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The following topics are dealt with: humanoid robot motion; medical robots; upper-limb rehabilitation; multiple robots; mobile robots; human-robot interaction; gait and walking rehabilitation; image processing; parallel manipulator; mobile robot navigation; force and tactile control; SLAM; underwater robotics; path planning; fish robots; controller design; legged robotics; surgical robots; and robot...
On behalf of the IEEE ROBIO2010 Conference Organizing Committee, we welcome you to Tianjin, one of China's four municipalities directly under the State Council, for 2010 IEEE International Conference on Robotics and Biomimetics. The theme of ROBIO2010 is “Robotics and Biomimetics for Human Science and Engineering”, which reflects the ever-growing research interests in the merging of these two important...
Stability and performance are two main issues in motion of bipeds. To ensure stability, motion of a biped need to follow specific pattern to comply with certain stability criterion such as zero moment point. However, there are infinity many patterns of motion, i.e. different paths, which may ensure stability, so one might think of achieving better performance by choosing proper parameters of motion...
Most of current biped robots are active walking platforms. Though they have strong locomotion ability and good adaptability to environments, they have a lot of degrees of freedom (DoFs) and hence result in complex control and high energy consumption. On the other hand, passive or semi-passive walking robots require less DoFs and energy, but their walking capability and robustness are poor. To overcome...
Typically most humanoid robots walk with relatively small strides even on the level ground, and consequently their walking speed is fairly slow compared to humans. One reason is that the constraint of the constant COM (Center of Mass) height, which is for decoupling the frontal and lateral motion, produces the characteristic bent knee feature of walking robots and requires higher motor torques. The...
This paper presents a new Central Pattern Generator (CPG) controller for quadruped robot rhythmic locomotion control. Our CPG controller based on the Wilson-Cowan neural oscillator, which is known as a weakly neural network that generates fundamental rhythmic movements in locomotion of animals. The harmony motion of one leg from the others is controlled with four Wilson-Cowan neural oscillators. By...
With the demand of active prosthesis continuing to rise, the necessity of developing stable humanoid robots and intelligent leg prosthesis becomes more and more important. This paper presents a closed-loop position servo system of the powered prosthesis, which is designed according to the moving feature of human leg, and consists of the position, velocity and current feedback. Based on bionics principle,...
This paper proposes a simple, closed-form switching formula for determining the optimal gait transition speeds of legged robots. For robots with even-numbered legs that are arranged symmetrically along the direction of locomotion, the formula determines the forward locomotion speed at which running (gallop) becomes more efficient than walking (trot). The accuracy of the switching formula is empirically...
This paper gives an overview of a project, which is focused on the development of a convenient device for continuous blood pressure (BP) monitoring with wireless communication interface. The reliability of long-term automatically monitoring is the main focus for current paper. 18 healthy subjects were tested with the continuous BP monitor against a brand of community-based BP monitor. Accuracy assessment...
Tuberculosis (TB) is a communicable disease for which early diagnosis is critical for disease control. Manual screening for TB identification involves a labor-intensive task with poor sensitivity and specificity. To improve the diagnostic process we develop an automated system for TB identification, which consists of an automatic microscope, an image-based autofocus algorithm and an image-based TB...
This paper presents the design and implementation of a medical robot for celiac minimally invasive surgery. Firstly, the mechanism structure of the robot is briefly introduced which has the feature of simple structure and high safety. Next, kinematics is presented by using the D-H method and the four groups of arm configuration is proposed with the Maximum Distance Criterion method, which provide...
Non invasive micro robotic colonoscope can be applied in health care to find the malignant tumor in its early stage. This project presented a novel squirm robot prototype with 13 mm diameter, 105 mm length, and 22.3 g weight. The robot is actuated by three linear motors which are composed of micro motor, turbine-worm, and wire wrapping-sliding mechanism. This linear actuators are featured with the...
In this paper, two kinds of assessment approaches of upper-limb motor function for stroke patients based on task-orientated have been proposed. One is continuous tracking of a series of curve trajectories on 2D plane, for example sinusoid; the other is discrete tracking of distributed targets generated randomly one after another in three dimensions. Both of tracking performances are carried out by...
Passive and active movement therapies are essential in the rehabilitation process post stroke and other neurological disorders. Considering the shortage of therapists and limited insurance coverage, qualified healthcare services are not always available to patients. There is also a lack of compact rehabilitation robots powerful enough to perform forceful stretching of spastic joint and yet flexible...
Robotic training following stroke is an emerging rehabilitation technique to facilitate neuromuscular plasticity for regaining functional movements. Most existing training robots follow a defined task-based trajectory in assistive or resistive mode. Whilst this approach may be effective in certain cases it does not allow training of arm or leg in a natural way as the motion is precisely guided by...
This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which accomplishes both active and passive rehabilitation training. In the passive mode control the PID control algorithm is executed in the velocity mode of the driver. In the active mode control, control architecture is proposed to deal with in both free space and constraint space. A resistance compensation...
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