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

Assessing the usability of remote control servos for admittance-controlled haptic finger manipulators 评估远程控制伺服器的可用性导纳控制触觉手指操纵器

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523804

H. A. D. Dekker, N. Beckers, A. Keemink, H. Kooij, A. Stienen

{"title":"Assessing the usability of remote control servos for admittance-controlled haptic finger manipulators","authors":"H. A. D. Dekker, N. Beckers, A. Keemink, H. Kooij, A. Stienen","doi":"10.1109/BIOROB.2016.7523804","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523804","url":null,"abstract":"Robotic devices that are able to manipulate the fingers can support the study of robot-assisted motor learning. Currently no devices are available that provide a transparent haptic environment and provide a platform to study motor learning. To cut down on costs it is proposed to use remote control (RC) servos with admittance control. In this study five RC servos are tested to evaluate their controller and passive dynamic properties. Frequency and step response are evaluated and passive dynamics are estimated using a model fit. With a fitted frequency response, system stability is evaluated for different human impedances. The high speed servos have lowest passive inertia (2·10-4 kgm2) and highest bandwidth (20 Hz). The communication protocol of RC servos causes a delay of more than 5 ms from change in setpoint to change in output. Stability analysis shows that the high speed servos have largest stability regions. Simulations show that reducing the virtual inertia and damping makes the system more susceptible to unstable behavior. At this moment however the passive dynamics of the setup are more transparent than the virtual inertia (1·10-3 kgm2) and damping that can be simulated with an admittance controller. A possible cause lies with the communication delay and high gearing present in RC servos.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"3 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":"116338243","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: 2

Inverse optimal control based identification of optimality criteria in whole-body human walking on level ground 基于逆最优控制的人在平地上全身行走最优准则辨识

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523793

Debora Clever, R. M. Schemschat, Martin L. Felis, K. Mombaur

{"title":"Inverse optimal control based identification of optimality criteria in whole-body human walking on level ground","authors":"Debora Clever, R. M. Schemschat, Martin L. Felis, K. Mombaur","doi":"10.1109/BIOROB.2016.7523793","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523793","url":null,"abstract":"Understanding the underlying concepts of human locomotion is important for many fields of research. Based on the assumption that human motions are optimal, we propose an inverse optimal control (IOC) based approach to identify the optimality criteria in human walking. To this end, human walking is modeled as a non-linear optimal control problem with a linear combination of elementary optimality functions as objective and a hybrid dynamics multi-body system as constraints. The developed IOC-framework is set up in a modular way and exploits the natural bi-level structure of the problem. It allows for a great flexibility in the choice of outer optimization techniques and inner dynamic models. In the present work, we use the developed IOC approach to identify weights of seven elementary criteria for seven walking motions captured from six different subjects. The considered optimality criteria address the minimization of joint torques for four sets of joints, head stabilization, the step length, and the step frequency. For all trials the algorithm performs successfully. Even though the identified weights differ observably between subjects, which explains the different walking styles, the correlation matrix gives rise to the hypothesis that there exists a significant correlation of optimality across subjects. The identification of optimality criteria in human walking is a very important issue for all disciplines, where a prediction of human behavior is needed. For example in medical applications to improve therapies or to develop new mobility devices, in sport science to improve training plans or in humanoid robotics to develop new walking strategies.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"15 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":"115700302","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

Mechanical design and experimental research on locomotion characters of robot inspired by water strider 受水黾启发的机器人机械设计及运动特性实验研究

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523613

S. Zhang, Jiangbo Chen, Danhua Li, Wenke Ge, J. Leng, Haocai Huang

{"title":"Mechanical design and experimental research on locomotion characters of robot inspired by water strider","authors":"S. Zhang, Jiangbo Chen, Danhua Li, Wenke Ge, J. Leng, Haocai Huang","doi":"10.1109/BIOROB.2016.7523613","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523613","url":null,"abstract":"This paper presents the mechanical design and experimental research of a water strider inspired robot, which are six-legged creatures that move on water by propelling themselves using two stroke legs and supporting themselves with four other legs. As the surface tension of water is too less for the robot to carry heavy facilities, four hollow ellipsoids made of acrylonitrile-butadiene-styrene copolymer (ABS) were used for the supporting legs. Instead of screw propeller, the rowing legs, just like what water strider does, would have less infection in the water which is a great advantage for the robot to finish meticulous task. Because of the novel propeller, this robot can operate in various environments, such as windy lake, underground pipeline, and even in the sea. The total weight of the robot is 439g, with an additional load capacity of 400g. By optimizing the robot's structure and driving mode, this robot possesses good performance on water and can reach an average speed of 125.5mm/s in the water. The stability of the robot will be calculated in this paper. Experiments were conducted in the pool at the Zhoushan Campus of Zhejiang University.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"8 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":"125179756","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

