The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.最新文献

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Development of "Patient Robot"; Measurement System of Myocardial Behaviors for the Quantitative Evaluation of the Surgical Robot Technology “病人机器人”的研制用于外科手术机器人技术定量评价的心肌行为测量系统
M. Uematsu, H. Ando, A. Morita, S. Uesugi, K. Iwasaki, M. Umezu, Y. Shiraishi
{"title":"Development of \"Patient Robot\"; Measurement System of Myocardial Behaviors for the Quantitative Evaluation of the Surgical Robot Technology","authors":"M. Uematsu, H. Ando, A. Morita, S. Uesugi, K. Iwasaki, M. Umezu, Y. Shiraishi","doi":"10.1109/BIOROB.2006.1639164","DOIUrl":"https://doi.org/10.1109/BIOROB.2006.1639164","url":null,"abstract":"Aiming to contribute an improvement of medical robot technology, the authors have been developing a new evaluation method on cardiac function, which is based on surface measurement of the heart. This system will be able to evaluate a function of surgical robot in the future. As the preliminary study, an animal experiment was performed to examine various cardiac functions under normal pulsatile and arrhythmic conditions. The physical data such as electrocardiogram, blood flow and pressure were simultaneously obtained and compared with this approach. It was found that there was a difference in displacements and phases from control to arrhythmia. With the physical data, it was confirmed that strain change in regional area was coincident with a contraction of natural heart. Moreover, the fusion images allowed us to understand the superficial strain of regional areas differs among the various heart functions visually. In the near future, this method will be effective for the improvement of real surgery as well as the advancement of the surgical robot technology","PeriodicalId":197086,"journal":{"name":"The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.","volume":"201 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121285911","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design and Development of a Legged Rat Robot for Studying Animal-Robot Interaction 用于研究动物与机器人交互的有腿大鼠机器人的设计与开发
C. Laschi, B. Mazzolai, F. Patane, V. Mattoli, Paolo Dario, H. Ishii, M. Ogura, S. Kurisu, A. Komura, A. Takanishi
{"title":"Design and Development of a Legged Rat Robot for Studying Animal-Robot Interaction","authors":"C. Laschi, B. Mazzolai, F. Patane, V. Mattoli, Paolo Dario, H. Ishii, M. Ogura, S. Kurisu, A. Komura, A. Takanishi","doi":"10.1109/BIOROB.2006.1639160","DOIUrl":"https://doi.org/10.1109/BIOROB.2006.1639160","url":null,"abstract":"This paper presents the design and development of a bio-inspired legged rat robot, as an experimental tool for studying social interaction between rats and robots. The rat robot will be used as a platform to clarify basic factors for a relationship between rats and robots based on animal psychology and behavior. The developed rat robot has 4 legs with 3 DOF (2 active and 1 passive) for each leg. The two front legs are designed to perform simple manipulation tasks like pushing levers and buttons. Using our rat robot, an interaction experiment will be conducted to study the capability of the robotic rat to teach the real rat pushing levers","PeriodicalId":197086,"journal":{"name":"The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127364095","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 21
Development of a Humanoid Robot Capable of Leaning on a Walk-assist Machine 能倚靠行走辅助机器的类人机器人的研制
Y. Ogura, H. Aikawa, K. Shimomura, H. Kondo, A. Morishima, H. Lim, A. Takanishi
{"title":"Development of a Humanoid Robot Capable of Leaning on a Walk-assist Machine","authors":"Y. Ogura, H. Aikawa, K. Shimomura, H. Kondo, A. Morishima, H. Lim, A. Takanishi","doi":"10.1109/BIOROB.2006.1639194","DOIUrl":"https://doi.org/10.1109/BIOROB.2006.1639194","url":null,"abstract":"A new humanoid robot-WABIAN-2- that can be used as a human motion simulator is proposed in this paper. Its trunk is designed in order to permit rotation, and forward, backward, and sideway movement. Further, its arms are designed to support its complete weight when pushing a walk-assist machine. Moreover, it can lean on a walk-assist machine by forearm control using trunk motion. Basic walking experiments with WABIAN-2 are conducted with and without a walk-assist machine, thereby confirming its effectiveness","PeriodicalId":197086,"journal":{"name":"The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124863423","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 34
A biologically-inspired controller for reaching movements 一个受生物启发的控制器,用于达到运动
M. Hersch, A. Billard
