberate/reactive model

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4th International Conference on Social robotics, ICSR 2012

作者： Zeng, Yingzi Li, Yanan Xu, Pengxuan Ge, Shuzhi Sam Interactive Digital Media Institute Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9783642341021

In this paper, we propose a hybrid deliberate/reactive model to achieve natural handshaking between human beings and robots. Our goal is to provide a perspective to achieve natural human-robot handshaking in addition to time/frequency based trajectory control. The proposed model consists of two parts. The reactive part is designed to enable the robot to follow the handshaking motion led by the human being, while the deliberate part is dedicated to embed a unique handshaking character into the robot. The validity of the proposed model is examined by comparing the trajectory and interaction force during the human-human and human-robot handshaking, respectively. © 2012 Springer-Verlag.

关键词： Human robot interaction

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