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Considering the difficulty in regeneration the stroke patient's neurons by modern medicine, the rehabilitation robots are widely studied to help the patient reduce influence caused by the stroke illness. In this paper, the lower limb rehabilitation robot, which has eight degree of freedoms, is studied. The motion data of the lower limb rehabilitation robot are got by the great number of models provided...
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 focuses on steering a 3D robot while walking on a flat surface. A hybrid feedback controller designed in for stable walking along a straight line is modified so that it is capable of adjusting the net yaw rotation of the robot over a step in order to steer the robot along paths with mild curvature. The controller is designed on the basis of a single pre-defined trajectory for periodic walking...
In our current research, we are developing a robotic walker system with standing, walking and seating assistance function. Our developing system is based on a walker which is popular assistance device for aged person in normal daily life and realizes the standing and seating motion using the support pad which is actuated by the novel assistance manipulator mechanism with four parallel linkages. In...
A 3-DOF planar robotic arm is designed and used as a rehabilitation treatment tool for the survivor after suffering a stroke, aiming to assist them to recover upper-limb function. In order to strengthen the patient's arm, some forces are desired to be followed while the position trajectories should be tracked simultaneously, therefore hybrid impedance control (HIC) is proposed. Due to the redundancy...
To get compact instruments in robot-assisted minimally invasive surgery (MIS), each servo motor was installed the base and motor torque was transmitted to each joint through a tendon-pulley system. Trajectory tracking control is very important in MIS. In this paper, dynamic structure and equation of motion including the effect of rotor inertia for a class of 3-dof tendon-driven minimally invasive...
In order to aid walking and limb rehabilitation training, a four-degree pelvic pose and position control mechanism of walking aid robot is discussed based on the motion laws of human pelvic. By applying modified D-H method, a kinematical coordinate system of the pose and position control mechanism is set up and the forward and inverse kinematics models are also built up. After the design of control...
In this study, basic research to obtain biomechanical parameters for optimized design of wearable walking assistant robot was presented and discussed in the condition of its application to the dynamic analysis of gait. Numerous studies are being conducted in order to develop intelligent walking assist devices. However, the reliability, effectiveness and durability of such intelligent walking assist...
The Lower-limb Power Assisted Robot is a typical exoskeleton power assistance device, which is worn on the user's lower extremities. It can help the elderly and the infirm walk independently. According to the characteristics of human lower extremity joints, a robot with four-bar knee joint whose pelvis and knee joint are driven by the motor-driven screw-nut body is designed. Employing the Denanit-Hartenberg...
Rehabilitation robot is a type of assistant recovery equipment designed particularly for the sick people having difficulty in walking to get gait rehabilitation training, the research on joint flexibility is of great significance for the program making of walking gait control. The three closed-loops PID control method was proposed for the lower-limb rehabilitation robot MACCEPA (mechanically adjustable...
To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and therefore proper functioning of upper-limb is very much essential. We therefore have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion. Toward to make a complete (i.e., 7DOF) upper-arm motion assisted robotic exoskeleton this paper focused on the development...
Rehabilitation Robot is a typical man-machine cooperation robot, which can drive the affected limbs to carry out various motor function recovery trainings within the same workspace of patients. To ensure the safety and comfort of the affected limbs during the training process, the system controller is designed based on the impedance control principle, thus the controller can make the robot has a certain...
Based on motion characteristics of the upper-limb rehabilitation robot in the rehabilitation training, the article proposes to use a new method of repetitive control to restraining joint position error for upper-limb rehabilitation robot control system. First, repetitive motion of joint position regards as a fixed-cycle signal, and then designs a repetitive controller according to motion characteristics...
Transapical aortic valve replacement under MRI guidance in a beating heart is a recent minimally invasive technique that could benefit from a surgical assistant system. We present a robotic surgical assistant system that can precisely and repeatably deliver aortic valve prostheses. The surgical system consists of an imaging system, an Innomotion robotic arm, a 3-DoF valve delivery module and user...
Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment...
This paper proposes a method for accurate robotic motion compensation of a freely moving target object. This approaches a typical problem in medical scenarios, where a robotic system needs to compensate physiological movements of a target region related to the patient. An optical tracking system measures the poses of the robot's end-effector and the moving target. The task is to track the target with...
The paper addresses the analysis of forward kinematics of a 3-DOF medical parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using MATLAB/Simulink. Forward kinematics is solved numerically using Newton-Kantorovich (N-K) method and then is verified with a 1:1 CAD model through SimMechanics Toolbox from MATLAB/Simulink. Also the workspace of the robot is determined through forward...
This paper presents the control architecture and preliminary experimental results of a high performance parallel robot used for ankle rehabilitation. The goal of this work was to design suitable control algorithms for diagnostic, training and rehabilitation of the ankle in presence of musculoskeletal injuries. A position control scheme is used for patient-passive exercises while an admittance control...
Recently, doctor and medical care persons are shortage by the aging of population. Thus, robot support systems are needed for medical care. The motion of the human support system is controlled by routine. Position control and velocity control is usual method. These controls are not considered the human motion. This paper proposes method of human support system using motion coping system. The motion...
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...
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