Development of autonomous laser toning system based on vision recognition and robot manipulator 基于视觉识别和机械手的自主激光调色系统的研制

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523645

Jaesung Oh, Hyoin Bae, Jeongsoo Lim, Jun-Ho Oh

引用次数: 2

A novel fluid driven, foldable joint for minimally invasive surgery 一种用于微创手术的新型液体驱动、可折叠关节

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523648

M. Mencattelli, A. Tonazzini, Irene Martinelli, Marco Menchicchi, C. Stefanini

引用次数: 0

Performance-based viscous force field adaptation in upper limb strength training for stroke patients 基于性能的粘性力场适应在脑卒中患者上肢力量训练中的应用

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523736

K. Baur, Verena Klamroth-Marganska, C. Giorgetti, Daniela Fichmann, R. Riener

{"title":"Performance-based viscous force field adaptation in upper limb strength training for stroke patients","authors":"K. Baur, Verena Klamroth-Marganska, C. Giorgetti, Daniela Fichmann, R. Riener","doi":"10.1109/BIOROB.2016.7523736","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523736","url":null,"abstract":"Muscle weakness is one of the major deficits after stroke but specific strength training is seldom included in robot-assisted rehabilitation. At the same time, the emergence of robotic devices for stroke therapy offers technical possibilities for strength training. We propose a control strategy for strength training that is based on a viscous force field shaped towards the patient's performance abilities at different positions and directions during a movement. The controller was implemented in the arm rehabilitation robot ARMin in combination with a one-degree-of-freedom repetitive tracking task. The viscous force field is adapted in each round as a function of the local performance profile (shape) and the performance sum of each round (task level). The patient gets feedback by visual representation of the tracking task displaying the position of the moving target object and the position of the patient cursor. We hypothesize that the performance-shaped task level of the viscous force field demands the maximum effort of the participant at each point of the trajectory. Furthermore, we hypothesize that the participants are more motivated by this controller for strength training than by controllers using a constant task level. The controller was tested in a feasibility study with 31 healthy subjects. The resulting individual task level of the viscous force field increased compared to the initial state but did not reach a steady state by (visual inspection). No differences in motivation compared to a controller using a constant viscous force field were identified. We propose the framework of differentiation in shape and task level of a viscous force field for difficulty adaptation in future rehabilitation games.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"15 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":"124815833","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

Mechanical design and analysis of light weight hip joint Parallel Elastic Actuator for industrial exoskeleton 轻型工业外骨骼髋关节平行弹性驱动器的机械设计与分析

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523696

J. Masood, J. Ortiz, Jorge Fernandez, Luis A. Mateos, D. Caldwell

{"title":"Mechanical design and analysis of light weight hip joint Parallel Elastic Actuator for industrial exoskeleton","authors":"J. Masood, J. Ortiz, Jorge Fernandez, Luis A. Mateos, D. Caldwell","doi":"10.1109/BIOROB.2016.7523696","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523696","url":null,"abstract":"Industrial wearable exoskeletons can assist the workers during manual handling of loads at manufacturing facilities. Today, one of their design challenges is to reduce weight so the worker can wear them for an extended length of time, without compromising torque and power requirements. Actuators can largely contribute to the overall weight of such devices. An elastic element in parallel can reduce the technical specifications of the actuator. However, such elastic elements are heavy with a large footprint. We present an innovative Parallel Elastic Actuator (PEA) using an elastic cord made of natural rubber elastomer, which can store energy during lowering and release it while lifting. Trunk exoskeleton requirements are analysed based on human subject data for industrial lowering and lifting scenarios. The mechanical design concept of a PEA for the hip joint of an industrial exoskeleton is discussed in detail. We formulate the mathematical model of the human-exoskeleton motion in the sagittal plane. We perform the virtual testing on industrial lowering and lifting scenarios to verify the actuator performance. The results show the improvement in weight, peak torque and peak power by 20%, 50% and 40% respectively as compared with the current prototype. The new integrated actuator consists of the direct current (DC) motor, the harmonic drive (HD) and the parallel natural rubber elements which reduce size and complexity of the trunk exoskeleton.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"94 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":"127985674","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

