发布求助
文献互助 智能选刊 最新文献

International Journal of Biomechatronics and Biomedical Robotics最新文献

筛选
英文 中文
Lyapunov function-based non-linear control for two-wheeled mobile robots 基于Lyapunov函数的两轮移动机器人非线性控制
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2013-12-31 DOI: 10.1504/IJBBR.2013.058724
Z. Kausar, K. Stol, N. Patel
{"title":"Lyapunov function-based non-linear control for two-wheeled mobile robots","authors":"Z. Kausar, K. Stol, N. Patel","doi":"10.1504/IJBBR.2013.058724","DOIUrl":"https://doi.org/10.1504/IJBBR.2013.058724","url":null,"abstract":"This article presents a non-linear feedback control framework for two-wheeled mobile robots. The approach uses a constructive Lyapunov function which allows the formulation of a control law with asymptotic stability of the equilibrium point of the system and a computable stability region. The dynamic equations are simplified through normalisation and partial feedback linearisation. The latter allows linearisation of only the actuated coordinate. Description of the control law is complemented by the stability analysis of the closed loop dynamics of the system. The effectiveness of the method has been illustrated by its good performance and less control demand through simulations conducted for two control tasks: upright position stabilisation and velocity tracking for a statically unstable two wheeled mobile robot.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"13 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121183209","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: 3
Physical model of human tissue skin-based electronic transistor 人体组织皮肤电子晶体管的物理模型
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2012-10-10 DOI: 10.1504/IJBBR.2012.049589
S. Kosta, Mukta Bhatele, S. Nema, Y. Kosta, Kalpesh N. Patel, Jaimin R. Patel, Harsh Mehta, R. Patel, Bhavin S. Patel, S. Kosta, Archna Dubey, Prateek Gupta, Preeti Nair
{"title":"Physical model of human tissue skin-based electronic transistor","authors":"S. Kosta, Mukta Bhatele, S. Nema, Y. Kosta, Kalpesh N. Patel, Jaimin R. Patel, Harsh Mehta, R. Patel, Bhavin S. Patel, S. Kosta, Archna Dubey, Prateek Gupta, Preeti Nair","doi":"10.1504/IJBBR.2012.049589","DOIUrl":"https://doi.org/10.1504/IJBBR.2012.049589","url":null,"abstract":"For the first time exploratory feasibility study on the ‘physical model of human tissue skin-based electronic transistor’ (HTSBET) is presented. Effects of variables like 1 \u0000distance (d) between device forming probes \u0000 \u00002 \u0000applied voltages \u0000 \u00003 \u0000probes pressure (p) \u0000 \u00004 \u0000probes polarisation and shape, on the input/output characteristics as well as current gain factor β of the transistor are studied. \u0000 \u0000 \u0000 \u0000Emerging applications of bio-material human tissue blood/skin-based electronic circuits towards cyborg implants, human-machine interface, human disease detection/healing, human health sensors and digital signal processing is visualised.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114985666","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: 7
Feature evaluation for recognition of unspoken small vocabulary using facial EMG 面部肌电图识别非言语小词汇的特征评价
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2012-10-10 DOI: 10.1504/IJBBR.2012.049591
Richa Sharma, D. Bhatia, S. Dahiya, Deepak A. Joshi
{"title":"Feature evaluation for recognition of unspoken small vocabulary using facial EMG","authors":"Richa Sharma, D. Bhatia, S. Dahiya, Deepak A. Joshi","doi":"10.1504/IJBBR.2012.049591","DOIUrl":"https://doi.org/10.1504/IJBBR.2012.049591","url":null,"abstract":"This paper presents a novel technique for feature evaluation of some common vocabulary terms employed during the process of speech without producing audio signals using facial EMG. This paper aims to present an effective mechanism to measure the relative activity of the facial muscles related to speech production for person’s suffering from speech-related disabilities. The features were extracted from raw EMG signals of four important facial muscles (zygomaticus major, orbicularis oris inferior, levator labii superioris, anterior belly of diagastric) using root mean square (RMS) values for both genders. These values presented the relative activity of the four chosen muscles showing significant changes only in orbicularis oris inferior (OOI) muscle both in males and females during the process of speech production. Further, the fast Fourier transform (FFT) was used to validate this hypothesis and verify the results obtained. From these results, it may concluded that this muscle is the most active and useful in the speech production. This evaluation will be very helpful in designing speech prosthesis for the people with speech disabilities in near future.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127651444","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
Motion detection of patient in MRI using mechanical mercury switches 机械汞开关在MRI中检测患者的运动
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2012-10-10 DOI: 10.1504/IJBBR.2012.049587
Musaab Hassan, S. Khider, S. Mahjob, Ibrahim Ahmed
