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Yin, ChengXin, Abderraouf Benali, and Frédéric Kratz. "Predictive simulation for the design of robotic solution to mobility aid." Journal of Computational Design and Engineering 8, no. 6 (November 26, 2021): 1576–90. http://dx.doi.org/10.1093/jcde/qwab062.
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Abstract Maintaining substantial mobility is essential for those who suffer from reduced mobility to regain their independence in daily motion tasks. In recent years, robotic solutions to human mobility aid have been functionally verified by various applications. Moreover, with the emergence of new robots and systems, the robot design theory is also under rapid evolution. This paper proposes a methodology to enhance the design of robotic exoskeleton. The aim was to help the designer to select adequate dynamical behaviors to the development of control scheme for the human motions assisted by a robotic assistance device. The main contribution of this work resides in the proposition of optimized impedance parameters for a particular human movement via neuromusculoskeletal (NMS) modelization and predictive simulation. The technique of NMS modeling that represents the motions of human upper limb was applied to study the underlying mechanisms of human movements. Predictive simulation integrated with the NMS model was formulated and solved for generating a series of optimized human dynamic parameters. In this paper, a case study of human–robot interface has been proposed to exemplify our methodology. The modeling and simulation processes were validated with experimental tools. According to the simulated human dynamics, the optimized stiffness and damping coefficients of one degree of freedom were calculated. Results show that our methods are promising and allowed to specify the human movement for a given task, and can provide the design parameters to control scheme of a robotic exoskeleton.
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Raj, Anil K., Peter D. Neuhaus, Adrien M. Moucheboeuf, Jerryll H. Noorden, and David V. Lecoutre. "Mina: A Sensorimotor Robotic Orthosis for Mobility Assistance." Journal of Robotics 2011 (2011): 1–8. http://dx.doi.org/10.1155/2011/284352.
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While most mobility options for persons with paraplegia or paraparesis employ wheeled solutions, significant adverse health, psychological, and social consequences result from wheelchair confinement. Modern robotic exoskeleton devices for gait assistance and rehabilitation, however, can support legged locomotion systems for those with lower extremity weakness or paralysis. The Florida Institute for Human and Machine Cognition (IHMC) has developed the Mina, a prototype sensorimotor robotic orthosis for mobility assistance that provides mobility capability for paraplegic and paraparetic users. This paper describes the initial concept, design goals, and methods of this wearable overground robotic mobility device, which uses compliant actuation to power the hip and knee joints. Paralyzed users can balance and walk using the device over level terrain with the assistance of forearm crutches employing a quadrupedal gait. We have initiated sensory substitution feedback mechanisms to augment user sensory perception of his or her lower extremities. Using this sensory feedback, we hypothesize that users will ambulate with a more natural, upright gait and will be able to directly control the gait parameters and respond to perturbations. This may allow bipedal (with minimal support) gait in future prototypes.
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Miller, Rebecca, Farshid Abbasi, and Javad Mohammadpour. "Power line robotic device for overhead line inspection and maintenance." Industrial Robot: An International Journal 44, no. 1 (January 16, 2017): 75–84. http://dx.doi.org/10.1108/ir-06-2016-0165.
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Purpose This paper aims to focus on the design and testing of a robotic device for power line inspection and cleaning. The focus for this design is on simplicity and compactness with a goal to create a device for linemen and other power line workers to keep in their toolbox. Design/methodology/approach The prototype uses V-grooved wheels to grip the line and can pass obstacles such as splices. It is equipped with a video camera to aid in line inspection and a scrub brush to clean debris from the line. The operator controls the device remotely from a laptop through a wireless connection. The novel way in which this device moves down the power line allows compactness while still being able to overcome in-line obstacles up to a certain size. Findings The device has been tested on a test bed in the lab. The device is able to move down a line and expand to overcome in-line obstacles as it travels. Testing proved the mechanical feasibility and revealed new requirements for a future prototype. Practical implications The device can be used for power line asset management by power companies; line inspection can lead to preventative repairs, leading to less downtime. Social implications It stands to reduce costs related to maintenance and mitigates down time and emergency repairs. Originality/value Innovative features include its size, mobility and control methods. Overall, the impact of this work extends to the utility maintenance sector and beyond.
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Zhetenbayev, Nursultan, Gani Balbayev, Duisebayeva Aknur, Algazy Zhauyt, and Beibit Shingissov. "Developing of a wearable ankle rehabilitation robotic device." Vibroengineering PROCEDIA 48 (February 11, 2023): 36–41. http://dx.doi.org/10.21595/vp.2023.23168.
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People with walking disorders caused by accidents or stroke can undergo treatment to restore their mobility. Traditional therapy is time-consuming and time-consuming. Therefore, a new trend was born – to facilitate rehabilitation and reduce the patient’s time. Rehabilitation robotics is an area that is constantly evolving, and new mechanisms have recently been developed to help people regain their mobility. This paper presents a 3-RPS parallel manipulator for the restoration of the ankle joint with three degrees of freedom. Parallel manipulator 3-RPS with three degrees of freedom, which was introduced by K. Hunt in 1983 as one of the sedentary parallel manipulators. Since then, 3-RPS has attracted a lot of attention from robotics and biomedical engineering engineers.
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Leite, Daniel, Karla Figueiredo, and Marley Vellasco. "Prototype of Robotic Device for Mobility Assistance for the Elderly in Urban Environments." Sensors 20, no. 11 (May 28, 2020): 3056. http://dx.doi.org/10.3390/s20113056.
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This study aims to develop a prototype of an autonomous robotic device to assist the locomotion of the elderly in urban environments. Among the achievements presented are the control techniques used for autonomous navigation and the software tools and hardware applied in the prototype. This is an extension of a previous work, in which part of the navigation algorithm was developed and validated in a simulated environment. In this extension, the real prototype is controlled by an algorithm based on fuzzy logic to obtain standalone and more-natural navigation for the user of the device. The robotic device is intended to guide an elderly person in an urban environment autonomously, although it also has a manual navigation mode. Therefore, the device should be able to navigate smoothly without sudden manoeuvres and should respect the locomotion time of the user. Furthermore, because of the proposed environment, the device should be able to navigate in an unknown and unstructured environment. The results reveal that this prototype achieves the proposed objective, demonstrating adequate behaviour for navigation in an unknown environment and fundamental safety characteristics to assist the elderly.
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Koumpouros, Yiannis, Alexandra Karavasili, Eleni Efthimiou, Stavroula-Evita Fotinea, Theodore Goulas, and Anna Vacalopoulou. "User Evaluation of the MOBOT Rollator Type Robotic Mobility Assistive Device." Technologies 5, no. 4 (November 18, 2017): 73. http://dx.doi.org/10.3390/technologies5040073.
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Ou, Yang-Kun, Yu-Lin Wang, Hua-Cheng Chang, and Chun-Chih Chen. "Design and Development of a Wearable Exoskeleton System for Stroke Rehabilitation." Healthcare 8, no. 1 (January 15, 2020): 18. http://dx.doi.org/10.3390/healthcare8010018.
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For more than a decade, many countries have been actively developing robotic assistive devices to assist in the rehabilitation of individuals with limb disability to regain function in the extremities. The exoskeleton assistive device in this study has been designed primarily for hemiplegic stroke patients to aid in the extension of fingers to open up the palm to simulate the effects of rehabilitation. This exoskeleton was designed as an anterior-support type to achieve palmar extension and acts as a robotic assistive device for rehabilitation in bilateral upper limb task training. Testing results show that this wearable exoskeleton assistive device with human factor consideration using percentile dimensions can provide comfortable wear on patients as well as adequate torque to pull individual fingers into flexion towards the palm for rehabilitation. We hope this exoskeleton device can help stroke patients with loss of function in the upper extremities to resume motor activities in order to maintain activities of daily living.
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Abd-ul-Amir, Duha Qais, Auns Qusai Hashim, and Abdulnasir Hussin Ameer. "Design and Implement an Exoskeleton Arm for Reinforcement the Human Muscles after Stroke." Al-Nahrain Journal for Engineering Sciences 22, no. 4 (December 20, 2019): 252–58. http://dx.doi.org/10.29194/njes.22040252.
