bluuebunny/crossref_metadata_2025 huggingface dataset:
Design, Sensing and Control of a Robotic Prosthetic Eye for Natural Eye Movement
Authors: Gu J. J. , Meng M. , Cook A. , Liu P. X.
Published: March 2015

Loss of an eye is a tragedy for a person, who may suffer psychologically and physically. This paper is concerned with the design, sensing and control of a robotic prosthetic eye that moves horizontally in synchronization with the movement of the natural eye. Two generations of robotic prosthetic eye models have been developed. The first generation model uses an external infrared sensor array mounted on the frame of a pair of eyeglasses to detect the natural eye movement and to feed the control system to drive the artificial eye to move with the natural eye. The second generation model removes the impractical usage of the eye glass frame and uses the human brain EOG (electro-ocular-graph) signal picked up by electrodes placed on the sides of a person's temple to carry out the same eye movement detection and control tasks as mentioned above. Theoretical issues on sensor failure detection and recovery, and signal processing techniques used in sensor data fusion, are studied using statistical methods and artificial neural network based techniques. In addition, practical control system design and implementation using micro-controllers are studied and implemented to carry out the natural eye movement detection and artificial robotic eye control tasks. Simulation and experimental studies are performed, and the results are included to demonstrate the effectiveness of the research project reported in this paper.
Permanent Magnetic System Design for the Wall-Climbing Robot
Authors: Shen W. , Gu J. , Shen Y.
Published: March 2015

This paper presents the design and analysis of the permanent magnetic system for a wall-climbing robot with permanent magnetic tracks. Based on the behaviour of gecko lizards, the architecture of the robot was designed and built, including the structure of the adhesion mechanism, the mechanical architecture and the anti-toppling mechanism. The permanent magnetic adhesion mechanism and the tracked locomotion mechanism were employed in this kind of wall-climbing robot. Through static and dynamic force analysis of the robot under different situations, design requirements for the adhesion mechanism were derived. Two different types of structures were put forward for the permanent magnetic units and are further discussed in this paper. These two types of structures are also analysed in detail. In addition, a finite-element method was used to verify the results of magnetic units. Finally, two wall-climbing robots, equipped with different magnetic systems described previously, are explained and their applications are discussed in this paper.
Cultured Neural Networks: Optimization of Patterned Network Adhesiveness and Characterization of their Neural Activity
Authors: Rutten W. L. C. , Ruardij T. G. , Marani E. , Roelofsen B. H.
Published: March 2015

One type of future, improved neural interface is the “cultured probe”. It is a hybrid type of neural information transducer or prosthesis, for stimulation and/or recording of neural activity. It would consist of a microelectrode array (MEA) on a planar substrate, each electrode being covered and surrounded by a local circularly confined network (“island”) of cultured neurons. The main purpose of the local networks is that they act as biofriendly intermediates for collateral sprouts from thein vivosystem, thus allowing for an effective and selective neuron–electrode interface. As a secondary purpose, one may envisage future information processing applications of these intermediary networks. In this paper, first, progress is shown on how substrates can be chemically modified to confine developing networks, cultured from dissociated rat cortex cells, to “islands” surrounding an electrode site. Additional coating of neurophobic, polyimide-coated substrate by triblock-copolymer coating enhances neurophilic-neurophobic adhesion contrast. Secondly, results are given on neuronal activity in patterned, unconnected and connected, circular “island” networks. For connected islands, the larger the island diameter (50, 100 or 150 μm), the more spontaneous activity is seen. Also, activity may show a very high degree of synchronization between two islands. For unconnected islands, activity may start at 22 days in vitro (DIV), which is two weeks later than in unpatterned networks.
A Computational Mechatronics Approach for the Analysis, Synthesis and Design of a Simple Active Biped Robot: Theory and Experiments
Authors: Lugo-Villeda L.-I. , Parra-Vega V.
Published: March 2015

Biped walking is a quite complex process that has been mastered only by human beings. Transferring this skill to a robot requires implementing advanced techniques in every aspect. To this end, a computational mechatronics platform was integrated to run the scheme for the analysis, synthesis and design to achieve planar biped walking. The result is an advanced computational tool that integrates advanced modeling and control as well as path planning techniques along with hardware-in-the-loop for perhaps the simplest biped robot. An experimental underactuated three-degree-of-freedom (two active and one passive) active biped robot yields encouraging results; that is, achieving biped walking with this simple device requires adding a telescopic support leg. Considering a more complete dynamic model to take into account frictional and contact forces.
A Prototype Design of a Wireless Capsule Endoscope
Authors: Chan Y. , Meng M. Q.-H. , Wang X. , Wu J. C.-Y.
Published: March 2015

