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This paper proposes an online compensation method of gravity and friction by least squares method (LSM) for robots implementing haptics. In order to expand the range of tasks using the robot such as telepresence robot, implementing haptics technology is essential. However, with higher gear ratio motors, the friction lowers the quality of the haptic transmission. In order to comfortably control the...
Stroke has become a common disease, often leading to motor dysfunction and causing disability. Lower-limb robotic rehabilitation can help patients to carry out reasonable and effective training to improve the motor learning. The developments of lower-limb rehabilitation robots are investigated in this review and also clinic requirements have been discussed in recent years. Consequently, the future...
Autism and Autism Spectrum Disorders (ASD) are general terms for a group of complex disorders of brain development. Autistic children exhibit certain characteristics in varying degrees including difficulties in verbal/non-verbal communication, social interaction and repetitive behaviors. This paper discusses the role of Virtual Learning Environments (VLEs) in helping autistic children learn science...
This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and...
In this paper, we propose a force feedback scheme for Delta device to improve precision and stability in master-slave teleoperation. A simple and exact dynamical equation is created with principle of virtual work, which is easy to calculate in real-time. After analysing three items deep in dynamical equation, a reasonable strategy is designed to identify the mass of Delta mechanism. The identified...
Master-slave surgical robots have been studied and developed to support surgeons. Robotic functions such as motion scaling and hand shaking correction can extend the ability of surgeons. However, some problems are remaining in robotic surgery. Operation time which can become the burden to surgeons is still long. Surgeons must assess the situation, decide the next task correctly, and achieve tasks...
This paper presents the closed loop teleoperation of a minimal surgery training system using haptic and robot devices. The force tracking performances of system can be improved by using dynamic compensation and fuzzy control. In this system, the master is the 6-DOF haptic device and the slave is the 6-DOF serial robot. The master haptic device provides the trajectories for the slave serial robot throught...
This paper presents the effects of being hugged by a robot to encourage prosocial behaviors. In human-human interaction, touches including hugs are essential for communication with others. Touches also show interesting effects, including the “Midas touch,” which encourages prosocial behaviors from the people who have been touched. Previous research demonstrated that people who touched a robot experienced...
Human-Robot Interaction is a prominent field of robotics today. Knowledge of human-human physical interaction can prove vital in creating dynamic physical interactions between human and robots. Most of the current work in studying this interaction has been from a haptic perspective. Through this paper, we present metrics that can be used to identify if a physical interaction occurred between two people...
In daily life it is necessary to learn skills that can be applied in different tasks and different contexts. Usually these skills are acquired by observation or by direct physical training with another expert person. The critical point is to know which is the best possible way to achieve this knowledge acquisition. In this work we have proposed a collaborative environment where subjects with different...
In this study, we aim to explore ways to objectively assess cognitive deficits in the stroke and HIV/stroke populations, where cognitive and motor impairments can be hard to separate. Using an upper limb rehabilitation robot called the Haptic TheraDrive, we collect performance error scores and motor learning data on the impaired and unimpaired limb during a trajectory tracking task. We compare these...
Motor relearning after stroke is a lengthy process which should be continued after patients get discharged from the clinic. This project aims at developing a system for telerehabilitation which enables stroke patients to exercise at home autonomously or under supervision of a therapist. The system includes haptic therapy devices which are more promising and beneficial for stroke rehabilitation than...
In this paper, a cable-driven haptic interface able to move in the six-dimensional space, suitable for applications in various robotic scenarios is presented. The device takes advantage of four force-controlled twisted string actuators to generate a linear force along the three Cartesian space dimensions while providing a considerable force-weight ratio and low inertia. The system consists of a frame...
Rehabilitation robots are often combined with serious games that motivate patients and keep them exercising at high intensities. A promising type of game are competitive rehabilitation games, but few difficulty adaptation algorithms have been presented for them. This paper thus presents the adaptation of difficulty in a competitive arm rehabilitation game based on two physiological signals: respiration...
The best way for researchers to test their algorithms and design concepts, before experimenting on real human beings, is to create simulation environment platforms. In this paper, a virtual simulator for active endoscopic capsules is proposed. The simulator intends to provide researchers with an environment to test their vision and navigation algorithms applied to endoscopic capsule applications....
This paper focuses on 5G Mobile Systems for ultra-reliable low latency communications applied to the healthcare use cases, specifically: Wireless Tele Surgery (WTS) - using a mobile console and robotic platforms with video, audio and haptic feed-back; and Wireless Service Robots (WSR) - companion robots or service robots performing tasks of social caretakers, professional personnel or family members...
Using compliant joints and haptic feedback are two methods that could improve next-generation teleoperated systems, but both methods present challenges to traditional control systems. This paper describes the first experimental investigation of a new approach to real-time haptic control for teleoperated robots with compliant joints. One original aspect of the approach is using an auxiliary error,...
Controlling robots in real-time over a wireless interface present fundamental challenges for forthcoming fifth generation wireless networks. Mission critical real-time applications such as telesurgery over the tactile Internet require a communication link that is both ultra-reliable and low-latency, and that simultaneously serving multiple devices and applications. Wireless performance requirements...
Epiduroscopy is one of the widely implemented procedures in effective diagnosing and curing lumbago patients. Such endoscopic surgery requires much skill to control the surgical instruments well. Therefore, this paper proposes an epiduroscopy training simulator using a haptic master device. The proposed training simulator calculates forces using virtual fixture implemented in a catheter insertion...
Provides a brief professional biography of the five special session presenters. The complete presentations were not made available for publication as part of the conference proceedings.
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