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Mobility limitations in stroke survivors yield negative impacts on the quality of life for such individuals. Rehabilitation is needed to help them recover and regain mobility. Accordingly, this study aims to design and validate a “Robotic Exoskeleton” intended for stroke rehabilitation. The basic principles of this robotic exoskeleton device are its dependence on electromyography signal and electronic microcontroller to provide an efficient physiotherapy exercises system.The robotic exoskeleton is a one degree of freedom which performs the flexion and extension of the elbow joint. After the design was completed, 19 subjects participated in this study: 4 healthy subjects, and 15 post-stroke patients.The results showed the benefit of robotic exoskeleton in increasing the elbow range of motion, where angle of elbow flexion was raised from the first physiotherapy session to maximum elbow flexion in the last session.
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Anthony, Jacob, Chung-Hyun Goh, Alireza Yazdanshenas, and Yong Tai Wang. "Redesign of Leg Assembly and Implementation of Reinforcement Learning for a Multi-Purpose Rehabilitation Robotic Device (RoboREHAB)." Applied Sciences 14, no. 2 (January 6, 2024): 516. http://dx.doi.org/10.3390/app14020516.
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Patients who are suffering from neuromuscular disorders or injuries that impair motor control need to undergo rehabilitation to regain mobility. Gait training is commonly prescribed to patients to regain muscle memory. Automated-walking training devices were created to aid this process; while these devices establish accurate ankle-path trajectories, the knee and hip movements are inaccurate. In this work, a redesign of the leg assembly in a multi-purpose rehabilitation robotic device (RoboREHAB) was explored to improve hip- and knee-movement accuracy by adding an extra link and rollers to the assembly. Motion analysis was employed to test feasibility, reinforcement learning was utilized to train the new leg assembly to walk, and the joint motions achieved with the redesign were compared to those achieved by motion-capture (mocap) data. As a key result, the motion analysis showed an improvement in the knee- and hip-path trajectories due to the added roller/joint segment. The redesigned leg assembly, under the reinforcement-learning policy, showed a 5% deviation from the motion-capture joint trajectories with a maximum deviation of 51.177 mm but maintained a similar profile to the mocap trajectory data. This is an improvement over the original two-segment design, which achieved a maximum deviation of 72.084 mm. These results in the knee- and hip-joint movements more closely reflect the mocap and motion-analysis results, validating the redesign and opening it up to further experimentation and technical improvement.
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Hari Krishnan, R., and S. Pugazhenthi. "Design and development of a robotic self-transfer device for wheelchair users." Journal of Enabling Technologies 11, no. 2 (June 19, 2017): 59–72. http://dx.doi.org/10.1108/jet-12-2016-0025.
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Purpose Wheelchair users face great difficulty in transferring themselves from one surface to another, for example from wheelchair to a toilet commode. In such cases, mostly a caregiver’s assistance may be required, but it affects one’s dignity. The purpose of this paper is to develop a robotic self-transfer device, which is aimed at offering privacy and independence to people with lower limb disabilities in performing daily activities. Design/methodology/approach The device, attached to a powered wheelchair, is useful in transferring a user from a wheelchair to a toilet commode or any other surface following simple and natural transfer procedure without the need of any caregiver. The user can achieve transfer by operating joysticks. The device employs two linear actuators and a motor to accomplish the transfer. Trials were carried out to test the performance of the device by involving potential beneficiaries. Findings The device could successfully transfer the participants from a wheelchair to a chair with less effort in less than a minute. The results of the trials show that the participants felt comfortable in using the device. It was also found that the device is superior to other existing transfer systems in terms of comfort and operation. Originality/value The existing self-transfer systems are alternative solutions that serve the purpose of mobility coupled with self-transfer. Instead of developing an alternative mobility solution, this paper proposes a novel design of a self-transfer device that can be used as an attachment to wheelchair.
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Neves, Gonçalo, João S. Sequeira, and Cristina P. Santos. "Lightweight and compact smart walking cane." PeerJ Computer Science 9 (November 29, 2023): e1563. http://dx.doi.org/10.7717/peerj-cs.1563.
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Devices such as canes and wheelchairs, used to assist locomotion, have remained mostly unchanged for centuries. Recent advances in robotics have the potential to develop smart versions of these devices that can offer better support and living conditions to their users. This is the underlying objective of this project. The existing devices, used during recovery and rehabilitation phases where gait stability is key, are often bulky and cannot be easily migrated from hospital to domestic environments, where maneuvering space tends to be restricted. This article discusses a compact, lightweight and minimally invasive, robotic cane to assist locomotion. The device can assist users with mild locomotion disabilities, e.g., in the final stages of rehabilitation, to maintain and recover their balance in standing and walking situations. This extends previous experiments with alternative control strategies, merged with indicators (based on the Gini index) able to recognize differences between users. Several experiments, with a range of users possessing different mobility impairments, confirm the viability of the robotic cane, with users comfortably using the cane after three minutes, on average, proving its ease of use and low intrusiveness, and with constant support offered during the whole movement. Furthermore, the real-time tuning of the controller gains, via the Gini inequality index, enables adjustment to the user’s movement.
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Lo, Chi-Hung. "A Study on Appearance Acceptance Appraisal of Elderly Mobility Assists." Sustainability 13, no. 19 (September 23, 2021): 10547. http://dx.doi.org/10.3390/su131910547.
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Given the low birth rate and the rapid aging of the population in Taiwan, the issues such as long-term care, high dependency ratio, and labor shortage are no longer avertible. The mobility assists shall play a significant role in helping the elder community to live independently with dignity, and the appearance of the mobility assists should make them feel comfortable as well. Hence this study recommends the development of assistive devices, barrier-free environments, and other solutions that allows the elderly to remain independent. This study explores the influencing factors of the willingness to use exoskeleton mobility assists on the psychological aspects. The purpose of this study is to explore the key factors of the willingness to use Wearable Robotic Exoskeleton. By sorting the style of the assistive devices based on various appreciation levels, the semantic difference scale was used to investigate the influence on the appearance of the assistive device on the wearing acceptance. Lastly, this study aims to acquire the factors that affect the style of the model and the influencing factors on the wearing acceptance, providing a reference for future assistive device design and developers to increase user’s willingness to accept the product.
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Ajieren, Hans, Radu Reit, Roxanne Lee, Tiffany Pham, Dongmei Shao, Kenneth Lee, and Walter Voit. "Robotic Insertion Aid for Self-Coiling Cochlear Implants." MRS Advances 1, no. 1 (2016): 51–56. http://dx.doi.org/10.1557/adv.2016.71.
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ABSTRACTThis study investigates the use of shape memory polymers (SMPs) as a substrate for a self-coiling cochlear implant electrode array and investigates the self-coiling ability of a sham probe micromachined atop such a substrate. Through the use of a self-coiling cochlear implant, the capability to avoid contact with the tissue of the cochlear duct is investigated via the insertion of a dummy device into a model cochlea heated to an ambient 34 °C. Finally, a prototype straightening and insertion tool is developed for automated retraction and locking of the coiled shape into a bar geometry. Preliminary demonstration of the deployment of self-coiling cochlear implants is shown and paves the way for future studies focused on using histological analysis of the cochlear wall tissue to compare the degree of trauma resulting from linear cochlear implant arrays versus the self-coiling, non-contact probes demonstrated herein.
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Turner, D. J. "Solo Surgery – with the Aid of a Robotic Assistant." Journal of Telemedicine and Telecare 2, no. 1_suppl (June 1996): 46–48. http://dx.doi.org/10.1177/1357633x9600201s15.
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In the interests of cost containment this study was performed to compare the cost-effectiveness of utilizing a robotic assistant instead of a human assistant. Twelve patients undergoing laparoscopic bladder neck suspension were studied retrospectively. In six of these cases a human assistant was utilized and in another six a robot arm was utilized to hold and manoeuvre the laparoscope and camera. Evaluations have previously been made showing the improved steadiness and clarity of picture when utilizing the robot rather than a human and in this case the length of surgery was compared and the cost of the equipment and all personnel evaluated. The differences in length of surgery between both groups was not statistically significant. The cost of the robotic arm was less than that of human systems. This depends on the volume of surgery and may vary between institutions. In conclusion, a robotic assistant is seen to be a cost-effective device taking the place of the traditional assistant.
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Zhang, Zixuan, Bo Zhang, and Yunlong Wu. "Joint Communication–Motion Planning in Networked Robotic Systems." Applied Sciences 12, no. 12 (June 20, 2022): 6261. http://dx.doi.org/10.3390/app12126261.
