Готові списки джерел за темами / Wearable robotic

Добірка наукової літератури з теми "Wearable robotic"

Автор: Grafiati
Опубліковано: 14 березня 2023

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Статті в журналах з теми "Wearable robotic"

1

Fang, Bin, Fuchun Sun, Huaping Liu, Di Guo, Wendan Chen, and Guodong Yao. "Robotic teleoperation systems using a wearable multimodal fusion device." International Journal of Advanced Robotic Systems 14, no. 4 (July 1, 2017): 172988141771705. http://dx.doi.org/10.1177/1729881417717057.

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Анотація:
Teleoperation is of great importance in the area of robotics especially when people’s presence at the robot working space is unavailable. It provides an alternative to employ human intelligence in the control of the robot remotely. We establish robotic teleoperation systems with a wearable multimodal fusion device. The device is integrated with 18 low-cost inertial and magnetic measurement units, which cover all segments of the arm and hand. The multimodal fusion algorithm based on extended Kalman filter is deduced to determine the orientations and positions of each segment. Then, the robotic teleoperation systems using the proposed device are designed. The novel teleoperation schemes can be applied for 11DOF robotic arm–hand system and 10DOF robotic arm–hand system, in which the operator’s fingers are used for robotic hand teleoperation, and the arms with palm are used for robotic arm teleoperation. Meanwhile, the proposed robotic teleoperation systems are fully realized with a user-friendly human–machine interaction interface. Finally, a series of experiments are conducted with our robotic teleoperation system successfully.
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2

Martinez-Hernandez, Uriel, Benjamin Metcalfe, Tareq Assaf, Leen Jabban, James Male, and Dingguo Zhang. "Wearable Assistive Robotics: A Perspective on Current Challenges and Future Trends." Sensors 21, no. 20 (October 12, 2021): 6751. http://dx.doi.org/10.3390/s21206751.

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Анотація:
Wearable assistive robotics is an emerging technology with the potential to assist humans with sensorimotor impairments to perform daily activities. This assistance enables individuals to be physically and socially active, perform activities independently, and recover quality of life. These benefits to society have motivated the study of several robotic approaches, developing systems ranging from rigid to soft robots with single and multimodal sensing, heuristics and machine learning methods, and from manual to autonomous control for assistance of the upper and lower limbs. This type of wearable robotic technology, being in direct contact and interaction with the body, needs to comply with a variety of requirements to make the system and assistance efficient, safe and usable on a daily basis by the individual. This paper presents a brief review of the progress achieved in recent years, the current challenges and trends for the design and deployment of wearable assistive robotics including the clinical and user need, material and sensing technology, machine learning methods for perception and control, adaptability and acceptability, datasets and standards, and translation from lab to the real world.
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3

In, Hyunki, Useok Jeong, Brian Byunghyun Kang, Haemin Lee, Inwook Koo, and Kyu-Jin Cho. "Trend of Soft Wearable Robotic Hand." Journal of Institute of Control, Robotics and Systems 21, no. 6 (June 1, 2015): 531–37. http://dx.doi.org/10.5302/j.icros.2015.15.9029.

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4

Xue, Xiangming, Bohua Zhang, Sunho Moon, Guo-Xuan Xu, Chih-Chung Huang, Nitin Sharma, and Xiaoning Jiang. "Development of a Wearable Ultrasound Transducer for Sensing Muscle Activities in Assistive Robotics Applications." Biosensors 13, no. 1 (January 13, 2023): 134. http://dx.doi.org/10.3390/bios13010134.

