2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)最新文献_第5页

Topology optimization of a fully compliant prosthetic finger: Design and testing 全柔顺假指的拓扑优化:设计与测试

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523766

Yang Zheng, L. Cao, Zhiqin Qian, Ang Chen, W. Zhang

引用次数: 9

A novel spiking CPG-based implementation system to control a lamprey robot 基于cpg的新型七鳃鳗机器人控制实现系统

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523822

Elisa Donati, G. Indiveri, C. Stefanini

引用次数: 11

Automatic estimate of back anatomical landmarks and 3D spine curve from a Kinect sensor 从Kinect传感器自动估计背部解剖标志和3D脊柱曲线

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523746

V. Bonnet, Takazumi Yamaguchi, A. Dupeyron, S. Andary, Antoine Seilles, P. Fraisse, G. Venture

引用次数: 16

Feedback methods for collision avoidance using virtual fixtures for robotic neurosurgery in deep and narrow spaces 基于虚拟夹具的深、窄空间神经外科机器人避碰反馈方法

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523632

A. Nakazawa, K. Nanri, K. Harada, Shinichi Tanaka, H. Nukariya, Y. Kurose, Naoyuki Shono, Hirohumi Nakatomi, A. Morita, Eiju Watanabe, N. Sugita, M. Mitsuishi

{"title":"Feedback methods for collision avoidance using virtual fixtures for robotic neurosurgery in deep and narrow spaces","authors":"A. Nakazawa, K. Nanri, K. Harada, Shinichi Tanaka, H. Nukariya, Y. Kurose, Naoyuki Shono, Hirohumi Nakatomi, A. Morita, Eiju Watanabe, N. Sugita, M. Mitsuishi","doi":"10.1109/BIOROB.2016.7523632","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523632","url":null,"abstract":"Robotic assistance enables a surgeon to perform dexterous and precise manipulations. However, conducting robot assisted neurosurgery within the deep and narrow spaces of the brain presents the risk of unexpected collisions between the shafts of robotic instruments and their surroundings out of the microscopic view. Thus, we propose the provision of feedback using a truncated cone shaped virtual fixture generated by marking the edges of the top and bottom plane of a workspace in the deep and narrow spaces within the brain with the slave manipulator. The experimental results show that the virtual fixture generation method could precisely model the workspace. We also implemented force feedback, visual feedback, and motion scaling feedback in the microsurgical robotic system in order to inform the surgeon of the risk of collision. Performance of each feedback method and their combinations was evaluated in two experiments. The experimental results showed that the combination of the force and the visual feedback methods were the most beneficial for avoiding collisions.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133187964","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: 8

Localized Extreme Learning Machine for online inverse dynamic model estimation in soft wearable exoskeleton 柔性可穿戴外骨骼动态模型在线逆估计的局部极限学习机

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523688

B. Dinh, L. Cappello, L. Masia

引用次数: 9

A geometric method for center of mass estimation in rough planar terrains 粗糙平面地形质心估计的几何方法

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523789

Luenin Barrios, Wei-Min Shen

引用次数: 0

Friction and damping of a compliant foot based on granular jamming for legged robots 基于颗粒干扰的柔性足部的摩擦和阻尼

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523788

Simon Hauser, P. Eckert, Alexandre Tuleu, A. Ijspeert

{"title":"Friction and damping of a compliant foot based on granular jamming for legged robots","authors":"Simon Hauser, P. Eckert, Alexandre Tuleu, A. Ijspeert","doi":"10.1109/BIOROB.2016.7523788","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523788","url":null,"abstract":"Moving away from simple foot designs of current quadruped robots towards a more bio-inspired approach, a novel foot design was implemented on the quadruped robot Oncilla. These feet mimic soft paw-pads of dogs and cats with high traction and soft underlying tissue. Consisting of a granular medium enclosed in a flexible membrane, they can be set to different pressure/vacuum conditions. Tests of general properties such as friction force, damping and deformation were completed by proof of concept tests on the robot. These included flat ground locomotion as well as ascending a slope with different inclination. Comparison tests with the previous feet were performed as well, showing that the new feet have a high friction and strong damping properties. Additionally, the speed of flat ground locomotion is comparable to the maximum speed of the robot with the previous feet while retaining the desired trotting gait. These are promising aspects for legged locomotion. The jamming of granular media previously has been used to create a universal gripper which in the future also opens up opportunities to use the feet both in locomotion and simple object manipulation (although the manipulation is not tested here).","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"317 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124484326","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: 29