Diseases of the gastrointestinal tract, such as intestinal bleeding and ulceration, are very common. To determine the location of the disease, as well as to diagnose the problem, endoscopy is performed. A wireless capsule endoscope is a pill-sized device that is easily swallowed by the patient. It is equipped with a camera and a wireless transmitter so that as it travels through the patient's gastrointestinal tract, it takes pictures or video images of the tract and transmits the information out of the patient's body. This article discusses the possible solutions and challenges of a wireless capsule endoscope in terms of the choice of wireless frequency and circuit components. A prototype is built with commercially available components to demonstrate the concept of the device.
Development of Underwater Microrobot with Biomimetic Locomotion
Authors: Zhang W. , Guo S. , Asaka K.
Published: March 2015

Microrobots have powerful applications in biomedical and naval fields. They should have a compact structure, be easy to manufacture, have efficient locomotion, be driven by low voltage and have a simple control system. To meet these purposes, inspired by the leg of stick insects, we designed a novel type of microrobot with biomimetic locomotion with 1-DOF (degree of freedom) legs. The locomotion includes two ionic conducting polymer film (ICPF) actuators to realize the 2-DOF motion. We developed several microrobots with this locomotion. Firstly, we review a microrobot, named Walker-1, with 1-DOF motion. And then a new microrobot, named Walker-2, utilizing six ICPF actuators, with 3-DOF motion is introduced. It is 47 mm in diameter and 8 mm in height (in static state). It has 0.61 g of dried weight. We compared the two microrobot prototypes, and the result shows that Walker-2 has some advantages, such as more flexible moving motion, good balance, less water resistance, more load-carrying ability and so on. We also compared it with some insect-inspired microrobots and some microrobots with 1-DOF legs, and the result shows that a microrobot with this novel type of locomotion has some advantages. Its structure has fewer actuators and joints, a simpler control system and is compact. The ICPF actuator decides that it can be driven by low voltage (less than 5 V) and move in water. A microrobot with this locomotion has powerful applications in biomedical and naval fields.
Orthotic Design through 3D Reconstruction: A Passive-Assistance Ankle–Foot Orthotic
Authors: Darling A. L. , Sun W.
Published: March 2015

Current methods of designing and manufacturing custom orthotics include manual techniques such as casting a limb in plaster, making a plaster duplicate of the limb to be treated and forming a polymer orthotic directly onto the plaster model. Such techniques are usually accompanied with numerous postmanufacture alterations to adapt the orthotic for patient comfort. External modeling techniques rely heavily on the skill of the clinician, as the axes of rotation of any joint are partially specified by the skeletal structure and are not completely inferable from the skin, especially in cases where edema is present. Clinicians could benefit from a simultaneous view of external and skeletal patient-specific geometry. In addition to providing more information to clinicians, quantification of patient-specific data would allow rapid production of advanced orthotics, requiring machining rather than casting. This paper presents a supplemental method of orthotic design and fitting, through 3D reconstruction of medical imaging data to parameterise an orthotic design based on a major axis of rotation, shape of rigid components and placement of skin contact surfaces. An example of this design approach is shown in the design of an ankle–foot orthotic designed around the computed tomography data from the Visible Human Project.
Development of a Multi-DOF Electromyography Prosthetic System Using the Adaptive Joint Mechanism
Authors: Hernandez Arieta A. , Katoh R. , Yokoi H. , Wenwei Y.
Published: March 2015

This paper describes an electrically powered prosthetic system controlled by electromyography (EMG) signal detected from the skin surface of the human body. The research of electrically powered prosthetic systems is divided into two main subjects. One is the design of the joint mechanism. We propose the use of an adaptive joint mechanism based on the tendon-driven architecture. This mechanism includes mechanical torque–velocity converters and a mechanism to assist the proximal joint torque by distal actuators. The other subject is the recognition of the EMG signal. For the discrimination of many patterns and nonlinear properties of the EMG signal, we propose a controller based on a simple pattern recognition information process. The system also drives 12 servomotors to move the adaptive joint mechanism. In this paper, we show the proposed system and describe the mechanical design of the prosthetic hand. The experimental results show that the electrically powered devices can be controlled using the proposed method.
Self-Inhibiting Modules Can Self-Organize as a Brain of a Robot: A Conjecture
Authors: Negrete-Martínez J.
Published: March 2015

