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International Journal of Biomechatronics and Biomedical Robotics最新文献

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3D pose estimation of femur fracture segments for vision guided robotic orthopaedic surgery 用于视觉引导机器人骨科手术的股骨骨折节段三维位姿估计
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2009-12-04 DOI: 10.1504/IJBBR.2009.030061
P. Gamage, S. Xie, P. Delmas, P. Xu
{"title":"3D pose estimation of femur fracture segments for vision guided robotic orthopaedic surgery","authors":"P. Gamage, S. Xie, P. Delmas, P. Xu","doi":"10.1504/IJBBR.2009.030061","DOIUrl":"https://doi.org/10.1504/IJBBR.2009.030061","url":null,"abstract":"The widespread adoption of minimally invasive surgical techniques has driven the need for three dimensional (3D) intra-operative image guidance. Hence the pose estimation (position and orientation) performed through the registration of pre-operatively prepared 3D anatomical data to intra-operative two dimensional (2D) fluoroscopic images is one of the main research areas of image guided orthopaedic surgery. This paper proposes a non-invasive anatomy-based method for intra-operative pose estimation. The registration is performed solely utilising bony anatomical features extracted from bi-planar fluoroscopic images (frontal and lateral) without invasive external fiducial markers. The novelty of the proposed methodology is involved in the anatomical features utilised, which are unproblematic and robust to extract and facilitate near real-time pose estimation. The results section highlights the implementation of the proposed methodology into a vision guided robotic fracture reduction phantom study.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"188 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114187967","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
General method and algorithms used for accuracy modelling of parallel robots 并联机器人精度建模的一般方法和算法
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2009-12-04 DOI: 10.1504/IJBBR.2009.030056
M. Neagoe, D. Diaconescu
{"title":"General method and algorithms used for accuracy modelling of parallel robots","authors":"M. Neagoe, D. Diaconescu","doi":"10.1504/IJBBR.2009.030056","DOIUrl":"https://doi.org/10.1504/IJBBR.2009.030056","url":null,"abstract":"The paper deals with a new method and three derived general algorithms useful for accuracy studies of parallel robots. The proposed modelling can be used to evaluate the accuracy of parallel-type structure, considering both the independent kinematic parameters and the geometric parameters as error sources. This method is based on the use of homogenous operators and it can be applied to any parallel robot with any configuration and complexity. The results obtained through the accuracy models allow us to establish the region of maximum precision; consequently, the optimal placement of the task becomes possible. Also, the precision models are useful mathematical tools for robot calibration.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116747564","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
An intelligent virtual environment to support cognitive rehabilitation: relearning meal preparation skills for independent living 支持认知康复的智能虚拟环境:重新学习独立生活的膳食准备技能
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2009-12-04 DOI: 10.1504/IJBBR.2009.030062
S. Fok, S.Y.E. Lim, G. Y. Chan
{"title":"An intelligent virtual environment to support cognitive rehabilitation: relearning meal preparation skills for independent living","authors":"S. Fok, S.Y.E. Lim, G. Y. Chan","doi":"10.1504/IJBBR.2009.030062","DOIUrl":"https://doi.org/10.1504/IJBBR.2009.030062","url":null,"abstract":"The capability of virtual reality to create dynamic three-dimensional realistic environments, within which behavioural responses to stimulus can be assessed, offers many new opportunities in cognitive rehabilitation. To further advance the state-of-the-art in virtual rehabilitation environments, this paper a framework for an intelligent virtual cognitive rehabilitation environment and presents the development of a virtual kitchen together with an intelligent assistant to guide patients to relearn meal preparation skills. The intelligent assistant uses fuzzy logic to regulate the visual and audio cues based on the patient's behaviours being monitored. A preliminary clinical trial indicates that the intelligent electronic exercises could complement existing conventional rehabilitation activities in hospitals and enable therapists to better concentrate on the patient's performances and assessment.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"21 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124265763","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
Assembling reconfigurable endoluminal surgical systems: opportunities and challenges 装配可重构腔内手术系统:机遇与挑战
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2009-12-04 DOI: 10.1504/IJBBR.2009.030054
Zoltán Nagy, Michael Fluckiger, Raymond Oung, Ioannis K. Kaliakatsos, E. Hawkes, B. Nelson, K. Harada, E. Susilo, A. Menciassi, P. Dario, J. Abbott
{"title":"Assembling reconfigurable endoluminal surgical systems: opportunities and challenges","authors":"Zoltán Nagy, Michael Fluckiger, Raymond Oung, Ioannis K. Kaliakatsos, E. Hawkes, B. Nelson, K. Harada, E. Susilo, A. Menciassi, P. Dario, J. Abbott","doi":"10.1504/IJBBR.2009.030054","DOIUrl":"https://doi.org/10.1504/IJBBR.2009.030054","url":null,"abstract":"The success of capsule endoscopy has promoted the development of the next generation of endoluminal surgical devices, and many research groups have proposed robotic capsules with novel functionalities, such as active locomotion and surgical intervention capabilities. Yet, these capsules are still single robotic units with a limited number of components and degrees of freedom. This paper addresses this inherent limitation of single capsule units by introducing the concept of modular robotics for surgical robotics. In the proposed procedure, the modules are ingested and assembled in the stomach cavity. We report on the key technologies of such a system: its self-assembly, actuation, power, and localisation.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129231619","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
