Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics最新文献_第3页

Kinematics and Dynamics 运动学与动力学

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2019-01-01 DOI: 10.1016/B978-0-12-812939-5.00002-1

Marko B. Popovic, M. P. Bowers

引用次数: 0

Artificial Organs, Tissues, and Support Systems 人造器官、组织和支持系统

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2019-01-01 DOI: 10.1016/B978-0-12-812939-5.00007-0

H. Tashiro, Marko B. Popovic, I. Dobrev, Y. Terasawa

引用次数: 0

Direct Neural Interface 直接神经接口

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2019-01-01 DOI: 10.1016/b978-0-12-812939-5.00006-9

H. Tashiro, Marko B. Popovic, K. Iramina, Y. Terasawa, J. Ohta

引用次数: 0

Feeding Systems, Assistive Robotic Arms, Robotic Nurses, Robotic Massage 采购产品喂养系统，辅助机器人手臂，机器人护士，机器人按摩

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2019-01-01 DOI: 10.1016/b978-0-12-812939-5.00014-8

Marko B. Popovic

引用次数: 1

Physical Therapy and Rehabilitation 物理治疗及康复

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2019-01-01 DOI: 10.1016/b978-0-12-812939-5.00012-4

A. Goodworth, M. Johnson, Marko B. Popovic

引用次数: 0

Actuators 致动器

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2019-01-01 DOI: 10.1016/b978-0-12-812939-5.00003-3

Marko B. Popovic, K. Lamkin-Kennard, P. Beckerle, M. P. Bowers

引用次数: 37

Evaluation of hand-eye and robot-world calibration algorithms for TMS application. TMS应用中手眼和机器人世界标定算法的评价。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2018-08-01 Epub Date: 2018-10-11 DOI: 10.1109/BIOROB.2018.8487930

A Noccaro, L Raiano, G Di Pino, D Formica

{"title":"Evaluation of hand-eye and robot-world calibration algorithms for TMS application.","authors":"A Noccaro, L Raiano, G Di Pino, D Formica","doi":"10.1109/BIOROB.2018.8487930","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487930","url":null,"abstract":"In this paper we compare three approaches to solve the hand-eye and robot-world calibration problem, for their application to a Transcranial Magnetic Stimulation (TMS) system. The selected approaches are: i) non-orthogonal approach (QR24); ii) stochastic global optimization (SGO); iii) quaternion-based (QUAT) method. Performance were evaluated in term of translation and rotation errors, and computational time. The experimental setup is composed of a 7 dof Panda robot (by Franka Emika GmbH) and a Polaris Vicra camera (by Northern Digital Inc) combined with the SofTaxic Optic software (by E.M.S. srl). The SGO method resulted to have the best performance, since it provides lowest errors and high stability over different datasets and number of calibration points. The only drawback is its computational time, which is higher than the other two, but this parameter is not relevant for TMS application. Over the different dataset used in our tests, the small workspace (sphere with radius of 0.05m) and a number of calibration points around 150 allow to achieve the best performance with the SGO method, with an average error of 0.83 ± 0.35mm for position and 0.22 ± 0.12deg for orientation.","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/BIOROB.2018.8487930","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"37122199","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Design Advancements toward a Wearable Pediatric Robotic Knee Exoskeleton for Overground Gait Rehabilitation. 用于地面步态康复的可穿戴儿童机器人膝关节外骨骼的设计进展。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2018-08-01 DOI: 10.1109/biorob.2018.8487195

Ji Chen, Jon Hochstein, Christina Kim, Diane Damiano, Thomas Bulea

{"title":"Design Advancements toward a Wearable Pediatric Robotic Knee Exoskeleton for Overground Gait Rehabilitation.","authors":"Ji Chen, Jon Hochstein, Christina Kim, Diane Damiano, Thomas Bulea","doi":"10.1109/biorob.2018.8487195","DOIUrl":"https://doi.org/10.1109/biorob.2018.8487195","url":null,"abstract":"Exoskeleton assisted gait training in children with cerebral palsy (CP) offers the potential to increase therapy dosage and intensity compared to current approaches. Here, we report the design and characterization of a pediatric knee exoskeleton for gait training outside of a clinical environment. A multi-layered closed loop control system and a microcontroller based data acquisition system were implemented to provide individualized control approaches and achieve device portability for home use. Step response tests show the averaged 90% rise time was 45 ms for 5 Nm, 35 ms for 10 Nm, 40 ms for 15 Nm. The gain-limited closed-loop torque bandwidth was about 9 Hz with a 9 Nm amplitude chirp in knee flexion and extension. The actuator has low output impedance (<0.5 Nm) at low frequencies expected during use. Future work will investigate the long term effects of providing children with CP knee extension assistance during daily walking on gait biomechanics with, and without, the device.","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/biorob.2018.8487195","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10046635","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9

