Academic literature on the topic 'Passive robotic devices'
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Journal articles on the topic "Passive robotic devices"
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Nandor, Mark J., Maryellen Heebner, Roger Quinn, Ronald J. Triolo, and Nathaniel S. Makowski. "Transmission Comparison for Cooperative Robotic Applications." Actuators 10, no. 9 (August 25, 2021): 203. http://dx.doi.org/10.3390/act10090203.
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The development of powered assistive devices that integrate exoskeletal motors and muscle activation for gait restoration benefits from actuators with low backdrive torque. Such an approach enables motors to assist as needed while maximizing the joint torque muscles, contributing to movement, and facilitating ballistic motions instead of overcoming passive dynamics. Two electromechanical actuators were developed to determine the effect of two candidate transmission implementations for an exoskeletal joint. To differentiate the transmission effects, the devices utilized the same motor and similar gearing. One actuator included a commercially available harmonic drive transmission while the other incorporated a custom designed two-stage planetary transmission. Passive resistance and mechanical efficiency were determined based on isometric torque and passive resistance. The planetary-based actuator outperformed the harmonic-based actuator in all tests and would be more suitable for hybrid exoskeletons.
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Israel, Jeffrey F., Donielle D. Campbell, Jennifer H. Kahn, and T. George Hornby. "Metabolic Costs and Muscle Activity Patterns During Robotic- and Therapist-Assisted Treadmill Walking in Individuals With Incomplete Spinal Cord Injury." Physical Therapy 86, no. 11 (November 1, 2006): 1466–78. http://dx.doi.org/10.2522/ptj.20050266.
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AbstractBackground and Purpose. Robotic devices that provide passive guidance and stabilization of the legs and trunk during treadmill stepping may increase the delivery of locomotor training to subjects with neurological injury. Lower-extremity guidance also may reduce voluntary muscle activity as compared with compliant assistance provided by therapists. The purpose of this study was to investigate differences in metabolic costs and lower-limb muscle activity patterns during robotic- and therapist-assisted treadmill walking. Subjects. Twelve ambulatory subjects with motor incomplete spinal cord injury participated. Methods. In 2 separate protocols, metabolic and electromyographic (EMG) data were collected during standing and stepping on a treadmill with therapist and robotic assistance. During robotic-assisted walking, subjects were asked to match the kinematic trajectories of the device and maximize their effort. During therapist-assisted walking, subjects walked on the treadmill with manual assistance provided as necessary. Results. Metabolic costs and swing-phase hip flexor EMG activity were significantly lower when subjects were asked to match the robotic device trajectories than with therapist-assisted walking. These differences were reduced when subjects were asked to maximize their effort during robotic-assisted stepping, although swing-phase plantar-flexor EMG activity was increased. In addition, during standing prior to therapist- or robotic-assisted stepping, metabolic costs were higher without stabilization from the robotic device. Discussion and Conclusion. Differences in metabolic costs and muscle activity patterns between therapist- and robotic-assisted standing and stepping illustrate the importance of minimizing passive guidance and stabilization provided during step training protocols.
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Malvezzi, Monica, Zubair Iqbal, Maria Cristina Valigi, Maria Pozzi, Domenico Prattichizzo, and Gionata Salvietti. "Design of Multiple Wearable Robotic Extra Fingers for Human Hand Augmentation." Robotics 8, no. 4 (December 11, 2019): 102. http://dx.doi.org/10.3390/robotics8040102.
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Augmenting the human hand with robotic extra fingers is a cutting-edge research topic and has many potential applications, in particular as a compensatory and rehabilitation tool for patients with upper limb impairments. Devices composed of two extra fingers are preferred with respect to single finger devices when reliable grasps, resistance to external disturbances, and higher payloads are required. Underactuation and compliance are design choices that can reduce the device complexity and weight, maintaining the adaptability to different grasped objects. When only one motor is adopted to actuate multiple fingers, a differential mechanism is necessary to decouple finger movements and distribute forces. In this paper, the main features of a wearable device composed of two robotic extra fingers are described and analyzed in terms of kinematics, statics, and mechanical resistance. Each finger is composed of modular phalanges and is actuated with a single tendon. Interphalangeal joints include a passive elastic element that allows restoring the initial reference configuration when the tendon is released. The stiffness of each passive element can be customized in the manufacturing process and can be chosen according to a desired closure movement of the fingers. Another key aspect of the device is the differential system connecting the actuator to the fingers.