Hybrid control strategy for robotic leg prosthesis using artificial gait synthesis 基于人工步态合成的机器人假肢混合控制策略
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 2009-12-04 DOI: 10.1504/IJBBR.2009.030059
J. K. Rai, R. P. Tewari, D. Chandra
{"title":"Hybrid control strategy for robotic leg prosthesis using artificial gait synthesis","authors":"J. K. Rai, R. P. Tewari, D. Chandra","doi":"10.1504/IJBBR.2009.030059","DOIUrl":"https://doi.org/10.1504/IJBBR.2009.030059","url":null,"abstract":"This paper presents a hybrid control strategy for robotic leg prosthesis. We first synthesise an artificial gait based on human data. A mathematical dynamic model of robotic leg having three degree of freedom, i.e., one each at hip, knee and ankle joint is developed here. Since the dynamics of leg is a highly complex and nonlinear system, radial basis neural network is trained offline for inverse dynamics of leg and is used as a part of control strategy. The simulation environment contains a model of the robotic leg dynamics, a subsystem for artificial gait synthesis, three independent neural network and PD controllers to control the movements of three joints separately in order to achieve the level walking. The simulation work is carried out in Matlab 6.5 and Simulink 5.0. The results showed that the gait of the prosthetic leg can be controlled to a near normal one for level walking.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"431 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124237321","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
Design and development of an electrostatic-based micropump 基于静电的微泵的设计与开发
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 1900-01-01 DOI: 10.1504/ijbbr.2020.10030380
R. Padmanabhan, V. Varghese
{"title":"Design and development of an electrostatic-based micropump","authors":"R. Padmanabhan, V. Varghese","doi":"10.1504/ijbbr.2020.10030380","DOIUrl":"https://doi.org/10.1504/ijbbr.2020.10030380","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130105131","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
Design of a peristaltic crawling robot using 3-D link mechanisms 基于三维连杆机构的蠕动爬行机器人设计
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 1900-01-01 DOI: 10.1504/IJBBR.2013.058739
N. Saga, S. Tesen, Hiroki Dobashi, J. Nagase
{"title":"Design of a peristaltic crawling robot using 3-D link mechanisms","authors":"N. Saga, S. Tesen, Hiroki Dobashi, J. Nagase","doi":"10.1504/IJBBR.2013.058739","DOIUrl":"https://doi.org/10.1504/IJBBR.2013.058739","url":null,"abstract":"In disaster areas, rescue work conducted by humans is extremely difficult. Therefore, rescue work using rescue robots in place of humans is attracting attention. This study specifically examines peristaltic crawling, the movement mechanism of an earthworm, because it can enable movement through narrow spaces and because it can provide stable movement according to various difficult environments. We developed a robot using peristalsis characteristics and derived a robot motion pattern using Q-learning, a mode of reinforcement learning. Moreover, we designed each part of the robot based on required specifications and thereby developed a real robot. We present results of motion experiments assessing the robot’s level ground movement.","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131410956","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
Robust Inverse Dynamics Control of a Cable-driven Underwater Manipulator with Elastic Cables 弹性索驱动水下机械臂鲁棒逆动力学控制
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 1900-01-01 DOI: 10.1504/ijbbr.2022.10053653
Peter Xu, M. Zarebidoki, J. Dhupia
{"title":"Robust Inverse Dynamics Control of a Cable-driven Underwater Manipulator with Elastic Cables","authors":"Peter Xu, M. Zarebidoki, J. Dhupia","doi":"10.1504/ijbbr.2022.10053653","DOIUrl":"https://doi.org/10.1504/ijbbr.2022.10053653","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114881470","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 of a low-profile glove to evaluate neuroprostheses-mediated grasps 设计一种低轮廓手套来评估神经假体介导的抓握
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 1900-01-01 DOI: 10.1504/ijbbr.2022.10053582
N. RaviChandran, A. McDaid
{"title":"Design of a low-profile glove to evaluate neuroprostheses-mediated grasps","authors":"N. RaviChandran, A. McDaid","doi":"10.1504/ijbbr.2022.10053582","DOIUrl":"https://doi.org/10.1504/ijbbr.2022.10053582","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117079268","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
Design and Simulation of Fuzzy Based Nonlinear-PID and Sliding Mode Controllers for Ankle Rehabilitation Soft Wearable Robot 踝关节康复软性可穿戴机器人模糊非线性pid及滑模控制器设计与仿真
International Journal of Biomechatronics and Biomedical Robotics Pub Date : 1900-01-01 DOI: 10.1504/ijbbr.2022.10047329
Beykaso Abayneh
{"title":"Design and Simulation of Fuzzy Based Nonlinear-PID and Sliding Mode Controllers for Ankle Rehabilitation Soft Wearable Robot","authors":"Beykaso Abayneh","doi":"10.1504/ijbbr.2022.10047329","DOIUrl":"https://doi.org/10.1504/ijbbr.2022.10047329","url":null,"abstract":"","PeriodicalId":375470,"journal":{"name":"International Journal of Biomechatronics and Biomedical Robotics","volume":"167 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121371206","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
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