In this article we describe a new robot control architecture on the basis of self-organization of self-inhibiting modules. The architecture can generate a complex behaviour repertoire. The repertoire can be performance-enhanced or increased by modular poly-functionality and/or by addition of new modules. This architecture is illustrated in a robot consisting of a car carrying an arm with a grasping tool. In the robot, each module drives either a joint motor or a pair of wheel motors. Every module estimates the distance from a sensor placed in the tool to a beacon. If the distance is smaller than a previously measured distance, the module drives its motor in the same direction of its prior movement. If the distance is larger, the next movement will be in the opposite direction; but, if the movement produces no significant change in distance, the module self-inhibits. A self-organization emerges: any module can be the next to take control of the motor activity of the robot once one module self-inhibits. A single module is active at a given time. The modules are implemented as computer procedures and their turn for participation scheduled by an endless program. The overall behaviour of the robot corresponds to a reaching attention behaviour. It is easily switched to a running-away attention behaviour by changing the sign of the same parameter in each module. The addition of a “sensor-gain attenuation reflex” module and of a “light-orientation reflex” module provides an increase of the behavioural attention repertoire and performance enhancement. Since scheduling a module does not necessarily produce its sustained intervention, the architecture of the “brain” is actually providing action induction rather than action selection.
Application of Divide and Conquer Extended Genetic Algorithm to Tertiary Protein Structure of Chymotrypsin Inhibitor-2
Authors: Alfaro A. , Doan M. , Finke J. , Galdes M. , Zohdy M.
Published: March 2015

Determining the method by which a protein thermodynamically folds and unfolds in three-dimension is one of the most complex and least understood problems in modern biochemistry. Misfolded proteins have been recently linked to diseases including Amyotrophic Lateral Sclerosis and Alzheimer's disease. Because of the large number of parameters involved in defining the tertiary structure of proteins, based on free energy global minimisation, we have developed a new Divide and Conquer (DAC) Extended Genetic Algorithm. The approach was applied to explore and verify the energy landscape of protein chymotrypsin inhibitor-2.
Using a Gyro as a Tool for Continuously Variable Lateral Stabilisation of Dynamic Bipeds
Authors: Mayer N. M. , Masui K. , Browne M. , Asada M. , Ogino M.
Published: March 2015

We present simulations of different types of biped walking machines that are stabilized in the lateral direction by adding a gyro. The simulations show that, in principle, it is indeed possible to stabilise biped walking machines. Examples presented in this work include a three-dimensional version of the simplest walking model, which is based on earlier investigations, and an actuated biped robot. Here, the gyro is used as a reaction wheel. Finally, a rotor–brake combination is outlined that was used in an artistic biped robot at the Aichi World Exhibition.
Estimating Shoulder-Complex Mobility
Authors: Tondu Bertrand
Published: March 2015

Modeling shoulder motions is essential in understanding upper-limb dynamic behavior. However, the mobility of the shoulder complex—in terms of degrees of freedom (DOFs)—is seldom quantified. In this paper we propose applying the theory of mechanisms and, especially, the powerful Grübler–Kutzbach formula to estimate it. This approach requires a rigorous kinematic analysis. So we suggest basing it on a bone schematisation derived from an extension of Dempster’s historical notation associated to mechanical interpretation of the physiological joints involved. In so doing, the proposed shoulder complex mobility leads to justifying a nine-DOF serial-chain upper-limb mode, which extends the classical seven-DOF arm–foream–wrist model and completing it by adding a clavicle-like link with a two-DOF mobility.
Humanoid Robot RH-1 for Collaborative Tasks: A Control Architecture for Human-Robot Cooperation
Authors: Monje Concepción A. , Pierro Paolo , Balaguer Carlos
Published: March 2015

The full-scale humanoid robot RH-1 has been totally developed in the University Carlos III of Madrid. In this paper we present an advanced control system for this robot so that it can perform tasks in cooperation with humans. The collaborative tasks are carried out in a semi-autonomous way and are intended to be put into operation in real working environments where humans and robots should share the same space. Before presenting the control strategy, the kinematic model and a simplified dynamic model of the robot are presented. All the models and algorithms are verified by several simulations and experimental results.
New Challenges in Biorobotics: Incorporating Soft Tissue into Control Systems
Authors: Trimmer Barry A.
Published: March 2015

The development of truly biomimetic robots requires that soft materials be incorporated into the mechanical design and also used as an integral part of the motor control system. One approach to this challenge is to identify how soft animals control their movements and then apply the found principles in robotic applications. Here I show an example of how a combination of animal kinematics, neural patterning and constitutive modelling of tissues can be used to explore motor control in the caterpillar,Manduca sexta. Although still in the early stages, these findings are being used to design and fabricate a new type of robot that does not have a rigid skeleton and is structured entirely from soft or compliant materials. It is hoped that this new robotic platform will promote the development of actuators, sensors and electronics that are compatible with soft materials.
Design and Development of a Robotic Bee for the Analysis of Honeybee Dance Communication
Authors: Landgraf T. , Moballegh H. , Rojas R.
Published: March 2015

We have designed a robotic honeybee to mimic the bee dance communication system. To achieve this goal, a tracking system has been developed to extract real bee dance trajectories recorded with high-speed video cameras. The results have been analysed to find the essential properties required for the prototype robot. Putative signals in the dance communication have been identified from the literature. Several prototypes were built with successive addition of more features or improvement of existing components. Prototypes were tested in a populated beehive results were documented using high-speed camera recordings. A substantial innovation is a visual feedback system that helps the robot to minimise collisions with other bees.
Dynamic Locomotion of a Biomorphic Quadruped ‘Tekken’ Robot Using Various Gaits: Walk, Trot, Free-Gait and Bound
Authors: Fukuoka Y. , Kimura H.
Published: March 2015