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Oron-Gilad, Tal, Elizabeth S. Redden, and Yaniv Minkov. "Robotic Displays for Dismounted Warfighters." Journal of Cognitive Engineering and Decision Making 5, no. 1 (March 2011): 29–54. http://dx.doi.org/10.1177/1555343411399076.
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This study investigated the scalability of unmanned vehicle displays for dismounted warfighters. Task performance, workload, and preferences for three display devices were examined in two operational settings: teleoperation of an unmanned ground vehicle (UGV) and intelligence gathering from a remote unmanned vehicle. Previous research has demonstrated variability in operational needs with regard to active teleoperation versus passive intelligence gathering. Thus, it was important to identify whether there was actually a dichotomy between the two in terms of screen space requirements and whether this difference stems from task differences or other factors. Thirty-one soldiers participated in a field study at Fort Benning, Georgia. They were required to perform teleoperation and intelligence-gathering tasks. Results reconfirmed the hypothesis that display type influences performance in intelligence-related tasks that require the use of video feed and digital map. No significant differences among display types were found in the UGV teleoperation task. Dismounted warfighters can adequately perform both active and passive duties with a handheld device on which the video window is as small as 4.3 inches in diameter. However, monocular helmet-mounted displays for robotic displays can be problematic and should be carefully assessed before use in dismounted warfighters’ missions.
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Righi, Marco, Massimo Magrini, Cristina Dolciotti, and Davide Moroni. "A Case Study of Upper Limb Robotic-Assisted Therapy Using the Track-Hold Device." Sensors 22, no. 3 (January 28, 2022): 1009. http://dx.doi.org/10.3390/s22031009.
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The Track-Hold System (THS) project, developed in a healthcare facility and therefore in a controlled and protected healthcare environment, contributes to the more general and broad context of Robotic-Assisted Therapy (RAT). RAT represents an advanced and innovative rehabilitation method, both motor and cognitive, and uses active, passive, and facilitating robotic devices. RAT devices can be equipped with sensors to detect and track voluntary and involuntary movements. They can work in synergy with multimedia protocols developed ad hoc to achieve the highest possible level of functional re-education. The THS is based on a passive robotic arm capable of recording and facilitating the movements of the upper limbs. An operational interface completes the device for its use in the clinical setting. In the form of a case study, the researchers conducted the experimentation in the former Tabarracci hospital (Viareggio, Italy). The case study develops a motor and cognitive rehabilitation protocol. The chosen subjects suffered from post-stroke outcomes affecting the right upper limb, including strength deficits, tremors, incoordination, and motor apraxia. During the first stage of the enrolment, the researchers worked with seven patients. The researchers completed the pilot with four patients because three of them got a stroke recurrence. The collaboration with four patients permitted the generation of an enlarged case report to collect preliminary data. The preliminary clinical results of the Track-Hold System Project demonstrated good compliance by patients with robotic-assisted rehabilitation; in particular, patients underwent a gradual path of functional recovery of the upper limb using the implemented interface.
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Brown, W. Robert, and A. Galip Ulsoy. "Robust design of Passive Assist Devices for multi-DOF robotic manipulator arms." Robotica 35, no. 11 (February 10, 2017): 2238–55. http://dx.doi.org/10.1017/s0263574716000850.
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SUMMARYA comparison of series, parallel, and dual Passive Assist Devices(PADs) designed using energy minimization based on a known maneuver is presented. Implementation of a PAD can result in an improvement in system performance with respect to efficiency, reliability, and/or utility. We introduce a new initial design using a weighted force displacement curve fit. A robust design approach for a family of maneuvers is developed and presented. Applications to a 3-link manipulator arm show that PADs could reduce energy consumption between 60% and 80%.
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Imamura, Yumeko, Ko Ayusawa, Eiichi Yoshida, and Takayuki Tanaka. "Evaluation Framework for Passive Assistive Device Based on Humanoid Experiments." International Journal of Humanoid Robotics 15, no. 03 (June 2018): 1750026. http://dx.doi.org/10.1142/s0219843617500268.
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This study presents an enhanced framework for evaluating an assistive effect generated by a passive assistive device using a humanoid robot. The humanoid robotic experiments can evaluate wearable devices by measuring the joint torque, which cannot be measured directly from the human body. In this paper, we introduce an “assistive torque estimation map” as an efficient means for estimating the supportive torque within the range of motions by interpolating the measured joint torques and joint angles of the robot. This map aims to estimate the supportive torques for complex motions without conducting humanoid experiments or human-subject experiments with these motions. We generated an estimation map for an actual assistive suit that decreases the load on the lumbar region and we verified the validity of the proposed method by experimentation. In addition, the geometric simulation model of the assistive suit was validated based on the proposed experiments by using the humanoid robot HRP-4. The proposed framework is expected to lead to an efficient design of such assistive devices so that fewer human-subject experiments need to be conducted.