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In the recent decade, many research efforts in robotic society have considered motion planning for maintaining connectivity in networked robotic system (NRS) by exploiting robotic autonomous mobility. On the other hand, cognitive radio (CR) in the communication society aims at fully exploiting the spectrum in a wireless network, while the motion planning is seldom considered, as a wireless device itself may not decide where to go. In this article, joint communication–motion planning (JCMP) is proposed to boost the capability of NRS by exploiting both the adaptive communications and mobility control of autonomous robots. Specifically, we propose a JCMP framework for NRS, which aims at jointly exploiting the degree-of-freedom in mobility, space, time, frequency and power dimensions from both the motion and communication components. Afterward, we design and evaluate JCMP in a conventional and a CR-relay-assisted robot system, which shows the capability of JCMP in improving the performance of NRS. Finally, we summarize the proposed JCMP-enabled NRS framework and provide a series of future research directions.
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Gilbert, JM. "The EndoAssist™ Robotic Camera Holder as an Aid to the Introduction of Laparoscopic Colorectal Surgery." Annals of The Royal College of Surgeons of England 91, no. 5 (July 2009): 389–93. http://dx.doi.org/10.1308/003588409x392162.
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INTRODUCTION Introducing laparoscopic colorectal surgery is a challenge to the whole surgical team. It is usual for an assistant to hold the laparoscope and be responsible for the surgeon's view of the operative field and a lack of expertise in the assistant can add significant difficulties. The EndoAssist™ is a robotic device that replaces the human assistant and ensures steady visualisation of the operative field and a view which can be controlled by the surgeon. This study describes its use in the introduction of laparoscopic colorectal surgery to a unit. PATIENTS AND METHODS The EndoAssist was employed for the introduction of laparoscopic colorectal surgery in a unit with previous experience of this device for laparoscopic cholecystectomy. It was used in a consecutive series of 77 laparoscopic colectomy operations. RESULTS The robotic device proved successful in the whole range of colorectal operations and a reliable assistant. No problems specific to the device were encountered. CONCLUSIONS The EndoAssist robot is a useful laparoscopic assistant and aided in the introduction of laparoscopic colorectal surgery.
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Jutard, A., T. Redarce, A. Fakri, and M. Betemps. "Geometric model of the DCR-LAI compliant device." Robotica 7, no. 2 (April 1989): 151–57. http://dx.doi.org/10.1017/s0263574700005464.
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SUMMARYIn this paper the authors present a mathematical model of geometric and kinematic behaviour of an original passive compliant device provided with two rotation centres, called DCR–LAI system. This device is designed for a robotic assembly of parts with very small tolerances including a chamfer at the hole. The given modélisation may be used as a decision aid for the choice of a compliant device with regard to characteristics of parts being assembled.
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Sutrisno, Amanda, and David J. Braun. "How to run 50% faster without external energy." Science Advances 6, no. 13 (March 2020): eaay1950. http://dx.doi.org/10.1126/sciadv.aay1950.
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Technological innovations may enable next-generation running shoes to provide unprecedented mobility. But how could a running shoe increase the speed of motion without providing external energy? We found that the top speed of running may be increased more than 50% using a catapult-like exoskeleton device, which does not provide external energy. Our finding uncovers the hidden potential of human performance augmentation via unpowered robotic exoskeletons. Our result may lead to a new-generation of augmentation devices developed for sports, rescue operations, and law enforcement, where humans could benefit from increased speed of motion.
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Akinyemi, Toluwanimi O., Olatunji M. Omisore, Xingyu Chen, Wenke Duan, Wenjing Du, Guanlin Yi, and Lei Wang. "Adapting Neural-Based Models for Position Error Compensation in Robotic Catheter Systems." Applied Sciences 12, no. 21 (October 28, 2022): 10936. http://dx.doi.org/10.3390/app122110936.
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Robotic catheter systems with master–slave designs are employed for teleoperated navigation of flexible endovascular tools for treating calcified lesions. Despite improved tool manipulation techniques, patient safety and lowering operative risks remain top priorities. Therefore, minimizing undesirable drifts and imprecise navigation of flexible tools during intravascular catheterization is essential. In the current master–slave designs, finite displacement lag between position command and actual navigation action at the slave device affects smooth catheterization. In this study, we designed and developed a compact 2-DOF robotic catheter system and characterized the influence of displacement step values, velocity, and motion gap on the position error at the slave device. For uniform and varying motion commands from the master platform, the results indicate that the overall position error increases with the distance traveled and the displacement step values, respectively. Hence, we proposed using recurrent neural networks—long short-term memory and gated recurrent unit controllers to predict the slave robot’s position and appropriate compensation value per translation step. An analysis of in-silico studies with CoppeliaSim showed that the neural-based controllers can ensure uniform motion mapping between the master–slave devices. Furthermore, we implemented the models within the RCS for a catheterization length of 120 mm. The result demonstrates that the controllers suitably aid the slave robot’s stepwise displacement. Thus, the neural-based controllers help match the translational motion and precise tool navigation by the slave robotic device. Therefore, the neural-based controllers could contribute to alleviating patients’ safety concerns during robotic interventions.
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K. R, Dinesh. "Robotic Automated External Defibrillator." International Journal for Research in Applied Science and Engineering Technology 9, no. VI (June 15, 2021): 1204–8. http://dx.doi.org/10.22214/ijraset.2021.34947.
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India is one of the most populous countries of the world. Due to over population, ignorance of health has been remained the major problems in India. For every one minute a death, oops in because of heart attack. Ambulance service plays an important role in saving lives. Its primary purpose is to give first aid to the sick or injured people in the emergency scene. To save a life is auspicious as well as precious. The idea here is to provide an intelligent smart health system using some sensors and microcontrollers; it will sense the body condition and send the data to the collaborated hospital’s database. This proposed idea gives us the development of a wireless-based system for pulse rate, blood pressure and temperature monitoring to be used in ambulance. By this, the real time information can be passed to nearby hospitals to alert them about the critical conditions over IOT. This hardware device is fixed inside the ambulance to sense the patient’s health, collect the info during a wireless device called node MCU and immediately pass the database to the hospital’s server by the concept of IOT. This may intimate the hospital officials and should answer the required actions to be taken to the person in emergency.
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Rodríguez, Rosa M. Jiménez, José M. Díaz Pavón, Fernando de la Portilla, Emilio Prendes Sillero, Jean M. H. Cadet Dussort, and Javier Padillo. "Robotic-Assisted Total Mesorectal Excision With the Aid of a Single-Port Device." Surgical Innovation 20, no. 4 (February 7, 2012): NP3—NP5. http://dx.doi.org/10.1177/1553350611434643.
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Grindle, Garrett G., Hongwu Wang, Hervens Jeannis, Emily Teodorski, and Rory A. Cooper. "Design and User Evaluation of a Wheelchair Mounted Robotic Assisted Transfer Device." BioMed Research International 2015 (2015): 1–9. http://dx.doi.org/10.1155/2015/198476.
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Purpose. The aim of this study is to describe the robotic assisted transfer device (RATD) and an initial focus group evaluation by end users. The purpose of the device is to aid in the transfers of people with disabilities to and from their electric powered wheelchair (EPW) onto other surfaces. The device can be used for both stand-pivot transfers and fully dependent transfers, where the person being transferred is in a sling and weight is fully on the robot. The RATD is fixed to an EPW to allow for its use in community settings.Method. A functional prototype of the RATD was designed and fabricated. The prototype was presented to a group of 16 end users and feedback on the device was obtained via a survey and group discussion.Results.Thirteen out of sixteen (83%)participants agreed that it was important to develop this type of technology. They also indicated that user, caregiver, and robotic controls were important features to be included in the device.Conclusions. Participants in this study suggested that they would be accepting the use of robotic technology for transfers and a majority did not feel that they would be embarrassed to use this technology.
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Topping, Mike. "Early experience in the use of the ‘Handy 1’ robotic aid to eating." Robotica 11, no. 6 (November 1993): 525–27. http://dx.doi.org/10.1017/s0263574700019366.
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More than 50 ‘Handy 1’ robotic aids are now in use that enable some handicapped people to feed themselveswithout assistance from a carer. The benefits of thisdevice include much greater control of the eating process by the user as well as the development of eating skills. The article describes the genesis of this device and its subsequent development and early evaluation.
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Lutai, L., and A. Kvachov. "РОЗРОБЛЕННЯ SMART-СИСТЕМИ ЖИТТЄЗАБЕЗПЕЧЕННЯ І МОНІТОРИНГУ КІМНАТНИХ РОСЛИН." Open Information and Computer Integrated Technologies, no. 87 (June 30, 2020): 257–73. http://dx.doi.org/10.32620/oikit.2020.87.15.