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Анотація:
Robotic prostheses and powered exoskeletons are novel assistive robotic devices for modern medicine. Muscle activity sensing plays an important role in controlling assistive robotics devices. Most devices measure the surface electromyography (sEMG) signal for myoelectric control. However, sEMG is an integrated signal from muscle activities. It is difficult to sense muscle movements in specific small regions, particularly at different depths. Alternatively, traditional ultrasound imaging has recently been proposed to monitor muscle activity due to its ability to directly visualize superficial and at-depth muscles. Despite their advantages, traditional ultrasound probes lack wearability. In this paper, a wearable ultrasound (US) transducer, based on lead zirconate titanate (PZT) and a polyimide substrate, was developed for a muscle activity sensing demonstration. The fabricated PZT-5A elements were arranged into a 4 × 4 array and then packaged in polydimethylsiloxane (PDMS). In vitro porcine tissue experiments were carried out by generating the muscle activities artificially, and the muscle movements were detected by the proposed wearable US transducer via muscle movement imaging. Experimental results showed that all 16 elements had very similar acoustic behaviors: the averaged central frequency, −6 dB bandwidth, and electrical impedance in water were 10.59 MHz, 37.69%, and 78.41 Ω, respectively. The in vitro study successfully demonstrated the capability of monitoring local muscle activity using the prototyped wearable transducer. The findings indicate that ultrasonic sensing may be an alternative to standardize myoelectric control for assistive robotics applications.
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5

Zazoum, Bouchaib, Khalid Mujasam Batoo, and Muhammad Azhar Ali Khan. "Recent Advances in Flexible Sensors and Their Applications." Sensors 22, no. 12 (June 20, 2022): 4653. http://dx.doi.org/10.3390/s22124653.

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Анотація:
Flexible sensors are low cost, wearable, and lightweight, as well as having a simple structure as per the requirements of engineering applications. Furthermore, for many potential applications, such as human health monitoring, robotics, wearable electronics, and artificial intelligence, flexible sensors require high sensitivity and stretchability. Herein, this paper systematically summarizes the latest progress in the development of flexible sensors. The review briefly presents the state of the art in flexible sensors, including the materials involved, sensing mechanisms, manufacturing methods, and the latest development of flexible sensors in health monitoring and soft robotic applications. Moreover, this paper provides perspectives on the challenges in this field and the prospect of flexible sensors.
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Carpino, Giorgio, Alessandra Pezzola, Michele Urbano, and Eugenio Guglielmelli. "Assessing Effectiveness and Costs in Robot-Mediated Lower Limbs Rehabilitation: A Meta-Analysis and State of the Art." Journal of Healthcare Engineering 2018 (June 4, 2018): 1–9. http://dx.doi.org/10.1155/2018/7492024.

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Анотація:
Robots were introduced in rehabilitation in the 90s to meet different needs, that is, reducing the physical effort of therapists. This work consists of a meta-analysis of robot-mediated lower limbs rehabilitation for stroke-affected patients; it aims at evaluating the effectiveness of the robotic approach through the use of wearable robots or operational machines with respect to the conventional approach (i.e., manual rehabilitation therapy). The primary assessed outcome is the patient’s ability to recover walking independence, whereas the secondary outcome is the average walking speed. The therapy acceptability and the treatment costs are also assessed. The assessment shows that the robot-mediated therapy is more effective than the conventional one in reaching the primary outcome. As for the secondary outcome, there is no significant difference between the robotic (wearable robots or operational machines) and the conventional approach. Rehabilitation using wearable robots has a greater acceptability than the conventional one. This does not apply to operational machines. The cost of robotic treatment with wearable robots ranges from double to triple the cost of the conventional approach. On the contrary, rehabilitation using operational machines costs the same as the conventional treatment. Robotic rehabilitation based on operational machines is the most cost-effective approach.
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Tucker, Luke A., Ji Chen, Lauren Hammel, Diane L. Damiano, and Thomas C. Bulea. "An open source graphical user interface for wireless communication and operation of wearable robotic technology." Journal of Rehabilitation and Assistive Technologies Engineering 7 (January 2020): 205566832096405. http://dx.doi.org/10.1177/2055668320964056.