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Bakšys, Bronius, and Nomeda Puodziuniene. "Robotic Assembly Using Vibrations." Solid State Phenomena 113 (June 2006): 301–6. http://dx.doi.org/10.4028/www.scientific.net/ssp.113.301.
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On the basis of the dynamic model of vibratory alignment the main features of the vibrational assembly process are investigated. The regularities of non−impact alignment, when an immovable part is excited in two perpendicular directions, are defined. It is revealed that during the vibrational alignment the movable part can move from static till dynamic equilibrium position. The distance between these two positions defines allowable error of mutual positioning of the parts subject to the assembly, when the unhindered parts insertion is still possible. On the basis of the dynamic model of vibratory displacement the regularities of a body displacement under controlled dry friction force at a particular time interval is examined. If elastic vibrations are excited, dry friction coefficient decreases and smaller friction force acts against the body displacement. Stoppage of these vibrations causes a steep increase of friction coefficient. When the body moves from static to dynamic equilibrium position on the inclined plane the vibratory displacement is governed by the transient regimes of motion. Assembly robots equipped with passive compliance vibratory end-effectors allow one to compensate considerably bigger deviations in part’s interposition without using sensors and feedback systems. Therefore usage of vibratory devices with passive compliance allows one to significantly reduce the expenses of robotic assembly.
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Ahmed, Tanvir, Md Assad-Uz-Zaman, Md Islam, Drew Gottheardt, Erin McGonigle, Brahim Brahmi, and Mohammad Rahman. "Flexohand: A Hybrid Exoskeleton-Based Novel Hand Rehabilitation Device." Micromachines 12, no. 11 (October 20, 2021): 1274. http://dx.doi.org/10.3390/mi12111274.
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Home-based hand rehabilitation has excellent potential as it may reduce patient dropouts due to travel, transportation, and insurance constraints. Being able to perform exercises precisely, accurately, and in a repetitive manner, robot-aided portable devices have gained much traction these days in hand rehabilitation. However, existing devices fall short in allowing some key natural movements, which are crucial to achieving full potential motion in performing activities of daily living. Firstly, existing exoskeleton type devices often restrict or suffer from uncontrolled wrist and forearm movement during finger exercises due to their setup of actuation and transmission mechanism. Secondly, they restrict passive metacarpophalangeal (MCP) abduction–adduction during MCP flexion–extension motion. Lastly, though a few of them can provide isolated finger ROM, none of them can offer isolated joint motion as per therapeutic need. All these natural movements are crucial for effective robot-aided finger rehabilitation. To bridge these gaps, in this research, a novel lightweight robotic device, namely “Flexohand”, has been developed for hand rehabilitation. A novel compliant mechanism has been developed and included in Flexohand to compensate for the passive movement of MCP abduction–adduction. The isolated and composite digit joint flexion–extension has been achieved by integrating a combination of sliding locks for IP joints and a wire locking system for finger MCP joints. Besides, the intuitive design of Flexohand inherently allows wrist joint movement during hand digit exercises. Experiments of passive exercises involving isolated joint motion, composite joint motions of individual fingers, and isolated joint motion of multiple fingers have been conducted to validate the functionality of the developed device. The experimental results show that Flexohand addresses the limitations of existing robot-aided hand rehabilitation devices.
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Barrera Sánchez, Agustín, Andrés Blanco Ortega, Eladio Martínez Rayón, Fabio Abel Gómez Becerra, Arturo Abúndez Pliego, Rafael Campos Amezcua, and César Humberto Guzmán Valdivia. "State of the Art Review of Active and Passive Knee Orthoses." Machines 10, no. 10 (September 27, 2022): 865. http://dx.doi.org/10.3390/machines10100865.