Numerous quadruped walking and running robots have been developed to date. Each robot walks by means of a crawl, walk, trot or pace gait, or runs by means of a bound and/or gallop gait. However, it is very difficult to design a single robot that can both walk and run because of problems related to mechanisms and control. In response to this, we adapted a biological control method for legged locomotion in order to develop a dog-like quadruped robot we have named ‘Tekken’. Tekken has a control system that incorporates central pattern generators, reflexes and responses as well as a mechanism that makes the most of the control system. Tekken, which is equipped with a single mechanism, an unchangeable control method, and modifiable parameters, is capable of achieving walking and trotting on flat terrain, can walk using a free gait on irregular terrain, and is capable of running on flat terrain using a bounding gait. In this paper, we describe the mechanism, the control method and the experimental results of our new development.
ARMin III – Arm Therapy Exoskeleton with an Ergonomic Shoulder Actuation
Authors: Nef Tobias , Guidali Marco , Riener Robert
Published: March 2015

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.
A Robotic Guide for Blind People. Part 1. A Multi-National Survey of the Attitudes, Requirements and Preferences of Potential End-Users
Authors: Hersh Marion A. , Johnson Michael A.
Published: March 2015

This paper reports the results of a multi-national survey in several different countries on the attitudes, requirements and preferences of blind and visually impaired people for a robotic guide. The survey is introduced by a brief overview of existing work on robotic travel aids and other mobile robotic devices. The questionnaire comprises three sections on personal information about respondents, existing use of mobility and navigation devices and the functions and other features of a robotic guide. The survey found that respondents were very interested in the robotic guide having a number of different functions and being useful in a wide range of circumstances. They considered the robot's appearance to be very important but did not like any of the proposed designs. From their comments, respondents wanted the robot to be discreet and inconspicuous, small, light weight and portable, easy to use, robust to damage, require minimal maintenance, have a long life and a long battery life.
The Vibe: A Versatile Vision-to-Audition Sensory Substitution Device
Authors: Hanneton Sylvain , Auvray Malika , Durette Barthélemy
Published: March 2015

We describe a sensory substitution scheme that converts a video stream into an audio stream in real-time. It was initially developed as a research tool for studying human ability to learn new ways of perceiving the world: the Vibe can give us the ability to learn a kind of ‘vision’ by audition. It converts a video stream into a continuous stereophonic audio signal that conveys information coded from the video stream. The conversion from the video stream to the audio stream uses a kind of retina with receptive fields. Each receptive field controls a sound source and the user listens to a sound that is a mixture of all these sound sources. Compared to other existing vision-to-audition sensory substitution devices, the Vibe is highly versatile in particular because it uses a set of configurable units working in parallel. In order to demonstrate the validity and interest of this method of vision to audition conversion, we give the results of an experiment involving a pointing task to targets memorised through visual perception or through their auditory conversion by the Vibe. This article is also an opportunity to precisely draw the general specifications of this scheme in order to prepare its implementation on an autonomous/mobile hardware.
Design, Development and Control of a Hopping Machine – an Exercise in Biomechatronics
Authors: Naik Kuldip , Mehrandezh Mehran , Barden John
Published: March 2015

Hopping is a complicated dynamic behaviour in the animal kingdom. Development of a hopping machine that can mimic the biomechanics of jumping in Homo sapiens is envisioned. In this context, the design, development and control of a cost-effective, pneumatically actuated, one-legged hopping machine were initiated at the University ofRegina in 2005. The pneumatic actuator has a simple design that employs an off-the-shelf on/off control valve which regulates the air pressure supplied to the hopper's body using a pulse width modulated (PWM) signal. The objective is to maintain a constant jumping height in the hopper after going through a finite number of hopping cycles. The mechanistic model of the system was investigated in full detail. This model facilitates: (1) the design of the actuating system, and (2) the synthesis and verification of different control strategies in a simulation environment prior to implementation in the real world. The movement of the hopper is supported by a vertical slide; therefore, the hopper can only jump in place. However, the proposed control strategy and the propulsion unit can be further utilised for stable hopping in a 3-D environment. A model-free Neuro-PD controller was then designed, trained and implemented on a real system. Simulation and experimentation showed promising results. This system can be used as an educational tool for teaching real-time control of hybrid and non-linear systems. It can be also used as a biomechatronics test bed to simulate the effect of different timings in firing action potentials in jump-causing leg muscles on achieving a desired jumping height in the animal kingdom.
Interface Based on Electrooculography for Velocity Control of a Robot Arm
Authors: Iáñez Eduardo , Azorín José M. , Fernández Eduardo , Úbeda Andrés
Published: March 2015

