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The shortage of physicians afflicting developed countries encourages engineers and doctors to collaborate towards the development of telemedicine. In particular, robotic systems have the potential for helping doctors making examination. A very common examination that can be the goal of a robotic system is palpation. Most of the robotics systems that have been developed for palpation present interesting...
One of the research areas within affective Computer Mediated Communication currently under investigation is that of mediated social touch. A social touch is a complex composition of different physical parameters that can be simulated by haptic technologies. In this article we argue why we think it makes sense to incorporate warmth — and in particular simulations of one's body heat — in mediated communication...
The design of a stable and robust force controller is one of the most important and difficult tasks in rehabilitation robotics. In previous works, the Universal Haptic Pantograph (UHP) was presented as an alternative to conventional arm rehabilitation after a stroke. This robot is composed by a Series Elastic Actuator (SEA) and a Pantograph. In this work an enhanced force control for the UHP is presented...
The coordination of the upper limbs has been shown to be beneficial for post-stroke treatment. In virtual reality based rehabilitation, bimanual exercises can be performed by exploiting haptic rendering techniques that allow object manipulation with two haptic devices. Haptic interaction generally involves spherical end-effectors with invariant shapes. Furthermore, the position of the end-effectors...
Haptic force fields are widely used in studies on motor adaptation, motor retention, and motor recovery in both healthy and impaired subjects. In the main paradigm the hand is guided or perturbed along specific paths or channels in order to investigate different aspects underlying the human motor control. Programming such fields for complex haptic environments can be very challenging and is often...
We advocate online modification of robot-assisted task speed, based on continuously inferred motor imagery as an effective rehabilitation protocol for increasing the involvement levels of the patients in physical rehabilitation exercises. To study efficacy of such Brain-Computer Interface (BCI) based physical rehabilitation protocols, we conduct human subject experiments on healthy volunteers, comparing...
This paper considers the design and control of a Remotely Operated Aerial System Remotely Operated (ROAS) with force feedback to pilot in order to increase the perception level. The force experienced by the pilot through a Human Machine Interface (HMI) considers and it is proportional to the translational speed and proximity to objects located in the environment where the UAV evolves. In order to...
This paper investigates the effect of maximum indentation force and depth on people's ability to accurately discriminate compliance using indirect visual information only. Participants took part in two psychophysical experiments in which they were asked to choose the ‘softest’ sample out of a series of presented sample pairs. In the experiments, participants observed a computer-actuated tip indent...
Field robots - robots used in unstructured and dynamic environments - and teleoperation have shifted into the focus of a variety of industrial branches in the past few years. The lack of space in the atomic industry, on oil platforms and in space applications demands additional adaptations to current robotic setups. In this paper a MMSS (Multi-Master-Single-Slave) haptic teleoperation system is proposed...
Robotic systems, such as prosthetics and exoskeletons, offer people suffering from motor impairments a chance to regain lost physical functionality. However, the neural control that individuals are able to exert over these robots is currently limited. This is due to both lack of control authority in many degrees of freedom and insufficient sensory feedback through the human-robot interface. We propose...
The objective of this study is to propose the master-slave tendon-driven haptic robot hand system using Twist Drive. Twist Drive is one of transmission systems which is consisted of a pair of strings and rotary motor. This transmission system converts torque into a high pulling force by using a pair of strings twisted on each other. In this paper, Twist Drive system is verified at first. Next, Twist...
This paper presents an interaction system for haptic based remote palpation and in general remote examination. In particular the proposed approach combines 3D representation of the remote environment with encountered haptic feedback aiming at high transparency and natureleness of interaction. The paradigm is described as interaction design and system implementation.
Recently, lowering the costs of remotely operated vehicles (ROVs) and their operation has become a top priority. It causes the development of IT-based underwater robotics technologies, which have not been welcomed by the conservative market thus far. This paper proposes new concepts for a light, work-class ROV called the Smart ROV, intended for underwater construction work. The goals are to decrease...
In this work we show that haptic feedback in upper limb motor therapy improves performance and generates a lower mental workload. To demonstrate this, two groups of participants (healthy adults and elders with hand motor problems) used a low-cost haptic device (Novint Falcon) and a non-robotic device (Leap Motion Controller). Participants conducted the same rehabilitation task by using a non-immersive...
Stroke has now become the leading cause of severe disability. Rehabilitation robots are gradually becoming popular for stroke rehabilitation to improve motor recovery, as robotic technology can assist, enhance, and further quantify rehabilitation training for stroke patients. However, most of the available rehabilitation robots are complex and involve multiple degrees-of-freedom (DOFs) causing it...
In recent years, emergence of telerehabilitation systems for home-based therapy has altered healthcare systems. Telerehabilitation enables therapists to observe patients status via Internet, thus a patient does not have to visit rehabilitation facilities for every rehabilitation session. Despite the fact that telerehabilitation provides great opportunities, there are two major issues that affect effectiveness...
Robotic platforms developed to assist conventional motor therapy and to investigate human motor control have received an increasing interest over the past decades. However, for most of the proposed solutions, bulkiness and expensiveness have limited the use of such devices to specialized clinics that can afford their cost. This paper presents the H-Man, a two degree-of-freedom planar device designed...
This paper introduces a robotic approach for colonoscopy. 4 DOF haptic master device and slave device were designed by analyzing the movement of surgeon. The force or torque felt during insertion of the endoscope tube is feedback to the master device for providing the operator with haptic feeling and preventing damage of the inner surface of the large intestine.
In the present work I would like to provide some examples of previous researches conducted in the field of Rehabilitation and Assistive Robotics. These two branches of the classical robotics have in common not only the technology but also the multidisciplinary aspect which ranges from neurosciences and biomechanics to actuation design and haptics. The use of customized high performance haptic displays...
Augmented Broadcasting (AB) service intends to provide personalized broadcasting service over a TV program. Each user may watch different augmented content (AC) overlaid on the same TV program. The restricted capability of the existing user interface technology limits handling of AC presented on the TV screen. This paper introduces prototypes of user interface (UI) devices for AB services. We realized...
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