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Recently the needs for medical rehabilitation support systems are increasing in Japan, which use robot technology and virtual reality technology. Applying these technologies make efficient medical rehabilitation outcome. We have developed 6-degrees-of-freedom (DOF) upper extremity exercise system to evaluate synergy pattern an to exercise of upper extremity of stroke patients, named ??Robotherapist??...
Now more than ever, progresses in information technology applied to rehabilitation robotics give new hopes to people recovering from different kinds of diseases and injuries. Beside the standard application of EMG signals to analyze disabilities or to track progress in rehabilitation, more focus has been put on controlling robot arms and exoskeletons. In recent years, biomechanists have developed...
It is well known that the massage therapy is useful for the rehabilitation of various diseases (i.e. oral health problems, etc.). Although various apparatus have been developed for the massage of the torso and limbs, there is still little knowledge about their real effectiveness. For this purpose, authors have proposed the development of a robotic system that provides massage therapy of the maxillofacial...
Robots are becoming more common in our lives. Nowadays we observe robots working in houses, pharmacies, stores, and even in operating rooms. This evolution to become more human friendly and easier to interact cannot assume industrial robots, due to their heavy weight. In order to be well accepted by humans, when a robot is inserted into a room, we have to consider human safety and space limitations,...
When a compliant robotic manipulator interacts with the environment, forces are generated at the contact points, which are a function of environment parameters (such as stiffness, damping and friction). The resulting contact forces can cause a bouncing effect and eventually instability of the manipulator. This problem assumes a great importance when the environment is unknown or poorly structured,...
Robotic manipulation of human victims is a problem that has been avoided by the robotics community. This paper presents the issues that would need to be addressed in order to have small man-portable robots aiding the transport of incapacitated victims. Focusing on the manipulation of victims in preparation for transport, the primary design specifications come from the required forces that a small...
In this paper, we propose a novel master-slave system for micro-manipulation of the mechanical contact type. In the proposed system, suck and blow movements in the master side are scaled and transmitted to the slave side, i.e., we generate the air flow at the tip of the micro-straw in the slave side according to operator's suck and blow in the master side. The air flows by operator's suck and blow...
A new type of horizontal lower limbs rehabilitation robot based on parallel mechanism is developed according to the motion law of lower limbs and rehabilitation medicine theory, which is helpful for the disabled patients in lower limbs. It can help patients to do rehabilitation training of hips, knees and ankles. In order to ensure safety and comfort of affected limb in the course of training, the...
This paper presents hardware and software systems which have been developed to provide haptic feedback for teleoperated laparoscopic surgical robots. Surgical instruments incorporating quantum tunnelling composite force measuring sensors have been developed and mounted on a pair of Mitsubishi PA-10 industrial robots. Feedback forces are rendered on pseudo-surgical instruments based on a pair of PHANTOM...
In this paper, we develop the robotic system for the rehabilitation of the upper limbs which consists of a PA-10 robot manipulator and a 6-axis force/torque sensor. In addition, we generate FES signals to assist paralytics based on the difference of reaching performance between normal and abnormal arms. To estimate the motor performance, subjects were asked to perform a tracking task; in this study,...
In this paper, we propose a practical robotic follower adopting ??Hyper-Tether?? concept for detecting a foregoing person to support daily life for a patient with Home Oxygen Therapy. We developed two prototypes of the robotic follower. First we set its design specification and evaluate it by prototype model I in terms of the performance of the following. Next we investigate a chassis mechanism and...
We describe here a palpation-based needle insertion method for diagnostic biopsy and treatment of breast cancer. The mechanical palpation probe locates cancerous tissue from force information and reduces tissue displacement during needle insertion. We compared palpation-based needle insertion to normal needle insertion by numerical simulation of a breast tissue model and by experiments in vitro. The...
The required tasks in fixed-base exoskeletons demand a fast position/force controller; yet robust against unknown disturbances due to the application itself is tightly coupled with a human in a wide range of operational conditions, which give rise to human-exoskeleton interaction dynamics, high nonlinear uncertain exoskeleton dynamics, noisy sensors and other parametric uncertainties, such as environmental...
We describe a control method, for a surgical robot, which prevents the overload at fragile tissues. In particular, we focused on the control parameter setting method to ensure the robustness of the performance relative to the variation of the organ stiffness parameter. Firstly, we present Position/ Limited Stress control to achieving both precise positioning and prevention of overload. FEM based organ...
This paper presents a predictive force control approach to compensate for the physiological motion induced by both respiratory and heart beating motions during cardiac surgery. It focuses on the design and implementation of the control algorithm in the context of robotized minimally invasive surgery. The controller is based on a linear predictive control loop using the force information applied on...
This paper derives analytic guidelines to tune the popular Position-Force bilateral controller and improve its performance by incorporating available knowledge on the bounds of the environment impedance. The proposed guidelines can prove especially useful in the domain of telesurgery where a need exists for well-understood bilateral teleoperation controllers, that show good performance and where many...
To develop a gait rehabilitation robot for hemiplegic patients, quantitative evaluations of patient ability is needed. Patient's walk phase, which includes time balance of stance and swing legs, is one of the most useful indexes. However, conventional methods measuring walk phase require laborious preparations. In this paper, a novel algorithm estimating walk phase on a treadmill by observing DC motor...
In this paper, we propose a tendon skeletal finger model and discuss which finger postures the human feels easy to pinch based on the tendon forces and the human experimental results. The finger model mimics a human tendon skeletal structure. The tendon forces during the pinching motion were simulated using the finger model. Simulation results show that the tendon forces closely mirror the human muscle...
This paper presents the evaluation of a robot-assisted rehabilitation system with assist-as-needed and visual error augmentation training methods. In this robot-assisted rehabilitation system, an assistive controller provides robotic assistance to the participant as and when needed. In addition, the position errors that are visually fed back to the participant are amplified to heighten the participant's...
A capsule robot that moves utilizing the internal force between the shell and the sliding mass and the friction between the shell and the environment is named "internal force-static friction" capsubot. The new driving mode is used in the active gastrointestinal examination robot system, which is a novel and meaningful attempt. In this paper, for the operation mechanism and movement characteristics...
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