{"title":"A biologically-inspired controller for reaching movements","authors":"M. Hersch, A. Billard","doi":"10.1109/BIOROB.2006.1639233","DOIUrl":"https://doi.org/10.1109/BIOROB.2006.1639233","url":null,"abstract":"This paper presents a robotic arm controller for reaching motions. This controller applies two principles inspired by current theories of human reaching motions, namely the multi-referential control of movements and the dynamical system approach to biological control. The controller consists of a stable dynamical system active in a hybrid cartesian-joint angle frame of reference. Our results show that this controller has interesting properties in terms of stability and robustness to perturbations, and that its redundancy can be exploited for a simple solution to the joint limit avoidance problem","PeriodicalId":197086,"journal":{"name":"The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125076355","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 20
From Single to Dual Robotic Therapy: A Review of the Development Process of iPAM 从单机器人治疗到双机器人治疗:iPAM发展历程回顾
P. Culmer, A. Jackson, J. Savage, M. Levesley, R. Richardson, A. Cozens, M. Williams, B. Bhakta
{"title":"From Single to Dual Robotic Therapy: A Review of the Development Process of iPAM","authors":"P. Culmer, A. Jackson, J. Savage, M. Levesley, R. Richardson, A. Cozens, M. Williams, B. Bhakta","doi":"10.1109/BIOROB.2006.1639111","DOIUrl":"https://doi.org/10.1109/BIOROB.2006.1639111","url":null,"abstract":"Stroke is a common condition in the UK with over 30,000 people per annum are left with significant disability. When severe arm paresis is occurs, functional recovery of the affected arm is often poor. This can have a major impact on physical independence. A contributing factor to the poor recovery relates to lack of intensity of appropriate arm exercise practice. Through the use of robotic technology it may be possible to augment the physical therapist's efforts and maximize the impact of the limited physical therapy resource. At Leeds University a prototype single robot system has been developed that is capable of moving a patient's arm through a set of movements prescribed by a physiotherapist. This system is robust to changes in the biomechanical and physiological properties through a large range of patients. Further development of the system has led to a dual robot system that provides a greater level of control over upper-arm joint co-ordination while offering additional support to the shoulder complex. In order to test the systems safely, two models of the human arm have been produced: 1) a 6 degree of freedom computational model simulating how the robot system could provide therapy to a patient. 2) A mechanical model (Derryck), representing the biomechanical properties of the shoulder and elbow. The prototype single robot system is shown to be capable of administering trajectory following (for Derryck) for a large range of arm parameters","PeriodicalId":197086,"journal":{"name":"The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116838765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Force Sensing for the Identification of Single-Cell Microorganisms 单细胞微生物的力传感鉴定
A.S. Lee, M. Mahapatro, A. Requicha, M. Thompson, C. Zhou
{"title":"Force Sensing for the Identification of Single-Cell Microorganisms","authors":"A.S. Lee, M. Mahapatro, A. Requicha, M. Thompson, C. Zhou","doi":"10.1109/BIOROB.2006.1639058","DOIUrl":"https://doi.org/10.1109/BIOROB.2006.1639058","url":null,"abstract":"Identification of cells of a specific type is a fundamental problem both for laboratory analysis and for future nanorobots operating in physiological environments for health care applications. This paper shows that force sensing with atomic force microscopes by using tips functionalized with antibodies is an effective technique for detecting microorganisms that cannot be identified by optical microscopy. Experimental results are presented for the identification of brown tide algae, which are single-cell marine microorganisms with dimensions on the order of 1-2 micrometers, and for several control experiments","PeriodicalId":197086,"journal":{"name":"The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128492060","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Review on MR-Compatible Robotic Systems 磁共振兼容机器人系统综述
Ningbo Yu, R. Riener
{"title":"Review on MR-Compatible Robotic Systems","authors":"Ningbo Yu, R. Riener","doi":"10.1109/BIOROB.2006.1639165","DOIUrl":"https://doi.org/10.1109/BIOROB.2006.1639165","url":null,"abstract":"Magnetic Resonance Imaging (MRI) and its functional applications (fMRI) play increasing roles in diagnostic and basic neuroscience. In contrast to the high demand for MR-compatible devices and robotic systems in both academic and practical fields, MR-compatibility has been a tough hurdle for developers. Since traditional electromagnetic components interact with the high magnetic field and become useless, researchers are working on MR-compatible actuation and sensor technologies, such as pneumatic actuators, hydraulic actuators, ultrasonic motors, optical sensors for position, force and torque detection, etc. This paper gives an overview of the MR environment, MR-compatibility, existing approaches to MR-compatible devices and robots, and applications of MR-compatible systems","PeriodicalId":197086,"journal":{"name":"The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130503808","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 35