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The use of specialized devices, such as orthopedic devices, has become indispensable in the lives of people with disabilities since ancient times. The primary purpose of such devices is to perform activities and solve problems that afflict their bearers in any extremity of their body. One of the most recurrent problems occurs in the lower extremities regarding mobility and autonomy. In addition, the use of orthopedic devices is considered a tool to lighten the repetitive and heavy rehabilitation work of physiotherapists while improving the patient’s recovery efficiency. A significant challenge is that a great variety of these devices are similar in their design and manufacture, complicating their application in rehabilitation processes. For these reasons, this article aims to provide an overview of the features and considerations made in the architecture of orthosis designs, emphasizing lower extremity orthoses for the case of knee joint analysis. A literature review of active and passive knee orthoses manufactured from the 1970s to the present was carried out, considering aspects such as manufacturing materials, mechanical systems, types of actuators, and control strategies. This review shows that the designs and development of orthoses have been abundant in these devices for lower limbs. Based on the literature collected, we have studied the main robotic devices focusing on the characteristics of design, manufacturing, and control systems to assist in human locomotion and support in rehabilitation processes.
Dissertations / Theses on the topic "Passive robotic devices"
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Yilmaz, Serter. "Passive Haptic Robotic Arm Design." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612491/index.pdf.
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The implant surgery replaces missing tooth to regain functionality and look of the normal tooth after dental operation. Improper placement of implant increases recuperation periods and reduces functionality. The aim of this thesis is to design a passive haptic robotic arm to guide dentist during the implant surgery.
In this thesis, the optimum design of the 6R passive haptic robotic arm is achieved. The methodology used in optimization problem involves minimization of end-effector side parasitic forces/torques while maximizing transparency of the haptic device. The transparency of haptic device is defined as realism of forces generated by device in real world compared to forces in virtual world. The multivariable objective function including dynamic equations of 6R robotic arm is derived and the constraints are determined using kinematic equations. The optimization problem is solved using SQP and GA. The link lengths and other relevant parameters along with the location of tool path are optimized. The end-effector parasitic torques/forces are significantly minimized. The results of two optimization techniques have proven to be nearly the same, thus a global optimum solution has been found in the search space. Main contribution of this study is to take spatial nonlinear dynamics into consideration to reduce parasitic torques.
Also, a mechanical brake is designed as a passive actuator. The mechanical brake includes a cone based braking system actuated by DC motor. Three different prototypes are manufactured to test performance of the mechanical brake. The final design indicates that the mechanical brake can be used as passive actuators.
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Black, Benjamin Andrew. "Controlling a Passive Haptic Master During Bilateral Teleoperation." Diss., Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/19716.
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Haptic devices allow a human to interact physically with a remote or virtual environment by providing tactile feedback to the user. In general haptic devices can be classified in two groups according to the energetic nature of their actuators. Devices using electric motors, pneumatic or hydraulic cylinders or other similar actuators that can add energy to the system are considered "active." Devices using brakes, clutches or other passive actuators are considered "passive" haptic devices. The research presented here focuses on the use of passive haptic devices used during teleoperation, the remote control of a "slave" device by the haptic "master" device. An actuation scheme as well as three different control methods is developed for providing the user with haptic feedback. As a final step, the effectiveness of the controllers is compared to that of a commercially available active haptic device. Twenty subjects provide data that shows the usefulness of the passive device in three typical teleoperation tasks.
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Birch, Benjamin John. "Development and testing of a hand rehabilitation device for continuous passive motion and active resistance." Thesis, 2010. http://hdl.handle.net/1828/3016.
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This thesis presents a novel table top hand rehabilitation device. The purpose for creating this device is to assist therapists in treatment of hand after injury. Injuries to the hand are common and can be very debilitating since our hands are our primary means for interacting with our world. The device is capable of independently mobilizing the metacarpophalangeal joint (MCP) and proximal interphalangeal joint (PIP) in the fingers of the hand, and recording their motion. The device is capable of moving either joint through a range of 0° to 90°, and can be used for either the left or right hand. In the Continuous Passive Motion (CPM) mode, the device moves the MCP and PIP joints through a trajectory that approximates healthy hand motion, known as the minimum jerk model. This is done using a Proportional Integral Differential (PID) controller, which compares the actual position of the device to the desired minimum jerk trajectory. The trajectory following of the minimum jerk model was found to be successful with a maximum error of only 1.46° in the MCP joint and 2.10° in the PIP joint across all trials with injured participants with an average error of 0.11° and 0.14° for the MCP and PIP joints respectively. The device also incorporated various user-friendly features such as user-defined maximum permitted torque, range of motion limits, speed control, and visual feedback. A survey of the participant’s perceived comfort, safety, smoothness and passivity produced positive results. The average responses of the injured hand participants to questions of perceived Comfort, safety and Smoothness were above 9 out of 10 for each question. The average increases in ROM for the active extension of the MCP joint and the PIP joint were 3.3° and 3.2° respectively. The average increases in ROM for the flexion of the MCP joint and the PIP joint were 8.9° and 7.2° respectively. This is a sign that the device has an effect on the participant even if this effect can not be shown to last beyond the one hour session. It will require further testing with a long term group of participants and a control group to determine if this is a lasting effect and if the device is ready for clinical use. The active resistance and haptic modes are both operational but require additional work to increase smoothness and stability before testing can begin.