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A robotic system is a microcontroller with a set of sensors that register external changes (humidity, lighting, temperature, etc.), a data exchange module, and an execution mechanism that begins to act when the user sends a command to the microcontroller from an Android device. Creating robotic systems is one of the main tasks of industrial automation, which is closely related to the IoT (Internet of Things) technology. There are a lot of variations in the development of robotic systems in synergy with IoT: "Smart Home", driverless car, cleaning robot, etc. In most cases, a smart home is a home automation system – a system that helps save time on managing all other engineering and entertainment devices. And the more devices, the more necessary it is to use automation systems. For a large number of IoT systems, a mobile phone or tablet based on the Android or iOS operating system is often used as a control device. This is due to the mobility in managing and monitoring messages through a handheld device. The purpose of this article is to develop a Smart system for life support and monitoring the condition of indoor plants.The Smart system being developed provides for the creation of not only a plant life support system, but also the creation of a mobile application for managing and monitoring plant life support. In the course of writing the article, the existing automated control systems were investigated and a block diagram of the Smart system was constructed, taking into account its interaction with the mobile application. The article uses a decentralized automation system in which the main elements are the ESP8266 microcontroller (as a transmitter) and the Atmega328 microcontroller (as a data processing element). An application for a mobile device that acts as a remote control has also been developed. Within the framework of the article, an electrical schematic diagram of the Smart system has been developed. The article also provides detailed instructions and recommendations for both hardware and software parts.
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Xiangjun, Zeng, Chen Xufa, and Tao Liang. "Totally endoscopic atrial septal repair using no robotic techniques." Asian Cardiovascular and Thoracic Annals 19, no. 6 (December 2011): 403–6. http://dx.doi.org/10.1177/0218492311407791.
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Standard surgical closure of an atrial septal defect via sternotomy is safe and effective. To avoid sternotomy and improve the cosmetic result, minimally invasive cardiac surgery has emerged as an alternative. Robot-assisted totally endoscopic atrial septal defect repair is convincingly superior, but the robotic system is expensive and complicated. We describe a technique of totally endoscopic closed-chest atrial septal defect closure without the aid of a robotic device. Twenty patients underwent totally endoscopic atrial septal defect repair using no robotic techniques between May 2009 and December 2009. No major intraoperative or postoperative complications were observed. One operation was converted to a conventional sternotomy because bleeding from the aortic root could not be controlled. Closure of an atrial septal defect can be performed safely and effectively via an endoscopic approach using no robotic techniques.
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Li, Ning, Hui Liu, Reza Yazdanpanah Abdolmalaki, Gregory J. Mancini, and Jindong Tan. "s-CAM: An Untethered Insertable Laparoscopic Surgical Camera Robot with Non-Contact Actuation." Sensors 22, no. 9 (April 29, 2022): 3405. http://dx.doi.org/10.3390/s22093405.
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Fully insertable robotic imaging devices represent a promising future of minimally invasive laparoscopic vision. Emerging research efforts in this field have resulted in several proof-of-concept prototypes. One common drawback of these designs derives from their clumsy tethering wires which not only cause operational interference but also reduce camera mobility. In this paper, a tetherless insertable surgical camera (s-CAM) robot with non-contact transabdominal actuation is presented for single-incision laparoscopic vision. Wireless video transmission and control communication using onboard power help eliminate cumbersome tethering wires. Furthermore, magnetic based camera actuation gets rid of intrinsic physical constraints of mechanical driving mechanisms, thereby improving camera mobility and reducing operational interference. In addition, a custom Bluetooth low energy (BLE) application profile and a real-time operating system (RTOS) based multitask programming framework are also proposed to facilitate embedded software design for insertable medical devices. Initial ex vivo test results of the s-CAM design have demonstrated technical feasibility of a tetherless insertable laparoscopic camera. Effective imaging is confirmed at as low as 500 lx illumination. Wireless laparoscopic vision is accessible within a distance of more than 10 m. Transabdominal BLE communication is stable at over −52 dBm and shows its potential for wireless control of insertable medical devices. RTOS based sfotware event response is bounded within 1 ms while the CPU usage is at 3∼5%. The device is able to work for 50 min with its onboard power. For the mobility, the robot can translate against the interior abdominal wall to reach full abdomen quadrants, tilt between −180∘ and +180∘, and pan in the range of 0∘∼360∘. The s-CAM has brought robotic laparoscopic imaging one step further toward less invasiveness and more dexterity.
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Khort, Dmitry Olegovich, Igor Gennadievich Smirnov, Alexey Igorevich Kutyrev, and Madin Arturovich Sheruzhev. "Justification of the parameters of the robotic manipulator for picking fruits." Agrarian Scientific Journal, no. 10 (October 27, 2022): 121–26. http://dx.doi.org/10.28983/asj.y2022i10pp121-126.
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Based on the analysis of the physical and mechanical characteristics of intensive fruit trees, technical requirements for a robotic manipulator for fruit harvesting have been developed. A computer simulation of the process of removing fruits from the crown of a tree was carried out to substantiate the design parameters of a robotic manipulator. A kinematic scheme and a simulation model of a robotic manipulator in the Simulink SimScape environment (V-REP robot simulator) have been developed. Coordinate systems are linked to the joints of the degrees of mobility of the manipulator. By solving a direct positional problem, the position and orientation of the manipulator device is determined. Generalized coordinates of the center of the grip of the manipulator are established, which can vary within the limits determined by the design of the mechanism: and defining the working space of the manipulator.
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Kavalieros, Dimitrios, Evangelos Kapothanasis, Athanasios Kakarountas, and Thanasis Loukopoulos. "Methodology for Selecting the Appropriate Electric Motor for Robotic Modular Systems for Lower Extremities." Healthcare 10, no. 10 (October 17, 2022): 2054. http://dx.doi.org/10.3390/healthcare10102054.
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Torque calculation is essential for selecting the appropriate motor to achieve the required torque at each joint of a hybrid exoskeleton. In recent years, the combined use of functional electrical stimulation (FES) and robotic devices, called hybrid robotic rehabilitation systems, has emerged as a promising approach for the rehabilitating of lower limb motor functions. Specifically, the implementation strategy of functional electrical stimulation walking aid combined with the design of the exoskeleton part is the main focus of our research team. This work copes with issues of the design process of a robotic exoskeleton. The importance of robotic exoskeletons for providing walking aid to people with mobility disorders or the elderly is discussed. Furthermore, the approaches to calculating the joint torques are investigated, and the mathematical models and parameters of interest are identified. This further includes the comparative data for servo motors: robotic exoskeleton characteristics and actuator analysis in the robotic exoskeleton. The aforementioned is used to propose a mathematical model based on previous models (Zatsiorsky BSP and Dempster BSP body segment parameters models, forward kinematics models), which was extended to include added adjustable parameters such as length, area, volume, mass, density, the centre of mass, human body characteristics, and considering both static and dynamic parameter extraction. Then, an analytic method is presented, exploiting the results from the mathematical model to select the appropriate motor for each joint of the lower extremities. The detailed description of the method is followed by examples, experimental measurements, and statistical analysis of qualitative and quantitative characteristics. The results showed deviations from typical calculation methods, offering a better understanding of the motor requirements for each joint of the exoskeleton and avoiding selections of marginal functionality features of the motors. In addition, researchers are offered a tool for replicating the results of this work, allowing them to configure the parameters associated with the servo motor features. The researcher can either use the embedded library developed for this work or enter new data into it, affecting the calculated torques of the model joints. The extracted results assist the researcher in choosing the appropriate motor among commercially available brushed and brushless motors based on the torques applied at each joint in robotic articulated systems.
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Woo, Jinseok, Taiki Sato, and Yasuhiro Ohyama. "Development of a Human-Centric System Using an IoT-Based Socially Embedded Robot Partner." Journal of Robotics and Mechatronics 35, no. 3 (June 20, 2023): 859–66. http://dx.doi.org/10.20965/jrm.2023.p0859.