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Анотація:
Introduction Wearable robotic exoskeletons offer the potential to move gait training from the clinic to the community thereby providing greater therapy dosage in more naturalistic settings. To capitalize on this potential, intuitive and robust interfaces are necessary between robotic devices and end users. Such interfaces hold great promise for research if they are also designed to record data from the robot during its use. Methods We present the design and validation of an open source graphical user interface (GUI) for wireless operation of and real-time data logging from a pediatric robotic exoskeleton. The GUI was designed for trained users such as an engineer or clinician. A simplified mobile application is also provided to enable exoskeleton operation by an end-user or their caretaker. GUI function was validated during simulated walking with the exoskeleton using a motion capture system. Results Our results demonstrate the ability of the GUI to wirelessly operate and save data from exoskeleton sensors with high fidelity comparable to motion capture. Conclusion The GUI code, available in a public repository with a detailed description and step-by-step tutorial, is configurable to interact with any robotic device operated by a microcontroller and therefore represents a potentially powerful tool for deployment and evaluation of community based robotics.
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Wang, Weizu, Tao Wu, Cameron J. Hohimer, Changki Mo, and Qin Zhang. "Stability Analysis for Orchard Wearable Robotic System." IFAC-PapersOnLine 49, no. 16 (2016): 61–65. http://dx.doi.org/10.1016/j.ifacol.2016.10.012.

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Devi, Delshi Howsalya, Kumutha Duraisamy, Ammar Armghan, Meshari Alsharari, Khaled Aliqab, Vishal Sorathiya, Sudipta Das, and Nasr Rashid. "5G Technology in Healthcare and Wearable Devices: A Review." Sensors 23, no. 5 (February 24, 2023): 2519. http://dx.doi.org/10.3390/s23052519.

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Анотація:
Wearable devices with 5G technology are currently more ingrained in our daily lives, and they will now be a part of our bodies too. The requirement for personal health monitoring and preventive disease is increasing due to the predictable dramatic increase in the number of aging people. Technologies with 5G in wearables and healthcare can intensely reduce the cost of diagnosing and preventing diseases and saving patient lives. This paper reviewed the benefits of 5G technologies, which are implemented in healthcare and wearable devices such as patient health monitoring using 5G, continuous monitoring of chronic diseases using 5G, management of preventing infectious diseases using 5G, robotic surgery using 5G, and 5G with future of wearables. It has the potential to have a direct effect on clinical decision making. This technology could improve patient rehabilitation outside of hospitals and monitor human physical activity continuously. This paper draws the conclusion that the widespread adoption of 5G technology by healthcare systems enables sick people to access specialists who would be unavailable and receive correct care more conveniently.
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Wang, Qining, Nicola Vitiello, Samer Mohammed, and Sunil Agrawal. "Special Issue on Wearable Robotics: Dynamics, Control and Applications." Robotica 37, no. 12 (November 13, 2019): 2011–13. http://dx.doi.org/10.1017/s0263574719001486.

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Анотація:
While initially conceived for human motion augmentation, wearable robots have gradually evolved as technological aids in motion assistance and rehabilitation. There are increasing real-world applications in industrial and medical scenarios. Though efforts have been made on wearable robotic systems, e.g. robotic prostheses and exoskeletons, there are still several challenges in kinematics and actuation solutions, dynamic analysis and control of human-robot systems, neuro-control and human-robot interfaces; ergonomics and human-in-the-loop optimization. Meanwhile, real-world applications in industrial or medical scenarios are facing difficulties considering effectiveness.
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Більше джерел

Дисертації з теми "Wearable robotic"

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Duval, Jean-François S. M. Massachusetts Institute of Technology. "FlexSEA : flexible, scalable electronics architecture for wearable robotic applications." Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/98647.

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Анотація:
Thesis: S.M., Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2015.
"June 2015." Cataloged from PDF version of thesis.
Includes bibliographical references (pages 135-136).
The work of this thesis aims to enable the fast prototyping of multi-axis wearable robotic systems by developing a new modular electronics system. The flexible, scalable electronics architecture (FlexSEA) developed for this thesis fills the void between embedded systems used in commercial devices and in research prototypes. This system provides the required hardware and software for precise motion control, data acquisition, and networking. Scalability is obtained through the use of fast industrial communication protocols between the modules, and the standardization of the peripheral interfaces. Hardware and software encapsulation is used to provide high-performance, real-time control of the actuators while keeping the high-level control development fast, safe and simple. The FlexSEA kits are composed of two custom circuit boards (advanced brushless motor driver and microcontroller board), one commercial embedded computer, a complete software stack and documentation. During its development it has been integrated into a powered prosthetic knee as well as an autonomous ankle exoskeleton. To assess the usability of the FlexSEA kit, a new user successfully used a kit to read sensors and control an output device in less than three hours. FlexSEA simplifies and accelerates wearable robotics prototyping.
by Jean-François Duval.
S.M.
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2

Dang, Wenting. "Stretchable interconnects for smart integration of sensors in wearable and robotic applications." Thesis, University of Glasgow, 2018. http://theses.gla.ac.uk/40994/.