Book chapters on the topic "Passive robotic devices"
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Martin, Jean-Paul, and Qingguo Li. "The Metabolic Cost of Walking with a Passive Lower Limb Assistive Device." In Wearable Sensors and Robots, 301–5. Singapore: Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2404-7_24.
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Lerner, A. Grey, Dan Stoianovici, Louis L. Whitcomb, and Louis R. Kavoussi. "A Passive Positioning and Supporting Device for Surgical Robots and Instrumentation." In Medical Image Computing and Computer-Assisted Intervention – MICCAI’99, 1052–61. Berlin, Heidelberg: Springer Berlin Heidelberg, 1999. http://dx.doi.org/10.1007/10704282_114.
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Prochazka, Arthur. "Technology to enhance arm and hand function." In Oxford Textbook of Neurorehabilitation, 374–84. Oxford University Press, 2015. http://dx.doi.org/10.1093/med/9780199673711.003.0031_update_001.
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About 2% of people have weak or paralysed upper limbs (ULs) due to stroke or spinal cord injury (SCI). Physiotherapy involving exercise can improve motor function in many such cases. This chapter reviews conventional and robotic exercise therapy, FES and passive exercise devices that enhance engagement in the UL rehabilitation with computer gaming, which can restore neuromuscular control and improve motivation by making exercise therapy enjoyable. Over the last 10 years many devices have been developed and tested. For example, neuroprostheses that activate hand muscles with functional electrical stimulation (FES). Exercise therapy performed with robotic devices has been one of the most active areas of research and development. It is suggested that important developments in the next few years will include the widespread availability and adoption of affordable FES and in-home exercise devices, and the provision of tele-coaching over the Internet.
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Prochazka, Arthur. "Technology to enhance arm and hand function." In Oxford Textbook of Neurorehabilitation, edited by Volker Dietz, Nick S. Ward, and Christopher Kennard, 445–60. Oxford University Press, 2020. http://dx.doi.org/10.1093/med/9780198824954.003.0033.
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About 2% of people have weak or paralysed upper limbs (ULs) due to stroke or spinal cord injury (SCI). Physiotherapy involving exercise can improve motor function in many such cases, but the time and resources required are often unavailable. Adherence to repeated intensive exercise tends to decline, especially after participants leave the clinical environment. There is a need for technology that can restore neuromuscular control and improve motivation by making exercise therapy enjoyable, and that extends the therapy into the home with the use of remote communication (e.g. ‘tele-coaching’). Over the last 20 years many devices have been developed and tested. Neuroprostheses (NPs) that activate UL muscles with functional electrical stimulation (FES) either via surface or implanted electrodes are now commercially available or in clinical trials. The use of robotic devices to enhance exercise therapy has been an active area of research and development. Recent studies indicate that improvements in motor function depend largely on the efforts made by the participant. This chapter reviews conventional exercise therapy, FES, and robotic and passive exercise devices that improve motor function and enhance engagement in UL rehabilitation. It is suggested that important developments in the next few years will include the widespread availability of affordable FES and in-home exercise devices, and the gradual adoption of tele-coaching over the internet.
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Scano, Alessandro, Andrea Chiavenna, Tito Dinon, Alessio Prini, Giulio Spagnuolo, Matteo Malosio, and Lorenzo Molinari Tosatti. "The “Arm” Line of Devices for Neurological Rehabilitation." In Handbook of Research on Biomimetics and Biomedical Robotics, 161–90. IGI Global, 2018. http://dx.doi.org/10.4018/978-1-5225-2993-4.ch007.
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In the modern scenario of neurological rehabilitation, which requires affordable solutions oriented toward promoting home training, the Institute of Industrial Technologies and Automation (ITIA) of the Italian National Research Council (CNR) developed a line of prototypal devices for the rehabilitation of the upper limb, called “Arm.” Arm devices were conceived to promote rehabilitation at affordable prices by capturing all the main features of the state-of-the-art devices. In fact, Arm devices focus on the main features requested by a robot therapist: mechanical adaptation to the patient, ranging from passive motion to high transparency, assist-as-needed and resistive modalities; proper use of sensors for performance monitoring; easy-to-use, modular, and adaptable design. These desirable features are combined with low-cost, additive manufacturing procedures, with the purpose of meeting the requirements coming from research on neuro-motor rehabilitation and motor control and coupling them with the recent breakthrough innovations in design and manufacturing.