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Recently, the increasing social isolation of the elderly has caused major social problems, such as loneliness and the progression of dementia. A human-centric system could be a solution to these problems and promote coexistence with humans. Therefore, we aimed to develop a robot system using smart devices, which are essential for the Internet of things (IoT) technology, to provide services, such as information support and monitoring. As the development and application of smart devices become more sophisticated, a hyperconnected society will finally be realized through the development of smart-device-centered robots and their connection to peripheral devices. A hyperconnected society is one in which people, things, and data are connected. Personal mobility is developing and converging with robotic technology to the point where a large mobile robot can board a person. These robot technologies can be connected to wireless networks to provide organically connected services. In the era of Society 5.0, the connection among smart devices, robot systems, and mobility technology is still developing and will be a new paradigm in the development of human-centric systems in the future. Therefore, this study introduces the creation of a human-centric system using a robot system and a mobility system based on the IoT. Finally, we present several examples of the effectiveness of the proposed system and discuss its applicability.
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Pols, McKenna, Hana Motoki, Sarah O'Hagen, and Carole Dennis. "Tots on Bots: Looking at Intentional Movement in Young Infants Using a Robotic Mobility Device." American Journal of Occupational Therapy 73, no. 4_Supplement_1 (August 1, 2019): 7311515318p1. http://dx.doi.org/10.5014/ajot.2019.73s1-po6044.
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Bogdanov, S. I., V. G. Ryabtsev, and K. V. Evseev. "Resource saving in the design of multiple robots control systems." IOP Conference Series: Earth and Environmental Science 965, no. 1 (January 1, 2022): 012059. http://dx.doi.org/10.1088/1755-1315/965/1/012059.
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Abstract The research objective is design of the information technology for automated control system model synthesis for reducing the labour intensity of the digital machine model design by improving the control system information conversion tools. The structural-functional digital machine models are proposed for project development of robotic manipulator control devices. Application of the structural-functional digital machine models allows reducing labour intensity and project timing of robotic center control system design due to the cycle scheme conversion to intermediate representation, which is convenient for digital machine synthesis using the modern development tools. When applying the proposed structural-functional model a process engineer can rely on keeping all important technological process details and a programmer can avoid a large amount of errors when developing the device algorithms. The developed algorithm can be represented as state diagrams, which can be adapted for integrated scheme crystal as a digital machine using the specific tools of computer-aid design.
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Werner, Christian, Phoebe Ullrich, Milad Geravand, Angelika Peer, and Klaus Hauer. "Evaluation Studies of Robotic Rollators by the User Perspective: A Systematic Review." Gerontology 62, no. 6 (2016): 644–53. http://dx.doi.org/10.1159/000444878.
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Background: Robotic rollators enhance the basic functions of established devices by technically advanced physical, cognitive, or sensory support to increase autonomy in persons with severe impairment. In the evaluation of such ambient assisted living solutions, both the technical and user perspectives are important to prove usability, effectiveness and safety, and to ensure adequate device application. Objective: The aim of this systematic review is to summarize the methodology of studies evaluating robotic rollators with focus on the user perspective and to give recommendations for future evaluation studies. Methods: A systematic literature search up to December 31, 2014, was conducted based on the Cochrane Review methodology using the electronic databases PubMed and IEEE Xplore. Articles were selected according to the following inclusion criteria: evaluation studies of robotic rollators documenting human-robot interaction, no case reports, published in English language. Results: Twenty-eight studies were identified that met the predefined inclusion criteria. Large heterogeneity in the definitions of the target user group, study populations, study designs and assessment methods was found across the included studies. No generic methodology to evaluate robotic rollators could be identified. We found major methodological shortcomings related to insufficient sample descriptions and sample sizes, and lack of appropriate, standardized and validated assessment methods. Long-term use in habitual environment was also not evaluated. Conclusions: Apart from the heterogeneity, methodological deficits in most of the identified studies became apparent. Recommendations for future evaluation studies include: clear definition of target user group, adequate selection of subjects, inclusion of other assistive mobility devices for comparison, evaluation of the habitual use of advanced prototypes, adequate assessment strategy with established, standardized and validated methods, and statistical analysis of study results. Assessment strategies may additionally focus on specific functionalities of the robotic rollators allowing an individually tailored assessment of innovative features to document their added value.
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Michel, Guillaume, Philippe Bordure, and Damien Chablat. "A New Robotic Endoscope Holder for Ear and Sinus Surgery with an Integrated Safety Device." Sensors 22, no. 14 (July 11, 2022): 5175. http://dx.doi.org/10.3390/s22145175.
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In the field of sinus and ear surgery, and more generally in microsurgery, the surgeon is faced with several challenges. The operations are traditionally carried out under binocular loupes, which allows for the surgeon to use both hands for a microinstrument and an aspiration tool. More recently, the development of endoscopic otological surgery allowed for seeing areas that are difficult to access. However, the need to handle the endoscope reduces the surgeon’s ability to use only one instrument at a time. Thus, despite anaesthesia, patient motions during surgery can be very risky and are not that rare. Because the insertion zone in the middle ear or in the sinus cavity is very small, the mobility of the endoscope is limited to a rotation around a virtual point and a translation for the insertion of the camera. A mechanism with remote center motion (RCM) is a good candidate to achieve this movement and allow for the surgeon to access the ear or sinus. Since only the translational motion along the main insertion axis is enabled, the ejection motion along the same axis is safe for the patient. A specific mechanism allows for inserting and ejecting the endoscope. In a sense, the position is controlled, and the velocity is limited. In the opposite sense, the energy stored in the spring allows for very quick ejection if the patient moves. A prototype robot is presented using these new concepts. Commercially available components are used to enable initial tests to be carried out on synthetic bones to validate the mobility of the robot and its safety functions.
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Manning, Phillip L., David Payne, John Pennicott, Paul M. Barrett, and Roland A. Ennos. "Dinosaur killer claws or climbing crampons?" Biology Letters 2, no. 1 (October 11, 2005): 110–12. http://dx.doi.org/10.1098/rsbl.2005.0395.
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Dromaeosaurid theropod dinosaurs possess a strongly recurved, hypertrophied and hyperextensible ungual claw on pedal digit II. This feature is usually suggested to have functioned as a device for disembowelling herbivorous dinosaurs during predation. However, modelling of dromaeosaurid hindlimb function using a robotic model and comparison of pedal ungual morphology with extant analogue taxa both indicate that this distinctive claw did not function as a slashing weapon, but may have acted as an aid to prey capture.
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Satpute, Shantanu A., Jorge Luis Candiotti, Jonathan A. Duvall, Hailee Kulich, Rosemarie Cooper, Garrett G. Grindle, Benjamin Gebrosky, et al. "Participatory Action Design and Engineering of Powered Personal Transfer System for Wheelchair Users: Initial Design and Assessment." Sensors 23, no. 12 (June 13, 2023): 5540. http://dx.doi.org/10.3390/s23125540.
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Caregivers that assist with wheelchair transfers are susceptible to back pain and occupational injuries. The study describes a prototype of the powered personal transfer system (PPTS) consisting of a novel powered hospital bed and a customized Medicare Group 2 electric powered wheelchair (EPW) working together to provide a no-lift solution for transfers. The study follows a participatory action design and engineering (PADE) process and describes the design, kinematics, and control system of the PPTS and end-users’ perception to provide qualitative guidance and feedback about the PPTS. Thirty-six participants (wheelchair users (n = 18) and caregivers (n = 18)) included in the focus groups reported an overall positive impression of the system. Caregivers reported that the PPTS would reduce the risk of injuries and make transfers easier. Feedback revealed limitations and unmet needs of mobility device users, including a lack of power seat functions in the Group-2 wheelchair, a need for no-caregiver assistance/capability for independent transfers, and a need for a more ergonomic touchscreen. These limitations may be mitigated with design modifications in future prototypes. The PPTS is a promising robotic transfer system that may aid in the higher independence of powered wheelchair users and provide a safer solution for transfers.
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Peñaloza-González, Jorge Andrés, Sergey González-Mejía, and José Isidro García-Melo. "Development of a Control Strategy in an Isokinetic Device for Physical Rehabilitation." Sensors 23, no. 13 (June 22, 2023): 5827. http://dx.doi.org/10.3390/s23135827.