This paper describes a technique based on electrooculography to control a robot arm. This technique detects the movement of the eyes, measuring the difference of potential between the cornea and the retina by placing electrodes around the ocular area. The processing algorithm developed to obtain the position of the eye at the blink of the user is explained. The output of the processing algorithm offers, apart from the direction, four different values (zero to three) to control the velocity of the robot arm according to how much the user is looking in one direction. This allows controlling two degrees of freedom of a robot arm with the eyes movement. The blink has been used to mark some targets in tests. In this paper, the experimental results obtained with a real robot arm are shown.
Analysis of the Results from Use of Haptic Peg-in-Hole Task for Assessment in Neurorehabilitation
Authors: Amirabdollahian Farshid , Johnson Garth
Published: March 2015

Haptic and robotic technologies have the potential to provide assessment during interaction with humans. This manuscript presents our earlier research during the I-Match project where a haptic peg-in-hole test was used in order to compare between healthy volunteers' performance and those with neurological impairment. Subjects all performed a series of haptic virtual peg-in-hole tasks with varying degrees of difficulty determined by the hole diameter. Haptic instrument, Phantom Desktop 1.5, allowed for recording of biomechanical data which is used to present some variant features between the two subject groups. This paper analyses the placement time, maximum peg transfer velocity, collision forces recorded during peg placement and also insertion accuracy. The first three parameters showed statistically significant differences between the two groups while the last, insertion accuracy, showed insignificant differences (p= 0.152). This is thought to be due to the large clearance value between the smallest hole diameter and the peg. To identify differences between the haptic peg-in-hole and the established NHPT, we are currently in process of conducting a further experiment with a haptic replica of the NHPT test, in order to investigate effects resulting from addition of haptic force feedback compared to the original NHPT test, as well as allowing to explore influences caused by the 1 mm clearance value as originally proposed by Wade.Furthermore, in order to investigate if this method can identify differences between subjects with different neurological conditions, a larger group of subjects with neurological conditions such as stroke, multiple sclerosis, and traumatic brain injury is required to explore potency of this approach for identifying differences between these different conditions.
FES-Assisted Walking with Spring Brake Orthosis: Simulation Studies
Authors: Jailani R. , Tokhi M. O. , Gharooni S. C. , Ibrahim B. S. K. K.
Published: March 2015

This paper presents a simulation of bipedal locomotion to generate stimulation pulses for activating muscles for paraplegic walking with wheel walker using functional electrical stimulation (FES) with spring brake orthosis (SBO). A new methodology for paraplegic gait, based on exploiting natural dynamics of human gait, is introduced. The work is a first effort towards restoring natural like swing phase in paraplegic gait through a new hybrid orthosis, referred to as spring brake orthosis (SBO). This mechanism simplifies the control task and results in smooth motion and more-natural like trajectory produced by the flexion reflex for gait in spinal cord injured subjects. SBO can eliminate reliance on the withdrawal reflex and foot-ground clearance without extra upper body effort. The stored energy in the spring of SBO is used to replace stimulation pulses in knee flexion and reduce total required torque for the paraplegic walking with wheel walker. The study is carried out with a model of humanoid with wheel walker using the Visual Nastran (Vn4D) dynamic simulation software. Stimulated muscle model of quadriceps is developed for knee extension. Fuzzy logic control (FLC) is developed in Matlab/Simulink to regulate the muscle stimulation pulse-width required to drive FES-assisted walking gait and the computed motion is visualised in graphic animation from Vn4D. The simulation results show that SBO can be successfully used with FES for paraplegic walking with wheel walker with all the advantages discussed over the current hybrid orthoses available.
Stomach Simulator for Analysis and Validation of Surgical Endoluminal Robots
Authors: Condino Sara , Harada Kanako , Pak Nicola Ng , Piccigallo Marco , Menciassi Arianna , Dario Paolo
Published: March 2015

A testing environment that imitates gastric geometry and contractile activity is necessary to analyse and validate endoluminal surgical robotic devices developed for gastric pathologies. To achieve this goal, a silicone stomach model and a mechanical setup to simulate gastric contractile motion were designed and fabricated. The developed stomach simulator was validated and its usefulness was demonstrated by means of internal pressure measurements and self-assembly tests of mock-ups of capsule devices. The results demonstrated that the stomach simulator is helpful for quantitative evaluation of endoluminal robotic devices beforein-vitro/in-vivoexperiments.
A Multi-Interface Platform System for Assistance and Evaluation of Disabled People
Authors: Riman Chadi Fouad , Peralta Hector , Monacelli Eric , Alayli Yasser , El Hajj Ali , Mougharbel Imad
Published: March 2015