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Scano, Alessandro, Andrea Chiavenna, Tito Dinon, Alessio Prini, Giulio Spagnuolo, Matteo Malosio, and Lorenzo Molinari Tosatti. "The “Arm” Line of Devices for Neurological Rehabilitation." In Additive Manufacturing, 394–423. IGI Global, 2020. http://dx.doi.org/10.4018/978-1-5225-9624-0.ch017.
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In the modern scenario of neurological rehabilitation, which requires affordable solutions oriented toward promoting home training, the Institute of Industrial Technologies and Automation (ITIA) of the Italian National Research Council (CNR) developed a line of prototypal devices for the rehabilitation of the upper limb, called “Arm.” Arm devices were conceived to promote rehabilitation at affordable prices by capturing all the main features of the state-of-the-art devices. In fact, Arm devices focus on the main features requested by a robot therapist: mechanical adaptation to the patient, ranging from passive motion to high transparency, assist-as-needed and resistive modalities; proper use of sensors for performance monitoring; easy-to-use, modular, and adaptable design. These desirable features are combined with low-cost, additive manufacturing procedures, with the purpose of meeting the requirements coming from research on neuro-motor rehabilitation and motor control and coupling them with the recent breakthrough innovations in design and manufacturing.
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Rodriguez, Alvaro, Angel Jose Rico-Diaz, Juan R. Rabuñal, and Marcos Gestal. "Fish Tracking with Computer Vision Techniques." In Advances in Computational Intelligence and Robotics, 74–104. IGI Global, 2017. http://dx.doi.org/10.4018/978-1-5225-0889-2.ch003.
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Vertical slot fishways are hydraulic structures which allow the upstream migration of fish through obstructions in rivers. Their design depends on the interplay between hydraulic and biological variables to match the requirements of the fish species for which they are intended. However, current mechanisms to study fish behavior in fishway models are impractical or unduly affect the animal behavior. In this chapter, we propose a new procedure for measuring fish behavior in fishways using Computer Vision (CV) techniques to analyze images obtained from the assays by means of a camera system designed for fishway integration. It is expected that this technique will provide detailed information about the fish behavior and will help to improve fish passage devices. A series of assays have been performed in order to validate this new approach in a full-scale fishway model and with living fishes. We have obtained very promising results that allow reconstructing correctly the movements of the fish within the fishway without disturbing fish.
Conference papers on the topic "Passive robotic devices"
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Ionescu, Florin, and Ilie Talpasanu. "Teleoperation Hybrid Robot for Cell Micro and Nano Manipulations." In ASME 2006 Frontiers in Biomedical Devices Conference. ASMEDC, 2006. http://dx.doi.org/10.1115/nanobio2006-18018.
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In this paper is presented a developed robotic system for cell micro/nano manipulation and penetration, based on the visual/haptic interface. The operator’s motion and manipulations skills are transferred to the robot control system by direct teleoperation. The robot’s regional structure has three translational joints and one passive rotational joint for the nanorobot adjustment. The three-d.o.f piezo actuated nano robot is a compact and stiff structure, to guarantee the three-dimensional nano motion and control for sample manipulation or injection. The closed kinematic structure with two fundamental loops has been chosen for the required working space, high speed, and precision. The digraph-matroid approach is used for the model’s kinematics, and the SDS software for the robot’s simulation.
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Brown, W. Robert, and A. Galip Ulsoy. "Robust Maneuver Based Design of Passive-Assist Devices for Augmenting Robotic Manipulator Joints." In ASME 2013 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/dscc2013-3819.
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A methodology for designing a parallel, passive-assist device to augment an active system using energy minimization based on a known maneuver is presented. Implementation of the passive-assist device can result in an improvement in system performance with respect to efficiency, reliability, and/or utility. In previous work we demonstrated this concept experimentally on a single link robot arm augmented with a torsional spring. Here we show that the concept can effectively be applied to more complicated machines performing known periodic motions by simulating a 3-link manipulator arm. The arm can be decoupled prior to optimization using inverse dynamics — greatly simplifying the optimization problem. The addition of optimized springs results in a system-wide decrease in energy consumption of 70.9%. Finally, we consider a distribution of possible maneuvers and use the concepts of robust design to find springs that increase the guaranteed energy savings at a 90% confidence level.