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Robotic-assisted rehabilitation is currently being applied to improve the effectiveness of human gait rehabilitation and recover the mobility and strength after a stroke or spinal cord injury; a robotic assistant can allow the active participation of the patient and the supervision of the collected data and decrease the labor required from therapists during the patient’s training exercises. The goal of gait rehabilitation with robotic-based assistance is to restore motor function by using diverse control strategies, taking account of the physical interaction with the lower limbs of the patient. Over the last few years, researchers have extracted useful information from the patient’s biological signals that can effectively reflect movement intention and muscle activation. One way to evaluate progress in rehabilitation is through isokinetic prototype tests that describe the dynamic characteristics of an isokinetic leg extension device for rehabilitation and control action. These tests use an isokinetic system to assess muscle strength and performance in a patient during isometric or isokinetic contraction. An experimental prototype shown in the following work allows the device’s performance to be evaluated in a controlled environment before the patient’s use. New features provide a control system that can be teleoperated for distributed structures, enabling the remote operation and management of the device. In order to achieve physical recovery from musculoskeletal injuries in the lower limbs and the reintegration of the affected subject into society as an independent and autonomous individual in their daily activities, a control model that introduces a medical isokinetic rehabilitation protocol is presented, in which the element that carries out such protocol consists of a magnetic particle brake whose control action is strongly influenced by the dynamics of the system when in contact with the end user—specifically, the patient’s legs in the stretch from the knee to the ankle. The results of these tests are valuable for health professionals seeking to measure their patient’s progress during the rehabilitation process and determine when it is safe and appropriate to advance in their treatment.
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Shanshan, Guo, Yulong Wang, Kun Wang, Jianjun Long, Xing Lv, Zhiyong Huang, Yi Yang, Saeed Miramini, and Lihai Zhang. "Robot-assisted weight-bearing exercise for stroke patients with limited mobility." Journal of Low Frequency Noise, Vibration and Active Control 38, no. 2 (December 5, 2018): 879–92. http://dx.doi.org/10.1177/1461348418816269.
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Weight-bearing exercise is a well-accepted physiotherapy to prevent osteoporosis for stroke patients. But the immobility of stroke patients limits the types and intensity of conventional interventions. Recent advances in robot-assisted therapeutic device provide an innovative way which could potentially overcome the above-mentioned limitations. However, the effects of robot-assisted physiotherapy on osteoporosis prevention have not been fully understood. The purpose of the present study is to develop an innovative theoretical framework to investigate the effects of static robot-assisted walking exercise on bone health. Through conducting a series of studies using a robot, force insoles and CT-image-based computational modeling, our results show that robot-assisted walking can significantly reduce the osteoporosis risk for stroke patients. However, the vertical peak ground reaction forces generated from static robot walking is generally lower than that from treadmill walking due to the fact that there are no heel strike and push-off effects in static robotic walking.
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Qiang Zeng, Etienne Burdet, and Chee Leong Teo. "Evaluation of a Collaborative Wheelchair System in Cerebral Palsy and Traumatic Brain Injury Users." Neurorehabilitation and Neural Repair 23, no. 5 (December 12, 2008): 494–504. http://dx.doi.org/10.1177/1545968308323692.
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Objective. This article describes the evaluation of the Collaborative Wheelchair Assistant (CWA), a robotic wheelchair that lets the user control the speed and provides guiding assistance along virtual paths programmed in software. Methods. Three people with cerebral palsy and 2 with traumatic brain injury, who had been ruled out as candidates for independent mobility, were recruited. These subjects were first trained to use the CWA with and without path guidance before completing a navigation task. Results. All subjects were able, after a few training sessions, to drive the wheelchair with path guidance safely and efficiently in an environment with obstacles and narrow passageways. The CWA enabled the subjects to drastically reduce their effort and intervention level without compromising performance. Conclusions. The results suggest that the CWA can provide driving assistance adapted to various disabilities. It could be used as a safe mobility device for some subjects who could eventually control a normal powered wheelchair after training and provide a way to increase the mobility of subjects with larger motor control or cognitive deficiencies.
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Leggieri, Sergio, Carlo Canali, and Darwin G. Caldwell. "Design of the Crawler Units: Toward the Development of a Novel Hybrid Platform for Infrastructure Inspection." Applied Sciences 12, no. 11 (May 31, 2022): 5579. http://dx.doi.org/10.3390/app12115579.
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Inspections of industrial and civil infrastructures are necessary to prevent damages and loss of human life. Although robotic inspection is gaining momentum, most of the operations are still performed by human workers. The main limiting factors of inspection robots are the lack of versatility as well as the low reliability of these devices, since they need to operate in a non-structured environment. In this work, a novel Hybrid Platform for inspection in industrial contexts is proposed, focusing on the design and testing of the Crawler Unit. The goal is to solve versatility related issues exploiting modularity and self-reconfigurability. The Hybrid Platform consists of three main systems: a mobile Main Base and two Crawler Units. Each would operate independently, accomplishing specific tasks. Docking interfaces, on each device, allow the systems to reconfigure into different robots. The Crawler Unit operates in constrained environments and narrow spaces. The Main Base patrols wide areas and deploys the Crawler Units near the inspection site. For dealing with challenging conditions, the two Crawler Units can dock together, reconfiguring into a snake-like robot. Additionally, once docked to the Main Base, the two Crawlers can operate also as robotic arms, providing manipulation abilities to the platform. The first version of the Crawler Unit exhibited an interesting performance over flat and uneven terrains. To extend the mobility of this robot, a second version was developed, introducing some innovations in the system design. These innovations provided the Crawler Unit with advanced mobility in the vertical plane, thus allowing the robot to deal with more complex scenarios such as crossing gaps, overcoming obstacles and lifting the modules.
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Russo, Matteo, and Marco Ceccarelli. "Analysis of a Wearable Robotic System for Ankle Rehabilitation." Machines 8, no. 3 (August 27, 2020): 48. http://dx.doi.org/10.3390/machines8030048.
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As one of the most commonly injured joints of the human body, the ankle is often subject to sprains or fractures that require motion assistance to recover mobility. Whereas physiotherapists usually perform rehabilitation in one-on-one sessions with patients, several successful robotic rehabilitation solutions have been proposed in the last years. However, their design is usually bulky and requires the patient to sit or stand in a static position. A lightweight wearable device for ankle motion assistance, the CABLEankle, is here proposed for motion ankle exercising in rehabilitation and training. The CABLEankle is based on a cable-driven S-4SPS parallel architecture, which enables motion assistance over the large motion range of the human ankle in a walking gait. The proposed mechanism design is analyzed with kinematic and static models, and the force closure workspace of the mechanism is discussed with analytical results. Finally, the feasibility of the proposed design is investigated through numerical simulations over the ankle motion range as a characterization of the peculiar motion.
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Abdallah, Ismail Ben, and Yassine Bouteraa. "A Newly-Designed Wearable Robotic Hand Exoskeleton Controlled by EMG Signals and ROS Embedded Systems." Robotics 12, no. 4 (July 1, 2023): 95. http://dx.doi.org/10.3390/robotics12040095.
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One of the most difficult parts of stroke therapy is hand mobility recovery. Indeed, stroke is a serious medical disorder that can seriously impair hand and locomotor movement. To improve hand function in stroke patients, new medical technologies, such as various wearable devices and rehabilitation therapies, are being developed. In this study, a new design of electromyography (EMG)-controlled 3D-printed hand exoskeleton is presented. The exoskeleton was created to help stroke victims with their gripping abilities. Computer-aided design software was used to create the device’s 3D architecture, which was then printed using a polylactic acid filament. For online classifications, the performance of two classifiers—the support vector machine (SVM) and the K-near neighbor (KNN)—was compared. The Robot Operating System (ROS) connects all the various system nodes and generates the decision for the hand exoskeleton. The selected classifiers had high accuracy, reaching up to 98% for online classification performed with healthy subjects. These findings imply that the new wearable exoskeleton, which could be controlled in accordance with the subjects’ motion intentions, could aid in hand rehabilitation for a wider motion range and greater dexterity.
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Sakel, Mohamed, Karen Saunders, Philip Hodgson, David Stephensen, Chetan P. Phadke, Paul A. Bassett, and David Wilkinson. "Feasibility and Safety of a Powered Exoskeleton for Balance Training for People Living with Multiple Sclerosis: A Single-Group Preliminary Study (Rapper III)." Journal of Rehabilitation Medicine 54 (December 9, 2022): jrm00357. http://dx.doi.org/10.2340/jrm.v54.4544.
