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Anterior Cruciate Ligament (ACL) injury is an injury of knee joints happened to many athletes. It has the significant impact on the patients' movement in their daily life and sport activities. Thus, it is important to detect the ACL injury in an early stage. So that, the proper treatment can be operated in time. This paper proposes a novel method to seek out differences of gait patterns between the...
This work contributes towards the vision of a suture platform that is able to objectively quantify suturing skill by integrating data from multiple sensing modalities. A first step towards such a platform is the synchronization of data from multiple sensor streams and perhaps even multiple systems. We present the design of a novel suture platform with force and motion sensors as well as video capture...
In this paper artificial neural network control technique is used for a nonlinear system. The nonlinear system for supervised control is considered in this paper is Inverted Pendulum which is well known problem for research due to it's highly nonlinear and unstable characteristics. Online ADALINE controller has been used here for control of system. ADALINE controller has the ability to adapt changes...
Dynamic selection (DS) is a mechanism to select one or an ensemble of competent classifiers from a pool of base classifiers, in order to classify a specific test sample. The size of this pool is user defined and yet crucial to control the computational complexity and performance of a DS. An appropriate pool size depends on the choice of base classifiers, the underlying DS method used, and more importantly,...
This paper intends to design a system which acquires the trainer's motion and force information in order to manipulate a robot arm applied for rehabilitations. Patients who suffering physical disability also can receive the professorial guiding and cheirapsis even excellent trainers are very busy and insufficient. The key point of this article is data acquisition and reconstruction of the movement...
In this paper, we focus on the problem of group detection in crowd, which is a task of partitioning a set of pedestrians in a scene into small subsets called groups based on their trajectories. Most of previous methods use only a single model for representing a relationship between trajectories of pedestrians who belong to the same group. However, such relationship would vary depending on the activity...
After shooting action, basketball's movementtrajectory directly affects the shooting rate. In this paper, usingtheoretical basis of kinematic mechanics, analyzes the influenceof rotation of basketball on air resistance, and draws aconclusion that the influence of contra rotation on shooting ratediffers from that of forward-rotation. In the end, The papersuggestions that the strength of shooting should...
In gait training for walking rehabilitation, it is essential to maintain a good balance during walking (i.e., both legs equally loaded). Therefore, scales are frequently used in order to feed back the load of the lower limbs to the trainee. However, in this situation, the trainee has to look down to check whether the scale and the trainee's walking posture is affected in an undesirable manner. In...
Described herein is a general-purpose software engineering architecture for autonomous, computer controlled opponent implementation in modern maneuver warfare simulation and training. The implementation has been developed, refined, and tested in the user crucible for several years. The approach represents a hybrid application of various well-known AI techniques, including domain modeling, agent modeling,...
This advanced tutorial introduces the engineering principles of combat modeling and distributed simulation. It starts with the historical context and introduces terms and definitions as well as guidelines of interest in this domain. The combat modeling section introduces the main concepts for modeling of the environment, movement, effects, sensing, communications, and decision making. The distributed...
This paper proposes a self-learner mobile robot to navigate among social environment under social force framework. It addresses a drawback of the Social Force Navigation Model (SFNM) based approaches which used a set of fixed-SFNM parameters that is not always in accordance with various conditions. Those fixed parameters are usually assumed as the most optimal generated parameters by optimizing a...
Increasing the transparency of robotic systems used for gait rehabilitation can improve training of various daily activities such as walking or balancing. However, until today, there has been very little effort invested in a systematic analysis of occurring unwanted interaction forces between the patient and the robot. In this paper, we have developed such a setup for systematic analysis and quantification...
The purpose of this paper is to discuss the implications and application of anti-access and area-denial (A2/AD) strategies to cyber warfare and the approaches needed to defend against such strategies. Traditional A2/AD strategies are used to deny or restrict a military opponent’s access to strategic battle areas. By employing similar methodology to cyber warfare, adversaries can seize control of cyber-dependent...
The final goal of our research is to develop a rehabilitation support robot for self-standing-up training of hemiplegic stroke patients to restore normal standing-up motion. To improve the motor function of the patient's paralyzed leg, a guided standing-up training is effective. The therapist controls the patient's left/right load balance by pulling or pushing the patient's waist during standing-up...
We have developed a new rehabilitation support system, UR-System 2, for restoring the motor function of a plegic upper limb after a stroke. Its design is based on knowledge gained during clinical testing of the UR-System. The UR-System 2 was equipped with the facilitating function of elbow extension based on the proprioceptive neuromuscular facilitation technique and the measurement function for evaluating...
This paper proposes position and force sensors of the haptic interface for training simulation of radial artery puncture. The position sensor with two optocouplers and one code stick is designed to measure translational movement of the guidewire. The position sensor can measure linear motion with speed up to 160mm/s with 1mm error. The resolution of the designed position sensor is 0.195mm. A leverage...
A motion simulator is an effective tool for training a driver in a safe environment by mimicking motion similar to the real world. To give a realistic feeling of driving and avoid motion sickness, an accurate motion cueing algorithm is required to restrict the platform within the allowed workspace range while regenerating an appropriate motion feeling for the simulator driver. Recently, employing...
A simple and robust fuzzy logic controller with a forbidden region virtual fixture is proposed for a haptic guidance system developed to assist in simulation-based training of laparoscopic surgery. A surgical training system that involves human in the control loop is discussed. It uses a controller which adjusts control outputs for different trainees based on their skill level. The system involves...
This paper introduces a new Learning from Demonstration (LfD)-based method that makes usage of robot effector forces and torques recorded during expert demonstrations, to generate force-based haptic guidance reference trajectories on-line, that are intended to be used during haptic shared control for additional operator ‘guidance’. Derived haptic guidance trajectories are superimposed to master-device...
Over the last decades, visual representations of data has been a commonly used medium to bolster human cognition in performance evaluation of professional athletes. However, the current approaches to these visualizations still build upon the paper based principles of initial designs with solid backgrounds. Due to this situation, same visualizations usually fail to provide explicit information about...
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