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Chandrasekaran, Karthik, Adarsh Somayaji, and Asokan Thondiyath. "Realization of a Statically Balanced Compliant Planar Remote Center of Motion Mechanism for Robotic Surgery." In 2018 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dmd2018-6911.
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Robot assisted minimally invasive surgery helps overcome some of the limitations like limited dexterity, fulcrum effect, and lack of 3D vision in manual laparoscopic procedures [1]. A Remote Centre of Motion (RCM) mechanism is an essential part of tele-operated surgical robots. An RCM mechanism enables a rigid surgical tool to maintain a kinematic constraint about the insertion point on a patient’s body [2]. It permits a surgical tool to pivot only about the insertion point and prevents tool translation about the insertion point [3]. A parallelogram architecture based RCM mechanism is one of the most commonly used RCM mechanisms in surgical robots [4] due to its simplicity and large usable range of motion. Commercially available surgical robots such as da Vinci™ from Intuitive Surgical Inc. [5] use synchronous transmission [2] based passive RCM mechanism as a substitute for parallelogram based RCM.
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Provorse, Allan R., Carl A. Nelson, Gregory R. Bashford, Judith M. Burnfield, and Kornelia Kulig. "An Under-Actuated 5-DOF Robotic Manipulator for Ultrasound Transducer Guidance Using a Passive Four-Bar Linkage." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87479.
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Robotic devices have made inroads in various areas of medical practice. This paper offers a design of robot kinematics for ultrasound probe manipulation to obtain reproducible Achilles tendon images for quantifying injury or response to treatment. The design includes a motor-controlled 4-DOF arm with an additional smaller, passive four-bar linkage mount for the ultrasound probe to optimize surface contact with the subject and increase the mobility to 5 DOF.
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Waheed, U., and C. Myant. "Passive Mechanical Metamaterial Sensor and Actuator." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22370.
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Abstract In recent years, and with the continual development of additive manufacturing technologies, mechanical metamaterials have been explored for their programmable nature. This has opened a new design space into devices using functional materials. In this paper, a novel mechanical metamaterial device is designed, combining anisotropic 3D unit cells to slender beams. By controlling the separation distance between the fixed ends of a slender beam, the mechanism can be tuned to transition between monostable and bistable states. This behaves as a sensor and actuator, allowing mechanical signals to pass only when the correct actuation pattern is received. The device is shown to be inherently passive as it returns to a monostable state after actuation. Two different designs have successfully demonstrated this repeatable behaviour. A multi-material PolyJet printed mechanism joining unit cells to a Von Mises Truss, and an SLA printed compliant mechanism coupling unit cells to thin slender beams. A novel approach in performing AND/OR mechanical logic has also been successfully demonstrated by manipulating the mechanical metamaterial when in a bias state. The proposed devices have application in soft robotic systems, the aerospace industry and in the nuclear sector, where there is a need for passive safety systems that are not reliant on electronic systems, and respond to environmental stimuli. The printed mechanisms highlight the potential for mechanical metamaterials to be used as tunable sensors and actuators for future engineering applications.
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O’Malley, Marcia K. "Shared Control for Upper Extremity Rehabilitation in Virtual Environments." In ASME 2005 International Mechanical Engineering Congress and Exposition. ASMEDC, 2005. http://dx.doi.org/10.1115/imece2005-81782.
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Interest in the rehabilitation applications for robots has been increasing. For example, various devices have been developed to aid in reaching movements of stroke, traumatic brain injury (TBI), and spinal cord injury (SCI) patients. Typically these devices provided guided reaching movements for elbow and shoulder. The robotic aspect allows for repeatability, along with additional data for post-session analysis. To date, robotic rehabilitation systems with haptic feedback have not fully exploited the capabilities of a haptic display device. The simulators primarily focus on obeying the physical laws that govern such systems in order to re-create realistic environments for rehabilitative tasks, or the robotic devices are employed only for their ability to carry the impaired limb through various trajectories. This paper will present a novel active assistance paradigm for interactions in virtual environments displayed via haptic interfaces. The author’s recent research efforts have focused on the design of perceptual overlays in virtual environments that are active rather than passive. Passive virtual fixtures have been the primary perceptual overlay in haptics, and have been used extensively as “virtual rulers” in teleoperation environments to improve operator performance of pick-and-place tasks. Active assistance in the form of shared control between the haptic device and the human operator has the potential to elicit even better performance in virtual and remote environment interactions, and also has implications for improving training effectiveness. The intended applications include stroke rehabilitation and training for pilots, manufacturing, and surgery. A description of perceptual overlays and details of the shared control paradigm are presented, along with results from some preliminary experiments on shared control haptic assistance for training in virtual environments.