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Objective: To evaluate the feasibility, usability, safety, and potential health benefits of using an exoskeleton device for rehabilitation of people living with multiple sclerosis.Design: Single-group preliminary study.Subjects: Eleven adults living with multiple sclerosis, with Expanded Disability Status Scores that ranged from 6 to 7.5 (mean age (standard deviation; SD) 54.2 (11.8) years), were recruited.Methods: Individual participants undertook a balance rehabilitation exercise programme using the Rex Rehab robotic exoskeleton device. Each participant undertook 4 × 45–60 min supervised, balance exercise sessions. Primary outcomes were: (i) the number of participants who completed the trial protocol safely, and (ii) the number and nature of adverse events reported. Secondary outcomes were: mobility; balance; spasticity; sleep; functional independence; quality of life; and device satisfaction.Results: Ten out of 11 participants completed the trial protocol safely. Four adverse events were recorded (1 serious), all of which were deemed unrelated to the trial. Secondary outcomes showed allied improvements in balance, joint mobility, spasticity and quality of life. All participants found the device acceptable to use.Conclusion: These results suggest that it is feasible and safe to use the Rex Rehab exoskeleton device to assist with balance rehabilitation for people living with multiple sclerosis. LAY ABSTRACTMultiple sclerosis (MS) is a chronic neurological disease that can lead to symptoms, including muscle weakness and balance issues. The incidence of falls in people living with MS (PwMS) is 3 times higher than that in older people. To try to reduce this vulnerability to falls, this study aimed to evaluate the feasibility, safety, and potential health benefits of using an exoskeleton device for a balance exercise programme. Eleven PwMS undertook 4×45–60 min supervised, balance exercise sessions using the exoskeleton device. Feasibility and safety were assessed by identifying the number of participants who completed the trial safely; consideration of any issues experienced during the trial and how these were resolved. Ten participants completed the trial (1 withdrew due to their MS) and only 4 issues were reported, all of which were unrelated to the trial. Some participants also experienced improvements in balance, mobility, and quality of life.
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Ahmetspahic, Adi, Eldin Burazerovic, Dragan Jankovic, Eleonora Kujaca, Hana Rizvanovic, Ibrahim Omerhodzic, Haso Sefo, and Nermir Granov. "RoboticScope-Assisted Microanastomosis in a Chicken Leg Model." Asian Journal of Neurosurgery 18, no. 04 (December 2023): 782–89. http://dx.doi.org/10.1055/s-0043-1776794.
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Abstract Background Many recent studies show that exoscopes are safe and effective alternatives to operating microscopes (OM). Developments of robotics and automation are present in neurosurgery with the appearance of a newer device such as RoboticScope (RS) exoscope with a digital three-dimensional (3D) image and a head-mounted display. The body of the RS is connected to a six-axis robotic arm that contains two video cameras, and serves as stereovision. This robotic arm allows accurate 3D camera motions over the field of view, giving the user a great degree of freedom in viewpoint selection. The surgeons may specify the direction and speed of the robotic arm using simple head movements when the foot pedal is pressed. Since its development in 2020, the RS has occasionally been used in neurosurgery for a multitude of procedures. Methods This study showcases vessel microanastomosis training on chicken legs using the RS. The aim of this study is to demonstrate the feasibility of the RS without a comparative analysis of the standard OM. The study was conducted in 2023 during a month-long trial period of the device at the Department of Neurosurgery of the Clinical Center of the University of Sarajevo. All procedures including RS-assisted anastomosis were performed by a neurosurgeon in anastomosis training (A.A.) supervised by a senior vascular neurosurgeon (E.B.). For the purpose of the study, we evaluated occlusion time in minutes, bypass patency with iodine, and overall satisfaction of the trainee in terms of light intensity, precision of automatic focus, mobility of the device, ergonomics, and convenience of the helmet. Results Ten RS-assisted microanastomoses were performed by interrupted suturing technique with 10.0 nylon thread. Bypass training included seven “end-to-side,” two “end-to-end,” and one “side-to-side” microanastomoses. The smallest vessel diameter was 1 mm. Occlusion time improved by training from 50 to 24 minutes, with contrast patency of the anastomoses in all cases without notable leakage of the contrast, except one case. Complete satisfaction of the trainee was achieved in 7 out of 10 cases. During this period, we also performed different RS-assisted surgeries including a single indirect bypass, convexity brain tumor resection, and microdiscectomies. Conclusion RS provides a new concept for microanastomosis training as an alternative or adjunct to the standard microscope. We found a full-time hands-on microsuturing without the need for manual readjustment of the device as an advantage as well as instant depth at automatic zooming and precise transposition of the focus via head movements. However, it takes time to adapt and get used to the digital image. With the evolution of the device helmet's shortcomings, the RS could represent a cutting-edge method in vessel microanastomosis in the future. Nevertheless, this article represents one of the first written reports on microanastomosis training on an animal model with the above-mentioned device.
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Dorfer, Christian, Georgi Minchev, Thomas Czech, Harald Stefanits, Martha Feucht, Ekaterina Pataraia, Christoph Baumgartner, Gernot Kronreif, and Stefan Wolfsberger. "A novel miniature robotic device for frameless implantation of depth electrodes in refractory epilepsy." Journal of Neurosurgery 126, no. 5 (May 2017): 1622–28. http://dx.doi.org/10.3171/2016.5.jns16388.
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OBJECTIVEThe authors' group recently published a novel technique for a navigation-guided frameless stereotactic approach for the placement of depth electrodes in epilepsy patients. To improve the accuracy of the trajectory and enhance the procedural workflow, the authors implemented the iSys1 miniature robotic device in the present study into this routine.METHODSAs a first step, a preclinical phantom study was performed using a human skull model, and the accuracy and timing between 5 electrodes implanted with the manual technique and 5 with the aid of the robot were compared. After this phantom study showed an increased accuracy with robot-assisted electrode placement and confirmed the robot's ability to maintain stability despite the rotational forces and the leverage effect from drilling and screwing, patients were enrolled and analyzed for robot-assisted depth electrode placement at the authors' institution from January 2014 to December 2015. All procedures were performed with the S7 Surgical Navigation System with Synergy Cranial software and the iSys1 miniature robotic device.RESULTSNinety-three electrodes were implanted in 16 patients (median age 33 years, range 3–55 years; 9 females, 7 males). The authors saw a significant increase in accuracy compared with their manual technique, with a median deviation from the planned entry and target points of 1.3 mm (range 0.1–3.4 mm) and 1.5 mm (range 0.3–6.7 mm), respectively. For the last 5 patients (31 electrodes) of this series the authors modified their technique in placing a guide for implantation of depth electrodes (GIDE) on the bone and saw a significant further increase in the accuracy at the entry point to 1.18 ± 0.5 mm (mean ± SD) compared with 1.54 ± 0.8 mm for the first 11 patients (p = 0.021). The median length of the trajectories was 45.4 mm (range 19–102.6 mm). The mean duration of depth electrode placement from the start of trajectory alignment to fixation of the electrode was 15.7 minutes (range 8.5–26.6 minutes), which was significantly faster than with the manual technique. In 12 patients, depth electrode placement was combined with subdural electrode placement. The procedure was well tolerated in all patients. The authors did not encounter any case of hemorrhage or neurological deficit related to the electrode placement. In 1 patient with a psoriasis vulgaris, a superficial wound infection was encountered. Adequate physiological recordings were obtained from all electrodes. No additional electrodes had to be implanted because of misplacement.CONCLUSIONSThe iSys1 robotic device is a versatile and easy to use tool for frameless implantation of depth electrodes for the treatment of epilepsy. It increased the accuracy of the authors' manual technique by 60% at the entry point and over 30% at the target. It further enhanced and expedited the authors' procedural workflow.
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Lee, Giwon, Haena Kim, Seon Baek Lee, Daegun Kim, Eunho Lee, Seong Kyu Lee, and Seung Goo Lee. "Tailored Uniaxial Alignment of Nanowires Based on Off-Center Spin-Coating for Flexible and Transparent Field-Effect Transistors." Nanomaterials 12, no. 7 (March 28, 2022): 1116. http://dx.doi.org/10.3390/nano12071116.
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The alignment of nanowires (NWs) has been actively pursued for the production of electrical devices with high-operating performances. Among the generally available alignment processes, spin-coating is the simplest and fastest method for uniformly patterning the NWs. During spinning, the morphology of the aligned NWs is sensitively influenced by the resultant external drag and inertial forces. Herein, the assembly of highly and uniaxially aligned silicon nanowires (Si NWs) is achieved by introducing an off-center spin-coating method in which the applied external forces are modulated by positioning the target substrate away from the center of rotation. In addition, various influencing factors, such as the type of solvent, the spin acceleration time, the distance between the substrate and the center of rotation, and the surface energy of the substrate, are adjusted in order to optimize the alignment of the NWs. Next, a field-effect transistor (FET) incorporating the highly aligned Si NWs exhibits a high effective mobility of up to 85.7 cm2 V−1 s−1, and an on-current of 0.58 µA. Finally, the single device is enlarged and developed in order to obtain an ultrathin and flexible Si NW FET array. The resulting device has the potential to be widely expanded into applications such as wearable electronics and robotic systems.