Design of self-stabilizing manipulator inspired by the musculoskeletal system and its analytical investigation using Lyapunov method 受肌肉骨骼系统启发的自稳定机械手设计及其李雅普诺夫方法分析研究

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523686

Handdeut Chang, S. Kim, Jung Kim

{"title":"Design of self-stabilizing manipulator inspired by the musculoskeletal system and its analytical investigation using Lyapunov method","authors":"Handdeut Chang, S. Kim, Jung Kim","doi":"10.1109/BIOROB.2016.7523686","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523686","url":null,"abstract":"The stabilization of the man-made dynamic systems has been achieved by sensor based state feedback control algorithms which require high computational bandwidth and high stiffness structures. However, many biological systems achieved similar or superior stable behavior with low speed signal transmission via nervous systems, which is easy to introduce unstable performance in the view of control engineering. In order to explain this phenomenon, the concept of self-stabilization has been recently proposed and investigated widely. Self-stabilization is defined as the ability to restore its original state after a disturbance without any feedback control. We analytically investigated the stabilizing function of a musculoskeletal system using the Lyapunov stability theory. Based on this investigation, in this study, we propose a design method to realize the self-stabilizing function of a musculoskeletal system, and experimentally verify that the self-stabilizing function can be physically realized and explained by the proposed Lyapunov function.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"20 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":"126895045","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

Effect of anodal tDCS on human prefrontal cortex observed by fNIRS fNIRS观察阳极tDCS对人前额叶皮层的影响

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523752

M. R. Bhutta, Seong-Woo Woo, Muhammad Jawad Khan, K. Hong

{"title":"Effect of anodal tDCS on human prefrontal cortex observed by fNIRS","authors":"M. R. Bhutta, Seong-Woo Woo, Muhammad Jawad Khan, K. Hong","doi":"10.1109/BIOROB.2016.7523752","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523752","url":null,"abstract":"Transcranial direct current stimulation (tDCS) is one of the noninvasive brain stimulation methods that have been used to study many neuropsychiatric and neurological disorders in humans. tDCS can excite or inhibit the neurons depending upon its polarity. In this study, we have investigated the effect of anodal tDCS on human prefrontal cortex using functional near-infrared spectroscopy (fNIRS), which is a noninvasive neuroimaging technique. We have developed a new wireless fNIRS system compatible with EEG, and also developed a pad-type tDCS with variable current limits. Our wireless fNIRS system is composed of a microcontroller, an optical probe, tri-wavelength light emitting diodes (LEDs), photodiodes, WiFi communication module and battery. The developed tDCS system can generate the current in the range of 0.8 ~ 2.2 mA. To test the functionality of the systems, fNIRS data was recorded before and after the tDCS stimulation. The results of this study show that the anodal tDCS excites the neurons in the region of interest and this excitability is monitored using the fNIRS system.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"2 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":"114249091","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: 9

Simultaneous classification of hand and wrist motions using myoelectric interface: Beyond subject specificity 使用肌电界面同时分类手和手腕运动:超越受试者特异性

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) Pub Date : 2016-06-26 DOI: 10.1109/BIOROB.2016.7523783

C. W. Antuvan, S. Yen, L. Masia

{"title":"Simultaneous classification of hand and wrist motions using myoelectric interface: Beyond subject specificity","authors":"C. W. Antuvan, S. Yen, L. Masia","doi":"10.1109/BIOROB.2016.7523783","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523783","url":null,"abstract":"Decoding simultaneous movements in the context of myoelectric control is becoming increasingly popular, because it is a more intuitive and natural way by which humans perform daily life activities. Current decoding techniques require the use of a calibration phase, and also on the use of machine learning algorithms in order to build the decoder model, and hence they are subject-specific. In this paper, we propose a unique subject-independent based decoding model, which is devoid of the calibration procedures required to train the decoder. The idea is to develop a model to decode two degrees of freedom involving the wrist and the hand, and incorporating both individual and combined motions. A set of experiments are performed in order to acquire electromyogram (EMG) signals for the entire set of motions. A hierarchical-decision tree approach is devised to build the model, by analyzing the relative activity patterns of the principal components of muscle activity in both individual and combined motions. The model is tested in a real-time scenario by means of a virtual graphical environment, and its performance is quantified. The results are promising, and indicate its capability to perform both individual and simultaneous motions.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":"68 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":"121025549","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: 5