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Binocular stereo vision motion platform with 3-DOF is designed by UG soft in this paper, the structure and control system of the platform is simulated by using ADAMS and MATLAB in order to verify the rationality and kinematical accuracy.
In the CABG surgery the robot dynamically cancels the relative motion between the point of interest (POI) on the beating heart and robotic instruments, such that the surgeon can operate as if the heart is stationary. Due to high bandwidth of the POI motion, the quick and precise tracking ability of the robot system is necessary. Different from other heart motion tracking system with only position...
This paper presents the preliminary performance evaluation of our new wireless ultra-miniaturized inertial measurement unit (IMU) WB-4 by compared with the Vicon motion capture system. The WB-4 IMU primarily contains a mother board for motion sensing, a Bluetooth module for wireless data transmission with PC, and a Li-Polymer battery for power supply. The mother board is provided with a microcontroller...
The past decades have witnessed the notable development of minimally invasive surgery (MIS). The benefits of this modality of surgery for patients are numerous, shortening convalescence, reducing trauma and surgery costs. In this context, robotic assistance aims to make the surgical act more intuitive and safer. In the domain of cardiac MIS, heartbeat and respiration represent two important sources...
With Centers for Disease Control and Prevention prevalence estimates for children with autism spectrum disorder (ASD) at 9.1 per 1,000 (1 in 110), identification and effective treatment of ASD is often characterized as a public health emergency. Emerging technology, especially robotic technology, has been shown to be appealing to these children and such interest can be harnessed to address the limitations...
In this paper, a new position domain PD control is proposed focusing on improving contour tracking performance of robotic systems. First, a robotic system is treated as a master-slave system where the master motion is used as an independent reference through equidistantly sampling, while the slave motion is described as a function of the master motion according to contour trajectory requirements....
A novel system has been developed which combines robotic therapy with electrical stimulation (ES) for upper limb stroke rehabilitation. This technology, termed SAIL: Stimulation Assistance through Iterative Learning, employs advanced model-based iterative learning control (ILC) algorithms to precisely assist participant's completion of 3D tracking tasks with their impaired arm. Data is reported from...
Shortage of non-renewable fuel in the future is an upcoming global issue; therefore renewable energy such as solar energy has gradually replaced non-renewable energy. However, the output power provided via the photovoltaic conversion process depends on solar irradiation. The objective of this project is to design and develop an automatic Solar Tracker Robot (STR) which is capable to track maximum...
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...
Upper limb paresis after stroke greatly affects the performance of Activities of Daily Living (ADL). Unfortunately, rehabilitation for upper limb impairment can have poor results. The current robot-assisted devices are expensive and not readily accessible for homecare. This paper presents the development of a low-cost tabletop robotic device for upper limb rehabilitation. Conceptually, patients perform...
This paper is the first report of robotic ICSI (intracytoplasmic sperm injection). ICSI is a clinical procedure performed worldwide in fertility clinics, requiring pick-up of a single sperm and insert it into oocyte (i.e., an egg cell). Since its invention 20 years ago, ICSI has been conducted manually by a handful of highly skilled embryologists; however, success rates vary significantly among clinics...
A new class of fluoroscopy, using a robotic mobile platform, is being developed. The Tracking Fluoroscope System (TFS) is intended to be an orthopedic diagnostic tool that provides more accurate and detailed in vivo pre-operative and post-operative information for surgeons. This is accomplished through the ability to fluoroscope natural and uninterrupted human joint motion during level walking, step...
Man-made environments are abundant with planar surfaces which have attractive properties for robotics manipulation tasks and are a prerequisite for a variety of vision tasks. This work presents automatic on-line 3D object model acquisition assuming a robot to manipulate the object. Objects are represented with piecewise planar surfaces in a spatio-temporal graph. Planes once detected as homographies...
Visual tracking of an object can provide a powerful source of feedback information during complex robotic manipulation operations, especially those in which there may be uncertainty about which new object pose may result from a planned manipulative action. At the same time, robotic manipulation can provide a challenging environment for visual tracking, with occlusions of the object by other objects...
Communication for physically challenged people is indispensable for their day to day activities. This paper presents the hardware design of smart sensors for brain machine interface which is used for acquiring the bio potential signals from three different sensors such as EEG, Eyeball and the Eye blink signals. The design was analyzed and validated using Lab View. Bio-signals from the forehead, scalp...
This paper addresses a human skill quantification technique with human command decision characteristics in human-machine systems. In machine operation systems, getting operation skills is not easy and required learning time. Proposed technique aims at realizing assist system to human skill achievement. However, in previous works, the operator skill is evaluated by tracking error for tracking tasks...
Facial nerve regeneration after transection with immediate neurorrhaphy frequently leads to poor functional recovery in both humans and animal models, and recent advancements in surgical and pharmacologic interventions have had little impact. In contrast, daily passive assistance of whisking movement during the recovery period after facial nerve cut/repair has been shown to dramatically improve facial...
The variation of intrapericardial pressure due to the respiration and cardiac cycles greatly affects the locomotion efficiency of HeartLander, a minimally invasive surgical robot which adheres to and moves over the surface of the heart. This paper presents work which would allow HeartLander to improve motion efficiency by synchronizing its movement with the physiological cycles using a magnetic tracker...
Training home robots to behave like human can help people with their daily chores and repetitive tasks. In this paper, we present Imirok, a system to remotely control robotic arms by user motion using low-cost, off-the-shelf mobile devices and webcam. The motion tracking algorithm detects user motion in real time, without classifier training or predefined action sets. Experimental results show that...
The International Standards Working Group was chartered amongst NASA and a variety of global space interest organizations to investigate the existence, need, and proper introduction of technology standards as an architecture was being developed for a series of lunar missions. The ISWG attacked the request by identifying the various interfaces associated with the proposed architectural assets (92 in...
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