Inroads Toward Robot-Assisted Internal Fixation of Bone Fractures Using a Bendable Medical Screw and the Curved Drilling Technique. 可弯曲医用螺钉和弯曲钻孔技术在机器人辅助骨折内固定中的应用进展。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2018-08-01 Epub Date: 2018-10-11 DOI: 10.1109/BIOROB.2018.8487926

Farshid Alambeigi, Mahsan Bakhtiarinejad, Armina Azizi, Rachel Hegeman, Iulian Iordachita, Harpal Khanuja, Mehran Armand

{"title":"Inroads Toward Robot-Assisted Internal Fixation of Bone Fractures Using a Bendable Medical Screw and the Curved Drilling Technique.","authors":"Farshid Alambeigi, Mahsan Bakhtiarinejad, Armina Azizi, Rachel Hegeman, Iulian Iordachita, Harpal Khanuja, Mehran Armand","doi":"10.1109/BIOROB.2018.8487926","DOIUrl":"https://doi.org/10.1109/BIOROB.2018.8487926","url":null,"abstract":"Internal fixation is a common orthopedic procedure in which a rigid screw is used to fix fragments of a fractured bone together and expedite the healing process. However, the rigidity of the screw, geometry of the fractured anatomy (e.g. femur and pelvis), and patient's age can cause an array of complications during screw placement, such as improper fracture healing due to misalignment of the bone fragments, lengthy procedure time and subsequently high radiation exposure. To address these issues, we propose a minimally invasive robot-assisted procedure comprising of a continuum robot, called ortho-snake, together with a novel bendable medical screw (BMS) for fixating the fractures. We describe the implementation of a curved drilling technique and focus on the design, manufacturing, and evaluation of a novel BMS, which can passively morph into the drilled curved tunnels with various curvatures. We evaluate the performance and efficacy of the proposed BMS using both finite element simulations as well as experiments conducted on synthetic bone samples.","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/BIOROB.2018.8487926","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"37381856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

3-DOF Force-Sensing Micro-Forceps for Robot-Assisted Membrane Peeling: Intrinsic Actuation Force Modeling. 用于机器人辅助膜剥离的3-DOF力传感微钳:内在驱动力建模。

Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics Pub Date : 2016-06-01 Epub Date: 2016-07-28 DOI: 10.1109/BIOROB.2016.7523674

Anzhu Gao, Berk Gonenc, Jiangzhen Guo, Hao Liu, Peter Gehlbach, Iulian Iordachita

{"title":"3-DOF Force-Sensing Micro-Forceps for Robot-Assisted Membrane Peeling: Intrinsic Actuation Force Modeling.","authors":"Anzhu Gao, Berk Gonenc, Jiangzhen Guo, Hao Liu, Peter Gehlbach, Iulian Iordachita","doi":"10.1109/BIOROB.2016.7523674","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523674","url":null,"abstract":"Membrane peeling is a challenging procedure in retinal microsurgery, requiring careful manipulation of delicate tissues by using a micro-forceps and exerting very fine forces that are mostly imperceptible to the surgeon. Previously, we developed a micro-forceps with three integrated fiber Bragg grating (FBG) sensors to sense the lateral forces at the instrument's tip. However, importantly this architecture was insufficient to sense the tissue pulling forces along the forceps axis, which may be significant during membrane peeling. Our previous 3-DOF force sensing solutions developed for pick tools are not appropriate for forceps tools due to the motion and intrinsic forces that develop while opening/closing the forceps jaws. This paper presents a new design that adds another FBG attached to the forceps jaws to measure the axial loads. This involves not only the external tool-to-tissue interactions that we need to measure, but also the adverse effect of intrinsic actuation forces that arise due to the elastic deformation of jaws and friction. In this study, through experiments and finite element analyses, we model the intrinsic actuation force. We investigate the effect of the coefficient of friction and material type (stainless steel, titanium, nitinol) on this model. Then, the obtained model is used to separate the axial tool-to-tissue forces from the raw sensor measurements. Preliminary experiments and simulation results indicate that the developed linear model based on the actuation displacement is feasible to accurately predict the axial forces at the tool tip.","PeriodicalId":74522,"journal":{"name":"Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/BIOROB.2016.7523674","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"35832390","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 14