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Анотація:
Stretchable electronic systems are needed in realising a wide range of applications, such as wearable healthcare monitoring where stretching movements are present. Current electronics and sensors are rigid and non-stretchable. However, after integrating with stretchable interconnects, the overall system is able to withstand a certain degree of bending, stretching and twisting. The presence of stretchable interconnects bridges rigid sensors to stretchable sensing networks. In this thesis, stretchable interconnects focusing on the conductive polymer Poly (3,4-ethylenedioxythiophene): poly (4-styrenesulfonate) (PEDOT:PSS) , the composite and the metallic-polyimide (PI) are presented. Three type of stretchable interconnects were developed including gold (Au) -PEDOT:PSS hybrid film interconnects, Graphite-PEDOT:PSS composite interconnects and Au-PI dual-layered interconnects. The Au-PEDOT:PSS hybrid interconnects' stretchability can reach 72%. The composite exhibits a stretchability of 80% but with an extremely high variation in resistance (100000%). The Au-PI interconnects that have a serpentine shape with the arc degree of 260° reveal the highest stretchability, up to 101%, and its resistance variation remains within 0.2%. Further, the encapsulation effect, cyclic stretching, and contact pad's influence, are also investigated. To demonstrate the application of developed stretchable interconnects, this thesis also presents the optimised interconnects integrated with the electrochemical pH sensor and CNT-based strain sensor. The integrated stretchable system with electrochemical pH sensor is able to wirelessly monitor the sweat pH. The whole system can withstand up to 53% strain and more than 500 cycles at 30% strain. For the CNT-based strain sensor, the sensor is integrated on the pneumatically actuated soft robotic finger to monitor the bending radius (23 mm) of the finger. In this way, the movement of the soft robotic finger can be controlled. These two examples of sensor's integration with stretchable interconnects successfully demonstrate the concept of stretchable sensing network. Further work will focus on realising a higher density sensing and higher multifunctional sensing stretchable system seamlessly integrated with cloth fibres.
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Cheung, Michael Yanshun. "Mechanical and trajectory design of wearable Supernumerary Robotic Limbs for crutch use." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/105711.

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Анотація:
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (page 22).
The Supernumerary Robotic Limbs (SRL) is a wearable robot that augments its user with two robotic limbs, kinematically independent from the user's own limbs. This thesis explores the use of the SRL as a hands-free robotic crutch for assisting injured or elderly people. This paper first details the mechanical and material design choices that drastically reduced the weight of this SRL prototype, including advanced composite materials, efficient joint structure, and high-performance pneumatic actuators. The latter half of this paper characterizes the biomechanics of both traditional crutch-assisted and SRL-assisted ambulation, models this gait pattern with an inverted pendulum system, and derives equations of motion to create a simulation that examines the effect of various initial parameters. Finally, an optimum set of initial parameters is identified to produce a successful SRL-assisted swing.
by Michael Yanshun Cheung.
S.B.
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Lo, Roger (Roger D. ). "Control of a pneumatically actuated joint for wearable supernumerary robotic limbs application." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/105691.

Повний текст джерела
Анотація:
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (page 31).
Presented is work on the development of the Supernumerary Robotic Limbs project, headed by Federico Parietti in the d'Arbeloff Labs under Prof. Harry Asada. Specifically, this paper focuses on the integration of lightweight, pneumatic systems for prismatic joint actuation, and the various control schemes studied. This joint serves as the leg of the robot, and extends from the hip of the wearer to contact the ground. The design consists of a two-way pneumatic cylinder inside a load bearing carbon fiber sleeve, actuated with a nominally closed 5-3 way solenoid valve, and weighs in at <1kg per actuator. The positional control scheme is closed via tracking from a linear magnetopotentiometer, while the force control scheme utilizes both the positional tracking as well as a load cell at the foot of the leg. System modeling of the actuator dynamics allowed for development of a model based proportional control method. Optimization of the proportional gain and system delay time produced a rise time of 200ms given a step input command for a 250mm stroke. The developed scheme was implemented in the full wearable system to assist a human support weight in crouched positions and standing up from a sitting position. Initial testing has shown the effectiveness of the power, compactness and compliance of pneumatic systems in a wearable robotic device.
by Roger Lo.
S.B.
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Fong, Wai K. "Design of a man-wearable control station for a robotic rescue system." Master's thesis, University of Cape Town, 2015. http://hdl.handle.net/11427/24316.

