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This paper presents the design of a tweezers-type device for a multi-fingered haptic interface robot called HIRO, and summarizes the experimental result. HIRO consists of a robot arm and a five-fingered hand, and is able to handle the tool with fingers. A variety of tools can be attached to HIRO, and the system is therefore able to present the force sensation of many tool-type devices. For example,...
A study of a communication robot that aims to ease stress and to heal is very important. This paper develops a dialogue robot with haptic interactions, and two experiments are carried out to estimate the effects of dialogue and haptic interactions. From experimental results, the haptic interactions have more effective than dialogue in the interest conversation and in the robustness.
Use of haptic robots in neurorehabilitation is gaining interest in the scientific community. One of the most favorable features of such systems is the possibility to integrate biomimetic features in the control. The control requires an action representation which is not available directly. We developed a method for arm movement action representation which considers expert movements as a stochastic...
In this paper, we investigate the maneuverability performance of human teleoperators on multi-robots. First, we propose that maneuverability performance can be assessed by a frequency response function that jointly considers the input force of the operator and the position errors of the multi-robot system that is being maneuvered. Doing so allows us to evaluate maneuverability performance in terms...
In this paper, a nonlinear signal-processing scheme is developed for robotic systems that exploits a joint state-parameter formulation for simultaneous recursive estimation of the states (e.g. joint angles and rates) and uncertain parameters (e.g. inertial and friction parameters), out of noisy measurements (e.g. joint angles). Unscented Kalman filtering was employed to overcome restrictions such...
We present a decentralized system for the bilateral teleoperation of groups of UAVs which only relies on relative bearing measurements, i.e., without the need of distance information or global localization. The properties of a 3D bearing-formation are analyzed, and a minimal set of bearings needed for its definition is provided. We also design a novel decentralized formation control almost globally...
This paper outlines the development of a real-time interactive application for the analysis, training and programming of on-orbit servicing tasks within a virtual reality environment. The main challenges put on the system are the real-time simulation of the realistic dynamic and kinematic behavior of satellite components and additionally integrate interaction through a bimanual haptic interface, as...
Let us consider the control problem of bilateral teleoperation over the Internet. One of its important, yet, often overlooked, aspects is its hybrid nature, that is, the (nonlinear) master and slave robots are continuous-time systems with sampled-data controls, while the Internet between them is a discrete-time packet-switching communication channel with the communication unreliability (e.g., varying-delay,...
In this paper, we propose model-based control design strategy for the trajectory tracking of the internet-based bilateral telehaptic systems. The communication time delay between local-master and remote-slave platform is assumed to be symmetrical and unsymmetrical nature. The design comprises delayed position signals with the local velocity signals and the known structure of the master and slave system...
Nowadays, “user-cooperative” control strategies are commonly used in robot-assisted motor (re-)learning. User-cooperative strategies enable compliant haptic interactions between robot and user: the robot only intervenes as needed, instead of forcing the user to follow a fixed predefined movement. However, the effectiveness of user-cooperative control is controversially discussed. Recent studies indicate...
Early recovery after stroke is significant for slow emergence of volitional movement. Initial movements are constrained by stereotypical co-activation of muscle groups such as shoulder abductors and distal limb flexors resulting in the loss of independent joint control. The objective of this study was to utilize new quantitative methods to evaluate the emergence and progression of the loss of independent...
The goal of this study is to better understand how the central nervous system switches between alternative stabilization strategies when presented with an unstable task. A haptic, bimanual manipulandum has been used to emulate an unstable task, which requires subjects to stabilize a virtual mass under the action of a saddle force field with two nonlinear springs, whose stiffness increases with the...
In this paper, we discuss the design of an adaptive control system for robot-assisted surgery with haptic feedback. Through a haptic device, the surgeon teleoperates the medical instrument in free space, fixed on a remote robot or in contact. In free space, the surgeon feels the motion of the robot. In the present paper, we evaluated the performance of the controller on viscoelastic tissue, modeled...
Traditional craftsmanship should be handed on to the next generation. Introduction of mechatronics technologies has potential abilities for recording and replaying such craftsmanship. Up to now, there have been some trials to conserve the traditional craftsmanship. However, most of these trials have been aimed for only conservation. In this paper, the way of using brush in calligraphy is focused on...
We present the analysis of the planar manipulandum effects to the trajectory of point to point movements in horizontal plane. This analysis is of significance for the control of a haptic robot that can be used for the rehabilitation of hemiplegic patients. The effects were assessed by comparing data collected in experiments with healthy subjects when performing simple movements that are used in the...
The goal of robotic therapy is to provoke motor plasticity via the application of robotic training strategies. Although robotic haptic guidance is the commonly used motor-training strategy to reduce performance errors while training, research on motor learning has emphasized that errors are a fundamental neural signal that drives motor adaptation. Thus, researchers have proposed robotic therapy algorithms...
This paper presents interaction between a user and a robot to guide motion through motion planning algorithm. The interaction aims at improving the guidance of an operator during a robot motion task in a virtual environment with the help of an automatic path planning algorithm. Existing works use a two-step decomposition which limits the interaction between the user and the ongoing process. We propose...
This study utilized a novel robotic device, the ACT-4D, to investigate the relationship between the flexion synergy and stretch reflexes in individuals with chronic hemiparetic stroke. Because the flexion synergy influences the amount of elbow flexor muscle activation present in the paretic limb during tasks requiring shoulder abduction loading, it was hypothesized that stretch reflexes may be modulated...
Nine children with cerebral palsy and nine adults with stroke were trained using 5 different upper extremity simulations using the NJIT-RAVR system for approximately nine to twelve hours over a three week period. Both groups made improvements in clinical measurements of upper extremity function and reaching kinematics. Patterns and magnitudes of improvement differ between the two groups. Responses...
Variability in human motor control has been a long observed phenomenon, which has come to be known by some as repetition without repetition. There are several explanations for this. One such explanation asserts that many equally optimal solutions exist for accomplishing the same task that naturally allows choices in how it can be successfully executed. The aim of this study was to determine whether...
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