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Ji, Peng, Hong Zeng, Aiguo Song, Ping Yi, PengWen Xiong, and Huijun Li. "Virtual exoskeleton-driven uncalibrated visual servoing control for mobile robotic manipulators based on human–robot–robot cooperation." Transactions of the Institute of Measurement and Control 40, no. 14 (January 8, 2018): 4046–62. http://dx.doi.org/10.1177/0142331217741538.
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This paper presents an uncalibrated visual servoing control system based on the human–robot–robot cooperation (HRRC). In case of malfunctions of the joint sensors of a robotic manipulator, the proposed system enables the mobile robot to continue operating the manipulator to complete the task that requires careful handling. With the aid of a virtual exoskeleton, an operator may use a human–computer interaction (HCI) device to guide the malfunctioning manipulator. During the guiding process, the virtual exoskeleton serves as a connector between the HCI device and the manipulator. However, when using the HCI device to guide the virtual exoskeleton, there could be a risk of a large-residual problem at any time caused by non-uniform guiding. To solve this problem, a residual switching algorithm (RSA) has been proposed that can identify whether the residual should be calculated based on the motion characteristics of the artificial guiding, reducing the computational cost and ensuring the tracking stability. To enhance the virtual exoskeleton’s ability to drive the manipulator, a multi-joint fuzzy driving controller has been proposed, which can drive the corresponding joint of the manipulator in accordance with an offset vector between the virtual exoskeleton and the manipulator. Lastly, the guiding experiments have verified that, compared with the contrast algorithm, the proposed RSA has a better tracking performance. A peg-in-hole assembly experiment has shown that the proposed control system can assist the operator to control efficiently the robotic manipulator with malfunctioning joint sensors.
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Cho, Ji-Eun, Jun Sang Yoo, Kyoung Eun Kim, Sung Tae Cho, Woo Seok Jang, Ki Hun Cho, and Wan-Hee Lee. "Systematic Review of Appropriate Robotic Intervention for Gait Function in Subacute Stroke Patients." BioMed Research International 2018 (2018): 1–11. http://dx.doi.org/10.1155/2018/4085298.
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The purpose of this study was to critically evaluate the effects of robot-assisted gait training (RAGT) on gait-related function in patients with acute/subacute stroke. We conducted a systematic review of randomized controlled trials published between May 2012 and April 2016. This search included 334 articles (Cochrane, 51 articles; Embase, 175 articles; PubMed, 108 articles). Based on the inclusion and exclusion criteria, 7 studies were selected for this review. We performed a quality evaluation using the PEDro scale. In this review, 3 studies used an exoskeletal robot, and 4 studies used an end-effector robot as interventions. As a result, RAGT was found to be effective in improving walking ability in subacute stroke patients. Significant improvements in gait speed, functional ambulatory category, and Rivermead mobility index were found with RAGT compared with conventional physical therapy(p<0.05). Therefore, aggressive weight support and gait training at an early stage using a robotic device are helpful, and robotic intervention should be applied according to the patient’s functional level and onset time of stroke.
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Padfield, Natasha, Kenneth Camilleri, Tracey Camilleri, Simon Fabri, and Marvin Bugeja. "A Comprehensive Review of Endogenous EEG-Based BCIs for Dynamic Device Control." Sensors 22, no. 15 (August 3, 2022): 5802. http://dx.doi.org/10.3390/s22155802.
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Electroencephalogram (EEG)-based brain–computer interfaces (BCIs) provide a novel approach for controlling external devices. BCI technologies can be important enabling technologies for people with severe mobility impairment. Endogenous paradigms, which depend on user-generated commands and do not need external stimuli, can provide intuitive control of external devices. This paper discusses BCIs to control various physical devices such as exoskeletons, wheelchairs, mobile robots, and robotic arms. These technologies must be able to navigate complex environments or execute fine motor movements. Brain control of these devices presents an intricate research problem that merges signal processing and classification techniques with control theory. In particular, obtaining strong classification performance for endogenous BCIs is challenging, and EEG decoder output signals can be unstable. These issues present myriad research questions that are discussed in this review paper. This review covers papers published until the end of 2021 that presented BCI-controlled dynamic devices. It discusses the devices controlled, EEG paradigms, shared control, stabilization of the EEG signal, traditional machine learning and deep learning techniques, and user experience. The paper concludes with a discussion of open questions and avenues for future work.
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Jafari, Nooshin, Michael Lim, Aida Hassani, Jennifer Cordeiro, Crystal Kam, and Kendall Ho. "Human-like tele-health robotics for older adults – A preliminary feasibility trial and vision." Journal of Rehabilitation and Assistive Technologies Engineering 9 (January 2022): 205566832211403. http://dx.doi.org/10.1177/20556683221140345.
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Introduction The global increase of the aging population presents major challenges to healthcare service delivery. Further, the COVID-19 pandemic exposed older adults’ vulnerability to rapid deterioration of health when deprived of access to care due to the need for social distancing. Robotic technology advancements show promise to improve provision of quality care, support independence for patients and augment the capabilities of clinicians to perform tasks remotely. Aim This study explored the feasibility and end-user acceptance of using a novel human-like tele-robotic system with touch feedback to conduct a remote medical examination and deliver safe care. Method Testing of a remotely controlled robot was conducted with in-person clinician support to gather ECG readings of 11 healthy participants through a digital medical device. Post-study feedback about the system and the remote examinations conducted was obtained from study participants and study clinicians. Results The findings demonstrated the system’s capability to support remote examination of participants, and validated the system’s perceived acceptability by clinicians and end-users who all reported feeling safe interacting with the robot and 72% preferred remote robotic exam over in-person examination. Conclusion This paper discusses potential implications of robot-assisted telehealth for patients including older adults who are precluded from having in-person medical visits due to geographic distance or mobility, and proposes next steps for advancing robot-assisted telehealth delivery.
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Pransky, Joanne. "The Pransky interview: Dr Yoky Matsuoka, Vice President Technology, Nest Labs." Industrial Robot: An International Journal 41, no. 6 (October 20, 2014): 481–86. http://dx.doi.org/10.1108/ir-09-2014-0389.
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Purpose – This article is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned entrepreneur regarding the evolution, commercialization and challenges of bringing a technological invention to market. Design/methodology/approach – The interviewee is Dr Yoky Matsuoka, the Vice President of Nest Labs. Matsuoka describes her career journey that led her from a semi-professional tennis player who wanted to build a robot tennis buddy, to a pioneer of neurobotics who then applied her multidisciplinary research in academia to the development of a mass-produced intelligent home automation device. Findings – Dr Matsuoka received a BS degree from the University of California, Berkeley and an MS and PhD in electrical engineering and computer science from the Massachusetts Institute of Technology (MIT). She was also a Postdoctoral Fellow in the Brain and Cognitive Sciences at MIT and in Mechanical Engineering at Harvard University. Dr Matsuoka was formerly the Torode Family Endowed Career Development Professor of Computer Science and Engineering at the University of Washington (UW), Director of the National Science Foundation Engineering Research Center for Sensorimotor Neural Engineering and Ana Loomis McCandless Professor of Robotics and Mechanical Engineering at Carnegie Mellon University. In 2010, she joined Google X as one of its three founding members. She then joined Nest as VP of Technology. Originality/value – Dr Matsuoka built advanced robotic prosthetic devices and designed complementary rehabilitation strategies that enhanced the mobility of people with manipulation disabilities. Her novel work has made significant scientific and engineering contributions in the combined fields of mechanical engineering, neuroscience, bioengineering, robotics and computer science. Dr Matsuoka was awarded a MacArthur Fellowship in which she used the Genius Award money to establish a nonprofit corporation, YokyWorks, to continue developing engineering solutions for humans with physical disabilities. Other awards include the Emerging Inventor of the Year, UW Medicine; IEEE Robotics and Automation Society Early Academic Career Award; Presidential Early Career Award for Scientists and Engineers; and numerous others. She leads the development of the learning and control technology for the Nest smoke detector and Thermostat, which has saved the USA hundreds of billions of dollars in energy expenses. Nest was sold to Google in 2013 for a record $3.2 billion dollars in cash.