In this work, an evaluation and assistance platform for people with disabilities is presented. This platform allows the control of different systems (PC games, robot, electric wheelchair) using different interfaces (mouse, joystick, etc.). The software facilitates the saving of experimental data for analysis, it can be automatically reconfigured to match user’s ability, and it is operated locally or remotely through the internet. Quantitative indicators are defined for evaluation purposes and to determine the needed assistance and adaptation. The system is tested and results are presented and discussed.
Sprawl Angle in Simplified Models of Vertical Climbing: Implications for Robots and Roaches
Authors: Lynch Goran A. , Rome Lawrence , Koditschek Daniel E.
Published: March 2015

Empirical data taken from fast climbing sprawled posture animals reveals the presence of strong lateral forces with significant pendulous swaying of the mass center trajectory in a manner captured by a recently proposed dynamical template [1, 2]. In this simulation study we explore the potential benefits of pendulous dynamical climbing in animals and in robots by examining the stability and power advantages of variously more and less sprawled limb morphologies when driven by conventional motors in contrast with animal-like muscles. For open loop models of gait generation inspired by the neural-deprived regimes of high stride-frequency animal climbing, our results corroborate earlier hypotheses that sprawled posture may be required for stability. For quadratic-in-velocity power output actuation models typical of commercially available electromechanical actuators, our results suggest the new hypothesis that sprawled posture may confer significant energetic advantage. In notable contrast, muscle-powered climbers do not experience an energetic benefit from sprawled posture due to their sufficiently distinct actuator characteristics and operating regimes. These results suggest that the potentially significant benefits of sprawled posture climbing may be distinctly different depending upon the details of the climbers sensorimotor endowment. They offer a cautionary instance against mere copying of biology by engineers or rote study of physical models by biologists through this reminder of how even simple questions addressed by simple models can yield nuanced answers that only begin to hint at the complexity of biological designs and behaviors.
A Preliminary Study on the Use of Haptic Feedback to Assist Users with Impaired Arm Coordination During Mouse Interactions
Authors: Tsagarakis N. G. , Caldwell D. G.
Published: March 2015

Physical movement impairments caused by central nervous system dysfunction or by muscle spasms generated from other neurological damage or dysfunction can often make it difficult or impossible for affected individuals to interact with computer generated environments using the conventional mouse interfaces. This work investigates the use of a 2 dimensional haptic device as an assistive robotic aid to minimize the effects of the pathological absence of motor control on the upper limb in impaired users while using a mouse interface. The haptic system used in this research is a two degree of freedom (DOF) Pantograph planar device. To detect the intended user motion, the device is equipped with force sensing allowing the monitoring of the user applied loads. Impedance based techniques are used to develop a “clumsy” motion suppression control system. The erratic motion suppression techniques and the experimental system setup are evaluated in two dimensional tracking tasks using a human subject with failure of the gross coordination of the upper limb muscle movements resulting from a disorder called ‘Muscle Ataxia’. The results presented demonstrate the ability of the system to improve the tracking performance of the impaired user while interacting with a simple computer generated 2D space.
Robot Object Manipulation Using Stereoscopic Vision and Conformal Geometric Algebra
Authors: Zamora-Esquivel Julio , Bayro-Corrochano Eduardo
Published: March 2015

This paper uses geometric algebra to formulate, in a single framework, the kinematics of a three finger robotic hand, a binocular robotic head, and the interactions between 3D objects, all of which are seen in stereo images. The main objective is the formulation of a kinematic control law to close the loop between perception and actions, which allows to perform a smooth visually guided object manipulation.
Remote Minimally Invasive Surgery – Haptic Feedback and Selective Automation in Medical Robotics
Authors: Staub Christoph , Ono Keita , Mayer Hermann , Knoll Alois , Ulbrich Heinz , Bauernschmitt Robert
Published: March 2015

The automation of recurrent tasks and force feedback are complex problems in medical robotics. We present a novel approach that extends human-machine skill-transfer by a scaffolding framework. It assumes a consolidated working environment for both, the trainee and the trainer. The trainer provides hints and cues in a basic structure which is already understood by the learner. In this work, the scaffolding is constituted by abstract patterns, which facilitate the structuring and segmentation of information during “Learning by Demonstration” (LbD). With this concept, the concrete example of knot-tying for suturing is exemplified and evaluated. During the evaluation, most problems and failures arose due to intrinsic system imprecisions of the medical robot system. These inaccuracies were then improved by the visual guidance of the surgical instruments. While the benefits of force feedback in telesurgery has already been demonstrated and measured forces are also used during task learning, the transmission of signals between the operator console and the robot system over long-distances or across-network remote connections is still a challenge due to time-delay. Especially during incision processes with a scalpel into tissue, a delayed force feedback yields to an unpredictable force perception at the operator-side and can harm the tissue which the robot is interacting with. We propose a XFEM-based incision force prediction algorithm that simulates the incision contact-forces in real-time and compensates the delayed force sensor readings. A realistic 4-arm system for minimally invasive robotic heart surgery is used as a platform for the research.
A Master-Slave Haptic System for Neurosurgery
Authors: Zanotto Vanni , Boscariol Paolo , Gasparetto Alessandro , Lanzutti Albano , Vidoni Renato , Di Lorenzo Nicola , Gallina Pasquale , Via Aldo Dalla , Rossi Aldo
Published: March 2015

