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Remote center of motion (RCM) is an important concept in the kinematics for robotic minimally invasive surgery (MIS). This work focuses on the kinematic modeling of mechanism design for programmable RCM in MIS. Programmable RCM uses multiple joints coordination to maintain the isocenter of surgical tool manipulation during MIS. In this work, the kinematic task requirement is studied using a multibody...
Intelligent bionic leg controlled by a micro processing unit is an advanced intelligent prosthesis. In order to provide an ideal test-bed for the development of intelligent bionic leg, a new pattern humanoid robot-biped robot with heterogeneous legs (BRHL) is proposed. The conception and research purpose of BRHL are expatiated. Based on human bioscience, bionic design of artificial knee joint is analyzed...
Current changes in aging demographics poses new challenges: people require to keep their quality of life even after circumstances that threatened their movement and function. This increases the demand for new physical rehabilitation facilities that go beyond the traditional patient-therapist, one-to-one rehabilitation sessions. Two promising solutions rely on virtual reality and on the development...
Biarticulate muscles have been shown to perform the function of power transfer from the upper to lower leg, such as in tasks such as running, jumping, and stair climbing. A new robotic model of the human leg is described. This robotic leg transfers power from motors on the hip to the ankle. The importance of timing in maximizing the force transfer to push off at the toe is explored.
This paper presents a recent study about a development of an original, cable-driven and compliant robotic wrist (ARTS wrist). The ARTS wrist presents two degrees of freedom; the mechanism is composed by two platforms connected by a thrust spring (working as a flexible joint) and by three cables placed and clamped corresponding to vertex of an equilateral triangle centred in the longitudinal axis of...
This paper presents a novel 7 (active) +2 (passive) degrees of freedom (DOF) exoskeleton to achieve effective rehabilitation of upper limbs with neurological impairment. The 7+2 DOF robot was designed for allowing anatomically correct motions in the upper extremity, and for measuring 18 axis forces/torques and 9 DOF positions. A novel four-step integrated rehabilitation approach was developed and...
This paper describes a redundant robot arm that is capable of learning to reach for targets in space while avoiding obstacles in a self-organized fashion. Self-generated movement commands that activate correlated visual, spatial and motor information are used to learn forward and inverse kinematic control models while moving in obstacle free space using the direction-to-rotation transform (DIRECT)...
The goal of this study is to realize a biped humanoid robot as a human motion simulator; where a biped humanoid robot having an ability to mimic various human motions is used for testing welfare apparatuses. In this paper, a humanoid robot, WABIAN-2R, capable of not only human-like walking but also the emulation of disabled personspsila walking is proposed. It has two 6-DOF legs, two 1-DOF feet, a...
Robotic gait rehabilitation faces many challenges regarding ankle assistance, body weight support and physical human-robot interaction. This paper reports on the development of a gait rehabilitation exoskeleton prototype intended as a platform for the evaluation of design and control concepts in view of improved physical human-robot interaction. The performance of proxy-based sliding mode control...
Radio frequency ablation destroys a tumour by delivering radio frequency energy through a needle probe, minimally invasive surgery robot of five degrees freedom has been developed for assisting surgeons to place the probe accurately at the target. 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. Therefore...
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