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This paper shows a preliminary proposition to the mechanical design and, also kinematics and gap models for an active prosthesis applied to transtibial amputees. It is pointed that an active prosthesis is capable to absorb and amplify the forces during human walking. Tools applied to robotics like Denavit-Hartenberg's algorithm and the Lagrangean may be applied in mathematical modeling in order to...
In the proposed work we present a combination of two paradigms: Wireless Sensor Networks (WSN) and Computer Vision applied for Motion Analysis. In this work the Computer Vision provides high-level behavioural monitoring and analysis, whereas Wireless Sensors capture detailed parameters of a moving object. Fusion of sensory information received from both types of sensors provides micro-level and macro-level...
The heart muscle of a cardiac arrest victim continues to accumulate damage throughout its lifetime. This reduces the heart's ability to pump sufficient oxygen and nutrient blood to meet the body's needs. Medical researchers have shown that direct injection of pre-harvested skeletal myoblast cells into the heart can restore some muscle function. This operative procedure usually necessitates the surgeon...
Parkinson's disease and Huntington's disease are two typical brain movement disorders, both of which have been studied extensively for decades. Dysfunctions in the basal ganglia-a group of sub cortex nuclei in vertebrate brains-are generally considered to account for these two diseases. But what will happen if a robot gets Parkinson's disease or Huntington's disease? Based on the concepts in behavior...
This project focuses on the development of robot-assisted stroke rehabilitation by implementing electromyography (EMG) as the interface between robot and user communication. Key issue in implementation of EMG in this application is conversion of EMG signal into torque data. This paper presents a methodology of EMG signal to estimated joint torque conversion by using genetic algorithm (GA). Basic principle...
This paper presents an overview of the Central Pattern Generator (CPG) based control models as well as their applications to various multi-joint or multi-DOF robots. The motivation is to provide a relevant and practical guide to the existing literature for engineers with an interest in the emerging CPG-based biocybernetics approach. The CPGs function as a biological neural network with the great capability...
The following topics are dealt with: adaptive control; observers; fault diagnosis; networked control systems; power systems; agent-based systems; control theory; control applications; genetic computation; evolutionary computation; robotics; nonlinear systems; electromechanical systems; neural networks; predictive control; robust control; discrete event systems; embedded control systems; process control;...
A newly developed hand rehabilitation system is presented that combines robotics and interactive gaming to facilitate repetitive performance of task specific exercises for patients recovering from neurological motor deficits. A two degree of freedom robotic interface allows coordinated motions of the forearm and the hand (pronation/supination and grasp/release, respectively). It is driven by two novel...
This work presents the development of a brain computer interface as an alternative communication channel to be used in Robotics. It encompasses the implementation of an electroencephalograph (EEG), as well as the development of all computational methods and necessary techniques to identify mental activities. The developed brain computer interface (BCI) is applied to activate the movements of a 120lb...
The modeling of needle insertion into tissues is important for simulation of this procedure and for robotic technologies applied to percutaneous therapy. In this article, we present a first attempt to develop a general force model for the needle insertion throw different tissue layers (skin, fat and muscle) to reach an internal organ (the liver, for instance) with objectives of control, looking for...
Abstract rules can be learned by several species (not only humans). We propose a biologically plausible model for same/different discrimination, that can point towards the neural basis of abstract concept learning. By including a neural adaptation mechanism to a discriminator model formerly introduced in the literature, selective clusters of neurons fire depending on whether or not the stimuli compared...
Assistive technologies to support a self-determined living of elderly people receive growing attention due to the aging populations. In this context robotic and sensorics approaches can balance handicaps to improve safe mobility approaches. By telematic methods health data can be transmitted to enable a continuous monitoring of endangered people in their home or while being on their way. Thus assistant...
For stroke survivors, or those with debilitating conditions, loss of autonomy and independence is a major issue. To help with this problem, a device is being designed that aids the movements of the wrist and hand. The device will measure the surface EMG readings from the forearm, and accurately interpret these readings to determine the intention of the device wearer. An exoskeleton, extending from...
Aiming to structurally and functionally replace missing or damaged tissues, regenerative medicine can offer revolutionary therapeutical solution in addressing musculoskeletal conditions. Translation from basic research to affordable cost effective therapeutic procedures implies using advanced robotic and automatized technology for research, processing, quality control and future development. This...
This study describes a novel robotic system using haptic effects and objects, in rich, three- dimensional virtual environments (VEs) for the sensorimotor training of the hemiparetic hand. This system is used to train the hand and arm together as an integrated functional unit. Eight subjects with sub-acute or chronic strokes practiced two to three hours/day for 8 days using four different robotic simulations...
The following topics are dealt with; virtual rehabilitation; psychological and neurophysiological impact; spatial navigation; developmental disability; assessment and recovery models; balance and gait rehabilitation; and upper extremity rehabilitation and robotics.
Medical robotic applications are increasing in operation rooms. It is necessary to select, locate and program appropriate robots for medical operations. SolidWorks and CosmosMotion controlled by the modeling and motion simulation programs created in VisualBASIC in this study are used for this purpose. The designer prepares the model input file which contains the information about the selected units...
The biomechanical analysis done in this project is to assist the development of the robot assisted stroke rehabilitation system. Thus, the analysis of the upper limbpsilas motions focus on rehabilitation training for stroke survivor. As the human upper limb system is a natural biomechanical system, which can be modeled as links connected together by different joints with its own biological properties,...
The objective of this work is first to present a study and analysis of fundamental issues that constitute the development of a hand rehabilitation system by making use of mechanisms for objective and quantitative assessment for patients with motor weakness, such as spinal cord injury (SCI) and post-stroke. The proposed rehabilitation system aims to improve the functional ability of impaired hand on...
Natural orifice transluminal endoscopic surgery (NOTES) is a surgical technique that performs operation to the patient by using an endoscope which passed through the natural orifice in the body then through an incision internally thus avoiding any external incisions or scars. The potential advantages are reduced usage of anesthesia, faster pain and recovery leaving the patient with no visible scars...
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