In recent years, new surgical tools have been designed to improve treatment results and lower patient trauma. Nevertheless, the dexterity and accuracy required for the positioning of new tools are often unreachable, if surgeons are not assisted by suitable systems. Significant advantages are derived from the introduction of computer and robot technologies. For that reason, the interaction between robotic systems and surgeons today is producing new interest worldwide both in medical and engineering fields. In particular, medical robotics has found fruitful ground in neurosurgical applications, since the high functional density of the central nervous system requires strict accuracy constraints on tool positioning. As a matter of fact, the major benefits of robots, such as precision, accuracy and repeatability, make them ideal as neurosurgeons’ assistants. This paper presents a master-slave haptic robotic system for minimally invasive neurosurgery, which can aid surgeons in performing safer and more accurate stereotactic neurosurgical treatments. The design of the proposed system is based on LANS (Linear Actuator for NeuroSurgery), which has been developed by our Research Group. Experimental test aimed at showing the added value of the DAANS system over its predecessor, the effectiveness of conformational caps and of the added rotational degree of freedom are scheduled for the upcoming months.
Dionis: A Novel Remote-Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery
Authors: Beira R. , Santos-Carreras L. , Rognini G. , Bleuler H. , Clavel R.
Published: March 2015

The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS), a compact and accurate positioning mechanism, namedDionis, is proposed in this paper. This spatial hybrid mechanism based on a novel parallel kinematics is able to provide three rotations and one translation for single port procedures. The corresponding axes intersect at a remote center of rotation (RCM) that is the MIS entry port. Another important feature of the proposed positioning manipulator is that it can be placed below the operating table plane, allowing a quick and direct access to the patient, without removing the robotic system. This, besides saving precious space in the operating room, may improve safety over existing solutions. The conceptual design of Dionis is presented in this paper. Solutions for the inverse and direct kinematics are developed, as well as the analytical workspace and singularity analysis. Due to its unique design and kinematics, the proposed mechanism is highly compact, stiff and its dexterity fullfils the workspace specifications for MIS procedures.
An Intelligent FPGA Based Anti-Sweating System for Bed Sore Prevention in a Clinical Environment
Authors: Jaichandar K. S. , Kumar Sampath , kweeTiang Chew , Fong Siew , Tai Stewart
Published: March 2015

Bed sores, a common problem among immobile patients occur as a result of continuous sweating due to increase in skin to bed surface temperature in patients lying on same posture for prolonged period. If left untreated, the skin can break open and become infected. Currently adopted methods for bed sores prevention include: use of two hourly flip chat for repositioning patient or use of air fluidized beds. However, the setbacks of these preventive measures include either use of costly equipment or wastage of human resources. This paper introduces an intelligent low cost FPGA based anti-sweating system for bed sores prevention in a clinical environment. The developed system consists of bed surface implanted temperature sensors interfaced with an FPGA chip for sensing the temperature change in patient’s skin to bed surface. Based on the temperature change, the FPGA chip select the - mode (heater/cooler) and speed of the fan module. Furthermore, an alarm module was implemented to alert the nurse to reposition the patient only if patient’s skin to bed surface temperature exceeds a predefined threshold thereby saving human resources. By integrating the whole system into a single FPGA chip, we were able to build a low cost compact system without sacrificing processing power and flexibility.
A Motor Learning Oriented, Compliant and Mobile Gait Orthosis
Authors: Calanca A. , Piazza S. , Fiorini P.
Published: March 2015

People affected by Cerebral Palsy suffer from physical disabilities due to irreversible neural impairment since the very beginning of their life. Difficulties in motor control and coordination often relegate these patients to the use of a wheelchair and to the unavoidable upcoming of disuse syndromes. As pointed out in recent literature Damiano [7] physical exercise, especially in young ages, can have a deep impact on the patient health and quality of life. For training purposes is very important to keep an upright position, although in some severe cases this is not trivial. Many commercial mobile orthoses are designed to facilitate the standing, but not all the patients are able to deploy them. ARGO, the Active Reciprocated Gait Orthosis we developed, is a device that overcomes some of the limitations of these devices. It is an active device that is realized starting from a commercial reciprocated Gait Orthosis applying sensors and actuators to it. With ARGO we aim to develop a device for helping limbs in a non-coercive way accordingly to user’s intention. In this way patients can drive the orthosis by themselves, deploying augmented biofeedback over movements. In fact Cerebral Palsy patients usually have weak biofeedback mechanisms and consequently are hardly inclined to learn movements. To achieve this behavior ARGO deploys a torque planning algorithm and a force control system. Data collected from a single case of study shows benefits of the orthosis. We will show that our test patient reaches complete autonomous walking after few hour of training with prototype.
A Fast Vision System for Soccer Robot
Authors: Yang Tianwu , Zhou Changjiu , Rajesh Mohan
Published: March 2015

