The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Because of the fewer degree of freedom (DOF), poor flexibility and the absence of uniform mechanical and electrical interface, the micro instruments used in traditional invasive surgery can not be introduced into the laparoscopic minimally invasive surgical robotic system (LMISRS) directly. So it is very necessary to research and develop a series of new micro instruments for the LMISRS. Having considered...
Robot-assisted minimally invasive surgery is new and promising applications of robotics, which can enhance the dexterity, provide high accuracy and can't be affected by the fatigue, tremor and so on. In this paper, a novel master-slave robot-assisted minimally invasive surgery system MicroHand A is introduced. The master-slave control system for MicroHand has been designed, which is modular and consists...
Minimally invasive surgery (MIS) has many advantages compared with the open surgery, but there are still many drawbacks in performing this kind of surgery. To overcome the problems, robotic technologies have been integrated. The surgical robotic systems can enhance the dexterity, provide high accuracy, do not affect by the fatigue, and have the possibility of remote operation. These advantages make...
Neurological injuries caused by stroke, spinal cord injury or other illnesses and accidents often lead to walking disabilities. If not properly treated, gait disorders can lead to impaired physical and mental health, reduced physical activity, falls, fear of falling, loss of independence and the need for continuous medical care. After an accident or the start of an illness it is important to start...
In this paper, we investigate the enhanced ability of manipulation with the newly developed Personal Mobility and Manipulation Appliance (PerMMA). PerMMA is a new assistive device that integrates bimanual manipulation with smart mobility to assist people with severe physical disabilities and enhance their quality of lives. Different from the fixed mounting method used in most existing systems, a novel...
Backdrivability is a keyword with rising importance, not only in humanoid robots, but also to wearable robots. Power assist robots, namely exoskeletons are expected to provide mobility and independence to elderly and people with disability. In such robots, without backdrivability, error between human and robot motion can be painful; sometimes dangerous. In this research, we apply a type of hydraulic...
In aging societies, there is a strong demand for robotics to tackle problems caused by the aging population. Patient transfer, such as lifting and moving a bedridden patient from a bed to a wheelchair and back, is one of the most physically challenging tasks in nursing care, the burden of which should be reduced by the introduction of robot technologies. We have developed a new prototype robot named...
Recently, quite a few practical parallel mechanisms having spatial 3-DOF and 6-DOF have been introduced and implemented. However, not many useful practical applications using low-mobility parallel mechanisms having 4-DOF and 5-DOF have been developed. In this paper, we propose a 4-DOF parallel mechanism for needle insertion application in which proper orientation and needle insertion process are required...
Independence in the development of daily tasks, such as grasping and moving objects, play a key role in the well being of people who are physically challenged due to impartment in their upper extremities. New technologies in the form of robotic manipulators resembling human-scale arms may present a promising future, provided that they can be controlled in ways that resemble human movements. Our work...
This paper proposes an obstacle-avoidance algorithm which can be applied to omnidirectional Lower Limbs Rehabilitation Robot. The method generates the attribute of obstacle scene using detected angle information of obstacle boundary, and fuzzy matching with the obstacle scene knowledgebase to realize the obstacle-avoidance control of robot. The implementation of fuzzy matching depends on fuzzy neural...
The minimally invasive surgery robot of five degrees of freedom has been developed for assisting surgeons to realize high quality and precise operation in Radio frequency ablation for patients with liver tumors. The minimally invasive surgery robot drives the ablator tool to track the tumor when the tumor moves in real time and precise orientate to the tumor. Through studying of the structure of the...
The colonoscope is an important surgical tool to diagnose various colon diseases. However, the conventional colonoscope usually causes the patient a great deal of discomfort and pain. In order to develop a colonoscope for less discomfort of the patient and less demanding operation techniques of the doctor, a novel snake-like robotic colonoscope is proposed in this paper. This robotic colonoscope adopts...
In this paper, we propose a therapeutic-assisted robot for children with autism to ameliorate their cof joint attention. The robot conducts a goal-directed based interaction to establish engagement between the child and robot in order to establish a beneficial learning environment for autistic children. An unsupervised Mixture Gaussian-based cluster method is proposed to detect the child's intention...
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...
Recently, NOTES (Natural Orifice Translumenal Endoscopic Surgery) has attracted attention as a new approach in laparoscopic surgery. This approach achieves extremely less invasive surgery, however, manipulation of forceps is very difficult in NOTES, which brings more burdens on the surgeons. Under these situations, the aim of this study is to develop a micro mobile robot that could move in the abdominal...
Current clinical practice of robot-aided gait training is not as effective as expected. Cooperative control strategies aim at improving the effectiveness of robot-aided training by empowering patients to participate more actively. Our group has recently proposed the concept of bio-cooperative control, which explicitely considers the role of the human in the loop, as an extension of these strategies...
The goal of this work is the development and performance analysis of control algorithms for new soft fluidic actuators with rotary elastic chambers (REC-actuators). Due to their inherent compliancy these actuators fulfill the requisites for building intrinsically safe mechanisms as assistance robots and motion therapy devices, working in direct physical contact with humans. Besides the difficulties...
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...
A new and light wheelchair-mounted robotic arm (WMRA-II) was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The structure of the new robotic arm utilizes carbon-fiber and polycarbonate tubes to reduce the arm weight. The mechanical design incorporates DC servo drive, with actuator...
Parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. This paper presents kinematic analysis, workspace, design and control to 3 degrees of freedom (DOF) parallel robots. Parallel robots...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.