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Behzadipour, Saeed, Robert Dekker, Amir Khajepour, and Edmon Chan. "DeltaBot: A New Cable-Based Ultra High Speed Robot." In ASME 2003 International Mechanical Engineering Congress and Exposition. ASMEDC, 2003. http://dx.doi.org/10.1115/imece2003-41470.
Full textAbstract:
The growing needs for high speed positioning devices in the automated manufacturing industry have been challenged by robotic science for more than two decades. Parallel manipulators have been widely used for this purpose due to their advantage of lower moving inertia over the conventional serial manipulators. Cable actuated parallel robots were introduced in 1980’s to reduce the moving inertia even further. In this work, a new cable-based parallel robot is introduced. For this robot, the cables are used not only to actuate the end-effector but also to apply the necessary kinematic constraints to provide three pure translational degrees of freedom. In order to maintain tension in the cables, a passive air cylinder is used to push the end-effector against the stationary platform. In addition to low moving inertia, the new design benefits from simplicity and low manufacturing cost by eliminating joints from the robot’s mechanism. The design procedure and the results of experiments will be discussed in the following.
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Miller, Patrick, Leng-Feng Lee, and Venkat Krovi. "Output Synchronization for Teleoperation of Wheel Mobile Robot." In ASME 2009 Dynamic Systems and Control Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/dscc2009-2637.
Full textAbstract:
The potential for use of robotic systems in remote applications arenas has long motivated development of robust and stable means of teleoperated control of slave systems. However, telerobotic systems face challenges stemming from the devices themselves, environmental factors, communication and control complexities. To address these challenges, we will adopt the passivity based synchronization framework [1] and study its applicability to safely synchronize two heterogeneous Lagrangian systems. Within this framework, an adaptive controller identifies and stabilizes the dynamics of the master and slave systems and renders the dynamics passive to a secondary coupling input. The passive mapping used to couple the output states of the master and slave systems and is made insensitive to lossy and delayed communication medium. Specifically, an adaptive passive synchronization teleoperation controller is developed between an Omni haptic device that serves as our master and a differentially driven nonholonomic Wheel Mobile Robot (WMR) as the slave system. A battery of hardware-in-the-loop simulations are used to verify the proposed controller.
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He, Maxine, Mahshid Mansouri, Yinan Pei, Isaac Pedroza, Christopher M. Zallek, and Elizabeth T. Hsiao-Wecksler. "Clinical Validation Testing Of An Upper Limb Robotic Medical Education Training Simulator For Rigidity Assessment." In 2022 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/dmd2022-1073.
Full textAbstract:
Abstract An upper limb robotic training simulator was developed to replicate the haptic feeling of lead-pipe rigidity of the biceps. Rigidity is the increased muscle tone observed during passive movement of a joint. To validate the realism of our training simulator, a clinical validation study was conducted with 11 experienced clinicians. Testing involved two parts: Blinded Assessment followed by Disclosed Assessment. There were 12 randomized trials (4 levels of rigidity with 3 repetitions each) in the Blind Assessment. The participants were asked to rate the rigidity level using the Unified Parkinson’s Disease Rating Scale (UPDRS) in each trial without knowing the selected UPDRS level. During the Disclosed Assessment, participants were informed about the selected level and were asked to closely evaluate the fidelity of each UPDRS level. Participants completed a post-test evaluation questionnaire to rate the simulator’s accuracy in replicating rigidity and its potential as a medical education tool for healthcare students. Results from the first six participants indicated that the simulated muscle resistance magnitude was too high compared to their clinical experience. Therefore, the resistance magnitude was reduced for all 4 UPDRS levels. The second set of five participants reported that the training simulator closely replicated the UPDRS levels of rigidity compared to their clinical experience.
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Gonzalez, L. Javier, and S. V. Sreenivasan. "A Procedure to Determine Equilibrium Postural Configurations for Arbitrary Locations of the Feet." In ASME 1997 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 1997. http://dx.doi.org/10.1115/imece1997-0369.
Full textAbstract:
Abstract Existing rehabilitation devices for patients with balance problems are passive, and they do not distinguish between different levels of imbalance a patient might possess. The ideal rehabilitation machine would be a robotic device that would provide ‘barely adequate’ support to the patient without compromising its ability to prevent falls. It would also allow the patient to perform normal postural motions including nominal sway and typical responses to external disturbances.