{"title":"Motion detection of patient in MRI using mechanical mercury switches","authors":"Musaab Hassan, S. Khider, S. Mahjob, Ibrahim Ahmed","doi":"10.1504/IJBBR.2012.049587","DOIUrl":"https://doi.org/10.1504/IJBBR.2012.049587","url":null,"abstract":"The quality of the MRI produced image is very sensitive to motion effects due to movement of the patient inside the device. In this project, motion detection device was designed, implemented and tested. The device is capable of determining the level of motion, e.g., major or minor. A set of eight mercury sensors, placed at different directions and at different angles, permits determining the level as well as the direction of the patient motion. The sensors’ output signals were processed and interfaced to personal computer as well as to an LED board. The level and the direction of patient motion were successfully displayed on GUI which was programmed using Delphi software.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131099677","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
A socially assistive robot that can interpret affective body language during one-on-one human-robot interactions 一个社交辅助机器人，可以在一对一的人机互动中解释情感肢体语言
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2012-10-10 DOI: 10.1504/IJBBR.2012.049594
D. McColl, G. Nejat
{"title":"A socially assistive robot that can interpret affective body language during one-on-one human-robot interactions","authors":"D. McColl, G. Nejat","doi":"10.1504/IJBBR.2012.049594","DOIUrl":"https://doi.org/10.1504/IJBBR.2012.049594","url":null,"abstract":"Socially assistive robots can engage in assistive human-robot interactions (HRI) by providing rehabilitation of cognitive, social, and physical abilities after a stroke, accident or diagnosis of a social, developmental or cognitive disorder. However, there are a number of research issues that need to be addressed in order to design such robots. In this paper, we address one main challenge in the development of intelligent socially assistive robots: a robot’s ability to identify human non-verbal communication during assistive interactions. Namely, we present a unique non-contact automated sensory-based approach for identification and categorisation of human upper body language in determining how accessible a person is to a robot during natural real-time HRI. This classification will allow a robot to effectively determine its own reactive task-driven behaviour during assistive interactions. The types of interactions envisioned include providing reminders, health monitoring, and social and cognitive therapies. Preliminary experiments presented show the potential of integrating the proposed body language recognition and classification technique into a socially assistive robot partaking participating in HRI scenarios.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"362 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124559515","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 use of a master manipulator for a micro-neurosurgical system based on motion analysis 基于运动分析的微神经外科系统主机械手的设计与使用
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2012-10-10 DOI: 10.1504/IJBBR.2012.049588
Hiroki Takahashi, Y. Baek, N. Sugita, M. Mitsuishi, S. Sora, A. Morita
{"title":"Design and use of a master manipulator for a micro-neurosurgical system based on motion analysis","authors":"Hiroki Takahashi, Y. Baek, N. Sugita, M. Mitsuishi, S. Sora, A. Morita","doi":"10.1504/IJBBR.2012.049588","DOIUrl":"https://doi.org/10.1504/IJBBR.2012.049588","url":null,"abstract":"At present, master and slave surgical assistant systems are being actively studied. However, most of the researches focus on the slave manipulator. It is very important to develop a suitable master manipulator in order to support a more comfortable surgical environment. It also could lead to an increase in the success rate of operations. In this research, a dedicated master manipulator was designed to improve the manipulability in robotic-assisted neurosurgery. This is done because the requirements to the neurosurgery such as workspace and precision are different from those of other surgeries. Therefore, the motion of neurosurgeons was first analysed. Then, this knowledge of motion was taken into account during designing phase. A link mechanism is proposed to ensure that the motion vector of the manipulator is analogous to that of the human hand. The experimental results validated that the manipulability was improved with the developed master manipulator.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131534842","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
Investigation of energy expenditure for exoskeleton walking: a case study 外骨骼行走的能量消耗调查:一个案例研究
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2012-10-10 DOI: 10.1504/IJBBR.2012.049590
Yanxin Zhang, S. Anderson
{"title":"Investigation of energy expenditure for exoskeleton walking: a case study","authors":"Yanxin Zhang, S. Anderson","doi":"10.1504/IJBBR.2012.049590","DOIUrl":"https://doi.org/10.1504/IJBBR.2012.049590","url":null,"abstract":"Investigation of energy expenditure during human movement is essential in understanding movement control mechanism, which can provide useful information for clinical gait analysis and in designing assistive motion devices. With the advancement in technology, exoskeletons are becoming a commercial possibility. This research aimed to develop a biomechanical approach to evaluate the mechanical and metabolic energy expenditure of walking with an exoskeleton. A case study was conducted to examine the energy expenditure of walking with a non-powered lower limb exoskeleton compared to walking without its use. Testing results showed that walking with a non-powered lower limb exoskeleton significantly increased energy expenditure and there was a slight difference in the energy expenditure between a coupled and uncoupled hip reciprocating mechanism when using the exoskeleton.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133822788","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