Isokinematic leg extension training with an industrial robot 用工业机器人进行等速腿部伸展训练

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523750

M. Kolditz, Thivaharan Albin, K. Albracht, G. Brüggemann, D. Abel

{"title":"Isokinematic leg extension training with an industrial robot","authors":"M. Kolditz, Thivaharan Albin, K. Albracht, G. Brüggemann, D. Abel","doi":"10.1109/BIOROB.2016.7523750","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523750","url":null,"abstract":"Resistance training of the leg extensor muscles is an important intervention in rehabilitation and prevention of musculoskeletal disorders such as hip or knee arthrosis and osteoporosis. With current training equipment, neither the exercise trajectory can be optimized nor the loadings on structures of the musculoskeletal system can be controlled. To overcome these limitations an experimental research platform for the development of new training scenarios is developed using an industrial robot for maximum flexibility together with kinetic and kinematic data and musculoskeletal models for estimating loadings on target structures. The focus of this paper lies on the implementation of isokinematic exercise, i.e. leg extension and flexion with constant velocity. A force triggered trajectory with smooth transitions between two points needs to be planned for the robot. An algorithm which uses continuous polynomials is proposed. It consists of three parts. First, the trajectory is planned in Cartesian space by intuitive definitions of e.g. start and end point or desired velocity and minimum resistive force. The trajectory can be visualized and optimized using OpenSim together with a model of the research platform, which makes the system usable for non experts in the field of robotics. Second, a smooth trajectory in joint space is generated from the planning points, using a third order polynomial for joint velocities between two adjacent points. Third, the trajectory is adapted to the measured force at the end effector, as the robot should only move along the trajectory, if the applied force by the user is high enough. The proposed algorithm is furthermore easily expandable to arbitrary force triggered motions with definable position and velocity profiles.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121970728","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: 4

Movement intention based Brain Computer Interface for Virtual Reality and Soft Robotics rehabilitation using novel autocorrelation analysis of EEG 基于运动意向的脑机接口在虚拟现实和软机器人康复中的应用

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523705

M. Wairagkar, I. Zoulias, V. Oguntosin, Y. Hayashi, S. Nasuto

{"title":"Movement intention based Brain Computer Interface for Virtual Reality and Soft Robotics rehabilitation using novel autocorrelation analysis of EEG","authors":"M. Wairagkar, I. Zoulias, V. Oguntosin, Y. Hayashi, S. Nasuto","doi":"10.1109/BIOROB.2016.7523705","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523705","url":null,"abstract":"Brain Computer Interface (BCI) could be used as an effective tool for active engagement of patients in motor rehabilitation by enabling them to initiate the movement by sending the command to BCI directly via their brain. In this paper, we have developed a BCI using novel EEG analysis to control a Virtual Reality avatar and a Soft Robotics rehabilitation device. This BCI is able identify and predict the upper limb movement. Autocorrelation analysis was done on EEG to study the complex oscillatory processes involved in motor command generation. Autocorrelation represented the interplay between oscillatory and decaying processes in EEG which change during voluntary movement. To investigate these changes, the exponential decay curve was fitted to the autocorrelation of EEG windows which captured the autocorrelation decay. It was observed that autocorrelation decays slower during voluntary movement and fast otherwise, thus, movement intention could be identified. This new method was translated into online signal processing for BCI to control the virtual avatar hand and soft robotic rehabilitation device by intending to move an upper limb. The soft robotic device placed on the joint between upper and the lower arm inflated and deflated resulting to extension and flexion of the arm providing proprioceptive feedback. Avatar arm viewed in virtual 3D environment with Oculus Rift also moved simultaneously providing a strong visual feedback.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116954789","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: 23

Design and evaluation of a vibrotactile feedback system to improve volitional myoelectric control for robotic transtibial prostheses: A preliminary study 一种振动触觉反馈系统的设计与评估，以改善机器人胫骨假体的意志肌电控制:初步研究

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523769

Baojun Chen, Qining Wang

{"title":"Design and evaluation of a vibrotactile feedback system to improve volitional myoelectric control for robotic transtibial prostheses: A preliminary study","authors":"Baojun Chen, Qining Wang","doi":"10.1109/BIOROB.2016.7523769","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523769","url":null,"abstract":"In this paper, we propose a vibrotactile stimulation system and explore the potential of combining it with volitional myoelectric control for robotic transtibial prostheses. The proposed system consists of six vibrators, three on the anterior side of the thigh and the other three on the posterior side. Six able-bodied subjects and two transtibial amputee subjects participated in the study, and three experiments were performed. The first two experiments were designed to evaluate subjects' ability to perceive vibrotactile stimulations and make fast response. In the third experiment, we aimed to investigate the necessity of adding vibrotactile feedback to the loop of volitional myoelectric control. Experimental results indicate that subjects are able to discriminate stimulations produced by different vibrators, and detect the change of stimulation positions with small time delay. Furthermore, the addition of vibrotactile feedback improves the performance of controlling a virtual ankle to reach target positions. These preliminary results validate the promise of applying the vibrotactile stimulation system for robotic transtibial prosthesis control.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116712074","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: 1