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This paper aims to investigate how robotic devices can be used to understand the mechanism of sensorimotor adaptation in pediatric subjects affected by hemiparetic cerebral palsy. Previous studies showed how healthy adults, after training in presence of a systematic structured disturbing force field, show an “after effect” and therefore they highly adapt and compensate the external disturbance. An...
The chemotherapy magnetically controlled under Magnetic Resonance Imaging (MRI) is currently one of the active areas of cancer research. This paper proposes a precise model of a therapeutic microrobot magnetically steered in blood vessels. This modeling approach takes into account the non-Newtonian behavior of blood, as well as wall effect on the blood's profile and robot-to-wall interaction forces...
Anterior cruciate ligament (ACL) injuries have become more common in recent years as more young people participate in risky sporting activities. Most ACL injuries occur as a result of noncontact mechanisms. Previous in vitro studies of ACL strain have found significant increases in ACL strain primarily with anterior directed force on the tibia relative to the femur and with internal rotation and often...
This paper discusses the point-type non-contact active sensing for evaluating the stiffness of a soft tissue with coupling effect. The sensing system imparts a point force to a tissue and measures the displacement at the point of application of force. The benefit is that such point based information enables us to estimate two stiffness parameters constructing the 3D spring network tissue model. Through...
The objective of this work is to study and design a portable non invasive prototype which allows us to supervise the mastication frequency and pressure for specific meals, performing an analysis of sounds and pressures generated by facial muscles when they are chewing. These variables have a direct influence on people nutritious and dietary habits; also, a quickly eating makes people ingest a lot...
Movement direction for Brain Machine Interface (BMI) can be decoded successfully using Local Field Potentials (LFP) and Single Unit Activity (SUA). A major challenge when dealing with the intra-cortical recordings is to develop decoders that are robust in time. In this paper we present for the first time a technique that uses the qualitative information derived from multiple LFP channels rather than...
We have already reported our attempt to constrain direction of microcapsules in flow owing to an acoustic radiation force. However, the diameter of capsules was too large not to be applied in vivo. Furthermore, acoustic radiation force affected only in focal area because focused ultrasound was used. Thus we have improved our experiment by using microcapsules as small as blood cells and introducing...
Within the framework of multibody dynamics, a 3D large scale neuromusculoskeletal model of the human body is presented. To characterize the dynamics of skeletal muscle, a phenomenological model of energy expenditure was developed for estimating energy consumption during normal locomotion. Such model is able for predicting thermal and mechanical energy liberation under submaximal activation, muscle...
This paper presents the design of a direct driven under-actuated portable hand exoskeleton for rehabilitation. The design of the proposed Hand EXOskeleton SYStem (HEXOSYS) was driven by multi-objective optimisation strategy and inspiration from the human hand. The optimisation algorithm resulted in the choice of optimum link lengths of the device. The optimisation criteria are based on dexterity,...
A catheter is successfully bent and steered by applying magnetic gradients inside a Magnetic Resonance Imaging system (MRI). One to three soft ferromagnetic spheres are attached at the distal tip of the catheter with different spacing between the spheres. Depending on the interactions between the spheres, progressive or discontinuous/jumping displacement was observed for increasing magnetic load....
In this paper, the interaction force between a surgical needle and soft tissue is studied. The force is modeled using nonlinear dynamics based on a modified LuGre model that captures all stages of needle-tissue interaction including puncture, cutting, and friction forces. An estimation algorithm for identifying the associated parameters is then presented. This approach, which is based on extended...
A new propulsion method for sub-millimeter implants is presented that achieves high power to thrust conversion efficiency with a simple implementation. Previous research has shown that electromagnetic forces are a promising micro-scale propulsion mechanism; however the actual implementation is challenging due to the inherent symmetry of these forces. The presented technique translates torque into...
Several systems have been proposed to objectively quantify the motor signs of Parkinson's disease. While validity has been investigated for a subset of these systems, test-retest reliability of automated assessments has been more neglected. We have created a protocol that uses a robotic system to measure force and position as the user performs tracking tasks with and without a simultaneous cognitive...
In an aging society, social demands for home-based rehabilitation and assistive technologies by healthcare and welfare services are globally increasing. The progress of quality-of-life technologies and rehabilitation science is a very important and urgent issue for elderly and disabled individuals as well as for their caregivers. Thus, there is a substantial need to develop simple bedside apparatuses...
Accurate identification of lesion borders is an important task in the analysis of dermoscopy images since the extraction of skin lesion borders provides important cues for accurate diagnosis. Snakes have been used for segmenting a variety of medical imagery including dermoscopy, however, due to the compromise of internal and external energy forces they can lead to under- or over-segmentation problems...
The purpose of this report is to propose portable and attachable tele-echography robot system: FASTele. Focused assessment with sonography for trauma (FAST) is important for patients who have shock by internal bleeding. However, the patient has little time, and transportation to a hospital may take too long. A system which enables FAST more quickly is required. Therefore, we aim to develop a tele-echography...
To harness the increased dexterity and sensing capabilities in advanced prosthetic device designs, amputees will require interfaces supported by novel forms of sensory feedback and novel control paradigms. We are using a motorized elbow brace to feed back grasp forces to the user in the form of extension torques about the elbow. This force display complements myoelectric control of grip closure in...
With the aim to control a multiple degrees of freedom electromechanical devices, e.g., assistive robots, powered wheelchair, etc., this paper proposes a real-time multichannel surface electromyography classification scheme based on the coordination or synergies between a functional group of muscles: biceps brachii, triceps brachii, pronator teres, and brachioradialis. The muscular synergy is evaluated...
Most prosthetic hand users are limited to visual feedback of movement performance. To characterize the benefit of vibrotactile feedback for a task that lacks haptic feedback, a virtual environment was used to experimentally manipulate visual, task-relevant haptic, and remote vibrotactile feedback on simple object manipulation for unimpaired subjects. The combination of visual and remote vibrotactile...
The acoustic radiation force has been used as the method to examine the physical properties of materials in several areas. Vibro-acoustography is an acoustic radiation force technique that is being used to perform analysis of mechanical properties of materials. In this application a focused acoustic modulated force excites target which vibrates at the frequency of modulation. The emitted sound is...
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