Literature review of prosthetics for transtibial amputees 经胫骨截肢者修复术的文献综述
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2012-10-10 DOI: 10.1504/IJBBR.2012.049595
Thomas Powelson, James Yang
{"title":"Literature review of prosthetics for transtibial amputees","authors":"Thomas Powelson, James Yang","doi":"10.1504/IJBBR.2012.049595","DOIUrl":"https://doi.org/10.1504/IJBBR.2012.049595","url":null,"abstract":"Approximately 82% of all amputations performed in the USA are transtibial amputations, in which the leg is removed below the knee. Because the knee joint is left intact the use of prosthetics is one of the most preferred methods for returning mobility to amputees. The improvement of prosthetics for transtibial amputees is currently an area of intense research. The purpose of this paper is to have a technical survey for transtibial prosthetic including four major components associated with standard transtibial prosthetic. The socket transfers the forces between the residual limb and the prosthetic. A suspension system ensures that solid contact is maintained between the leg and the artificial limb. The prosthetic foot is attached to the socket by a pylon, which also accounts for length of limb lost during amputation. Prosthetic feet come in many forms ranging from little more than wooden blocks to carbon fibre sprinting feet. Two recent advances in transtibial prosthetics include the procedures of direct skeletal attachment, and distaltibiofibular bone bridging which increases the weight bearing capability of the residual limb.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126070538","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
Biomass Champo leaf transistor configuration 生物质Champo叶晶体管配置
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2011-12-02 DOI: 10.1504/IJBBR.2011.043749
S. Kosta, Y. Kosta, Jignesh J. Patoliya, Y. M. Dubey, Jitendra Prasad Chuadhari, Avinash Gaur, S. S. Patel, S. Kosta, P. Panchal, Piyush R. Vaghela, Kalpesh N. Patel, Bhavin S. Patel, Bhargav Patel
{"title":"Biomass Champo leaf transistor configuration","authors":"S. Kosta, Y. Kosta, Jignesh J. Patoliya, Y. M. Dubey, Jitendra Prasad Chuadhari, Avinash Gaur, S. S. Patel, S. Kosta, P. Panchal, Piyush R. Vaghela, Kalpesh N. Patel, Bhavin S. Patel, Bhargav Patel","doi":"10.1504/IJBBR.2011.043749","DOIUrl":"https://doi.org/10.1504/IJBBR.2011.043749","url":null,"abstract":"Dynamics of charged nano particles of green leaf sap or photo synthesised liquid food under interaction of external EMF plays a vital role in the functioning of biomass electrical circuits. Using this concept, we for the first time realised a biomass Champo leaf transistor configuration. The functioning of bio electronic circuit components resistance R, capacitance C and diode have been earlier reported. From the theory of electronics, a transistor consist of two electronic diode connected back to back. This concept was utilised to realise biomass Champo leaf transistor configuration. The measured input characteristics (V BE vs I BE ) and output characteristics (V CE vs. I CE ) along with β are given. Applications towards plant/tree health, soil moisture monitoring and strategic communication are envisaged.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134540925","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
Estimation of effects of walking speed to vertical ground reaction force 估计行走速度对垂直地面反作用力的影响
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2011-12-02 DOI: 10.1504/IJBBR.2011.043752
Neelesh Kumar, Gautam Sharma, Sahiba Sahi, Amod Kumar, B. S. Sohi
{"title":"Estimation of effects of walking speed to vertical ground reaction force","authors":"Neelesh Kumar, Gautam Sharma, Sahiba Sahi, Amod Kumar, B. S. Sohi","doi":"10.1504/IJBBR.2011.043752","DOIUrl":"https://doi.org/10.1504/IJBBR.2011.043752","url":null,"abstract":"The measurement of ground reaction force (GRF) is important in biomechanical analysis for clinical gait assessment and gait research. The GRF measured by the force plate, along with the gravity, are the only significant external forces acting on the body during gait. The purpose of this study is to show the effects of walking speed on vertical ground reaction force (VGRF) F z using Kistler quartz force platform embedded on the floor. Since considerable differences in the gait of normal subjects arises due to ‘constrained’ walking, so subject are made to walk with their self selected walking speed in the walkway. Vertical component of the GRF was analysed from the recorded data using Bioware software. It was clearly observed that with increasing walking speed VGRF increased at F z 1 and F z 3 whereas decreased at F z 2 .","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124445300","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信