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This paper discusses the tracking algorithms and approach used to control the tracking fluoroscope system. It is a mobile platform equipped with an on-board fluoroscope system to perform real-time imaging of human joints in motion: ankles, knees and hips. In order to record the natural and uninterrupted joint motion, the person has to be able to walk freely while being followed by the robot. It requires...
When analyzed in the tangential speed domain, human movements exhibit a multi-peaked speed profile which is commonly interpreted as evidence for submovements. At slow speeds, the number of the peaks increases and the peaks also become more distinct, corresponding to non-smoothness or intermittency in the movement. In this study, we evaluate two potential sources proposed in the literature for the...
As an important indicator of the robot performance, the clamping dexterity is researched to develop the advantage of the robot. Using the theory of the unit ball, analysing the object(linear object) clamped by the manipulator of the laparoscopic robot, the posture of the clamping object and the relation between them when the manipulator clamp the object are described in expression. Then, the kinematics...
Based on product design systematic and modularization, aiming at an unknown working environment, the research of snake robot creates a new field for bionic robot research. Based on the requirements such as small size, multi-degree of freedom, light, simple, reliable, cheap and easy to install and maintain, we developed a small snake robot. The robot is made up of the same modules and able to complete...
This paper describes how semiautomated variation in active upper limb exercise is achieved by the iPAM robotic rehabilitation system. The iPAM system is used to deliver assisted therapeutic upper limb exercise for people with stroke. An admittance control scheme allows the assistance to be tailored to an individual's needs. A key aspect of motor learning is variation in practice. Therefore a key aspect...
In this paper, an assistive robot is proposed for children with autism to enhance their joint attention, the main focus of which is an interactive scenario with potential modalities to establish a learning environment for children with autism. In order to implement the above interactive scenario, the robot has to detect a child's intention at every time segment. For this purpose, a novel attention...
In the context of multi-agent systems, we are proposing a hierarchical robot control architecture that comprises artificial intelligence (AI) techniques and traditional control methodologies, based on the realization of a learning team of agents in a continuous problem setting. In a multi-agent system, action selection is important for cooperation and coordination among the agents. By employing reinforcement...
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