Robotic Arm for Magnetic Resonance Imaging Guided Interventions 用于磁共振成像引导干预的机械臂
E. Christoforou, A. Ozcan, N. Tsekos
{"title":"Robotic Arm for Magnetic Resonance Imaging Guided Interventions","authors":"E. Christoforou, A. Ozcan, N. Tsekos","doi":"10.1109/BIOROB.2006.1639207","DOIUrl":"https://doi.org/10.1109/BIOROB.2006.1639207","url":null,"abstract":"The purpose of this work is to develop and evaluate the performance of a seven degree of freedom (DOF) remotely controlled manipulator to perform minimally invasive interventions with real-time magnetic resonance imaging (MRI) guidance inside clinical cylindrical scanners. Control of the device is based on MR images collected in real time during the procedure. A user interface fuses all MRI and non-MRI sensor information for man-in-the-loop control. The system offers both stereotactic and \"free-hand\" (manual) control. Stereotactic guidance uses pre-operatively collected multislice and/or three-dimensional MR images to set a path of insertion. Manual guidance uses a master/slave control device, which replicates the kinematics structure of the arm, to control its motion. In this mode, the manipulator sends instructions to the MRI scanner for on-the-fly continuous adjustment of the imaging plane position and orientation to image the end-effector and the interventional tool, as it maneuvers to acquire a target. The commanded movements of the manipulator are continuously checked by the control software whether they are within an allowable volume, extracted from the MR images, to avoid collision with the scanner or the subject. The device control is performed in real time with a host/target computer configuration. The manipulator compatibility with the MR environment and image-guided maneuvering was tested on a 1.5 Tesla MR scanner","PeriodicalId":197086,"journal":{"name":"The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130574624","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Development of Sensor System for Effective Evaluation of Surgical Skill 有效评价手术技能的传感器系统的研制
M. Aizuddin, N. Oshima, R. Midorikawa, A. Takanishi
{"title":"Development of Sensor System for Effective Evaluation of Surgical Skill","authors":"M. Aizuddin, N. Oshima, R. Midorikawa, A. Takanishi","doi":"10.1109/BIOROB.2006.1639168","DOIUrl":"https://doi.org/10.1109/BIOROB.2006.1639168","url":null,"abstract":"This paper describes a new sensor system for effective evaluation of surgical skill. This system used photo interrupter in order to detect the movement of skin dummy during suture placement. Experimental results show that the data obtained from this sensor are significantly different among surgeons and non-medical volunteers from a few aspects. We proposed the differences as evaluation parameters to evaluate suture skill using this system. The effectiveness of this evaluation parameters was confirmed when surgeons' data and non-medical volunteers' data are divided effectively using Discriminant Function Analysis. One of the advantages of this system is it can be develop at low cost. In future, this sensor system will be embedded in patient robot application","PeriodicalId":197086,"journal":{"name":"The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123516703","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 15
Assistive Exoskeleton for Task Based Physiotherapy in 3-Dimensional Space 三维空间中基于任务的物理治疗的辅助外骨骼
S. Kousidou, N. Tsagarakis, D. Caldwell, C. Smith
{"title":"Assistive Exoskeleton for Task Based Physiotherapy in 3-Dimensional Space","authors":"S. Kousidou, N. Tsagarakis, D. Caldwell, C. Smith","doi":"10.1109/BIOROB.2006.1639097","DOIUrl":"https://doi.org/10.1109/BIOROB.2006.1639097","url":null,"abstract":"Stroke forms one of the leading causes of death amongst adults in industrialized countries, and although survival rates are comparatively high in up to 1/3 of patients there is functional impairments (particularly in the upper limbs) that can persist even after rehabilitation training. Tasked based rehabilitation therapy (shaping) is a new approach that seems to offer good success compared to traditional methods, however, the technique requires very intensive and prolonged treatment. Robot mediated physiotherapy is the recent answer to the shortage of staff and the cost associated with this. In this paper a robotic approach to task based therapy is shown. The work focuses on how a robotic exoskeleton operating in a 3D volume can be used in conjunction with a Virtual Environment rehabilitation suite for training patients in relearning daily motor tasks. Salford Rehabilitation Exoskeleton (SRE) is used as an assistive device which helps individuals retrain in performing motor tasks by assisting them to complete therapy regimes. EMG recordings are used to show the capacity of the system to mediate the level of assistance provided from full assistance to zero aid","PeriodicalId":197086,"journal":{"name":"The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114724749","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 34
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