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Анотація:
This report details the design, development, and testing of a man-wearable operator control station for the use of a low-cost robotic system in Urban Search and Rescue (USAR). The complete system, dubbed the "Scarab", is the 1st generation developed and built in the Robotics and Agents Research Laboratory (RARL) at the University of Cape Town (UCT), and was a joint effort between three MSc students. Robots have found a place in USAR as replaceable units which can be deployed into dangerous and confined voids in the place of humans. As such, they have been utilized in a large variety of disaster environments including ground, aerial, and underwater scenarios, and have been gathering research momentum since their first documented deployment in the rescue operations surrounding the 9/11 terrorist attacks. However one issue is their cost as they are not economical solutions, making them less viable for inclusion into a rescue mission as well as negatively affecting the operator‟s decisions in order to prioritise the safety of the unit. Another concern is their difficulty of transport, which becomes dependent on the size and portability of the robot. As such, the Scarab system was conceived to provide a deployable robotic platform which was lowcost, with a budget goal of US $ 500. To address the transportability concerns, it aimed to be portable and light-weight; being able to be thrown through a window by a single hand and withstanding a drop height of 3 m. It includes an internal sensor payload which incorporates an array of sensors and electronics, including temperature monitors and two cameras to provide both a normal and IR video feed. Two LED spotlights are used for navigation, and a microphone and buzzer is included for interaction with any discovered survivors. The operator station acts as the user interface between the operator and the robotic platform. It aimed to be as intuitive as possible, providing quick deployment and minimalizing the training time required for its operation. To further enhance the Scarab system‟s portability, it was designed to be a manwearable system, allowing the operator to carry the robotic platform on their back. It also acts as a charging station, supplying power to the robotic platform‟s on-board charging circuitry. The control station‟s mechanical chassis serves as the man-wearable component of the system, with the functionality being achieved by integration onto a tactical vest. This allows the operator to take the complete system on and off as a single unit without assistance, and uses two mounting brackets to dock the robotic platform. Key areas focussed upon during design were the weight and accessibility of the system, as well as providing a rugged housing for the internal electronics. All parts were manufactured in the UCT Mechanical Engineering workshop.
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6

Sajid, Nisar. "Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery." Kyoto University, 2019. http://hdl.handle.net/2433/242497.

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Анотація:
付記する学位プログラム名: デザイン学大学院連携プログラム
Kyoto University (京都大学)
0048
新制・課程博士
博士(工学)
甲第21759号
工博第4576号
新制||工||1713(附属図書館)
京都大学大学院工学研究科機械理工学専攻
(主査)教授 松野 文俊, 教授 椹木 哲夫, 教授 小森 雅晴
学位規則第4条第1項該当
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7

Vivian, Michele. "Studio dell'interazione tra Sistema Muscoloscheletrico Umano e Dispositivi di Assistenza Robotici." Doctoral thesis, Università degli studi di Padova, 2015. http://hdl.handle.net/11577/3423948.