This paper proposes a fast colour-based object recognition and localization for soccer robots. The traditional HSL colour model is modified for better colour segmentation and edge detection in a colour coded environment. The object recognition is based on only the edge pixels to speed up the computation. The edge pixels are detected by intelligently scanning a small part of whole image pixels which is distributed over the image. A fast method for line and circle centre detection is also discussed. For object localization, 26 key points are defined on the soccer field. While two or more key points can be seen from the robot camera view, the three rotation angles are adjusted to achieve a precise localization of robots and other objects. If no key point is detected, the robot position is estimated according to the history of robot movement and the feedback from the motors and sensors. The experiments on NAO and RoboErectus teen-size humanoid robots show that the proposed vision system is robust and accurate under different lighting conditions and can effectively and precisely locate robots and other objects.
Mobile Sensing and Simultaneously Node Localization in Wireless Sensor Networks for Human Motion Tracking
Authors: Zhang Sen , Xiao Wendong , Gong Jun , Yin Yixin
Published: March 2015

This paper exploits optimal position of the mobile sensor to improve the target tracking performance of wireless sensor networks and simultaneously localize both of the static sensor nodes and mobile sensor nodes when tracking the human motion. In our approach, mobile sensors collaborate with static sensors and move optimally to achieve the required detection performance. The accuracy of final tracking result is then improved as the measurements of mobile sensors have higher signal-to-noise ratios after the movement. Specifically, we can simultaneously localize the mobile sensor and static sensors position when localizing the human’s position based on augmented extended Kalman filters (EKF). In the algorithm, we develop a sensor movement optimization algorithm that achieves near-optimal system tracking performance. We also presented an sensor nodes management scheme in order to deduce the computation complexity when localizing the static sensor nodes. The effectiveness of our approach is validated by extensive simulations using the simulations.
From Child-Robot Interaction to Child-Robot-Therapist Interaction: A Case Study in Autism
Authors: Giannopulu I. , Pradel G.
Published: March 2015

Troubles in social communication as well as deficits in the cognitive treatment of emotions are supposed to be a fundamental part of autism. We present a case study based on multimodal interaction between a mobile robot and a child with autism in spontaneous, free game play. This case study tells us that the robot mediates the interaction between the autistic child and therapist once the robot-child interaction has been established. In addition, the child uses the robot as a mediator to express positive emotion playing with the therapist. It is thought that the three-pronged interaction i.e., child-robot-therapist could better facilitate the transfer of social and emotional abilities to real life settings. Robot therapy has a high potential to improve the condition of brain activity in autistic children.
Acquisition and Analysis of EMG Signals to Recognize Multiple Hand Movements for Prosthetic Applications
Authors: Gini Giuseppina , Arvetti Matteo , Somlai Ian , Folgheraiter Michele
Published: March 2015

One of the main problems in developing active prosthesis is how to control them in a natural way. In order to increase the effectiveness of hand prostheses there is a need in better exploiting electromyography (EMG) signals. After an analysis of the movements necessary for grasping, we individuated five movements for the wrist-hand mobility. Then we designed the basic electronics and software for the acquisition and the analysis of the EMG signals. We built a small size electronic device capable of registering them that can be integrated into a hand prosthesis. Among all the numerous muscles that move the fingers, we have chosen the ones in the forearm and positioned only two electrodes. To recognize the operation, we developed a classification system, using a novel integration of Artificial Neural Networks (ANN) and wavelet features.
Human-Robot Interfaces in Exoskeletons for Gait Training after Stroke: State of the Art and Challenges
Authors: Lagoda Claude , Moreno Juan C. , Pons Jose Luis
Published: March 2015

Robotic rehabilitation of CVA (stroke) survivors is an emerging field. However, the development of effective gait rehabilitation robots used to treat stroke survivors is and remains a challenging task. This article discusses existing approaches and gives an overview of limitations with existing wearable robots. Challenges and potential solutions are being discussed in this article. Most difficulties lie in the implementation of physical and cognitive human robot interfaces. Many issues like actuation principles, control strategies, portability and wearing comfort, such as correct determination of user intention and effective guidance have to be tackled in future designs. Different solutions are being proposed. Clever anthropometric design and smart brain computer interfaces are key factors in effective exoskeleton design.