Повний текст джерела
Анотація:
In the latest years, robotic technologies have been increasingly introduced in rehabilitation with the main purpose of reducing the costs and speeding up the recovery process of patients. However, most of the commercial devices impose a pre-programmed trajectory to the limbs of the patients, who therefore behave in a passive way. Another current major limitation is the inability to accurately evaluate the dynamics of the interaction between the patient and the robotic device. This interaction plays a central role in the mutual modulation of human and robot system behavior with respect of their standalone behavior. In particular, the prediction of the interaction can provide useful information to better design the exoskeleton as well as the rehabilitation treatment. This thesis presents my proposed solution for the development of a simulator able to dynamically simulate at the same time the actuated robot device, the human body, and their emerging physical interaction during the movement cooperation. The main idea behind this solution is to decompose the main system in different levels. I called the proposed solution Multi-Level modeling approach, which is the main topic of this thesis. I proposed the following decomposition: Human, Robot, and Boundary Level. The levels are integrated into a whole system in which each of them addresses specific challenges. The Human Level represents the subject who is wearing, for example, an exoskeleton for the lower limbs. To reach a symbiotic collaboration between the subject and the exoskeleton, the proposed approach has to include the subject's intentions and efforts. Moreover, user's internal transformations provide important information about the internal dynamic parameters modulation due to the external device. The Robot Level consists of the wearable robot system which supports the movements. Our proposed approach includes models of both device mechanics and control strategies. This allows to test different control strategies and find the one that better fits each specific patient's needs and characteristics. The last level is the Boundary Level, which has the main objective to model the human-robot mechanical power transfer, including also the non-idealities (such as dissipative forces), in order to accurately estimate interactions. Challenges emerged during the development of the simulator system were faced, investigating different solutions, and selecting and validating the most promising one. First, I selected a common software platform, able to simultaneously reproduce the dynamic behavior of the three levels. The common software platform allows to build a quite flexible system where different solution could be evaluated simply modifying model parameters. Among different available software, OpenSim was selected because it is well known and used for the dynamic study of human movement. Although OpenSim was well tested in biomechanics, it required a further evaluation as simulator for Robot and Boudary Levels. Performed tests and their motivations are reported in this work. Human internal dynamics parameters are modulated by the influence of the external device. I proposed to monitor this variation, taking into consideration the neural drive sent to the muscles. This can be done by measuring the muscles' electromyographic (EMG) signals, which are the electrical potential generated by muscle cells when they are activated, prior to muscle contraction. These signals can be used as input for a physiologically accurate human musculoskeletal model, to calculate the subject contribution to the movement. As the relation between EMGs and the generated muscle forces and joint moments is not linear, the neuromusculoskeletal model is indeed needed to replicate step-by-step all the internal transformations which occur from the excitation of the muscle to the joint movement. Estimation of the emerging interaction, during the human-robot cooperation, can be performed through an interaction model which is basically a set of contact models. Due to the specific rehabilitation purpose of our work, this contact model needs special attention. I introduced and validated a procedure to calibrate the contact models to improve the accuracy of the estimated interaction forces. One of the problems of using EMG signals is that, in order to acquire them in a non-invasive way, surface electrodes must be used; however, this means that the collected data quality is quite susceptible to the electrodes placements and decay, and to electric and magnetic interferences. In many contexts, such as home rehabilitation, this could be a limitation. An alternative solution to avoid the direct EMG measurement is presented in this work. The idea is that for some repetitive tasks, which are most interesting for rehabilitation, it is possible to substitute the direct data collection with a subject specific model of EMGs. The objective of this work is to provide an effective approach to estimate the emerging interaction during the human-robot movement cooperation. The Multi-Level Modeling approach, presented in this thesis, decomposes this complex problem allowing to find all the required components to realize a whole system able to reach this objective.
Negli ultimi anni, la riabilitazione sfrutta sempre di più dispositivi robotici al fine di ridurre i costi e velocizzare il processo di recupero dei pazienti. Finora però, la maggior parte dei dispositivi disponibili sul mercato porta il soggetto a comportarsi in modo passivo, imponendo traiettorie preprogrammate ai pazienti. Un'ulteriore limitazione delle attuali tecnologie è l'incapacità di valutare accuratamente la dinamica dell'interazione tra il paziente e il dispositivo robotico. Tale interazione gioca un ruolo centrale nella mutua modulazione del comportamento dell'essere umano e del sistema robotico, che risulerà diverso rispetto a quello indipendente. In particolare, la predizione di questa interazione può fornire informazioni utili per migliorare sia il design dell'esoscheletro che il processo di riabilitazione. Questa tesi presenta la soluzione che propongo per lo sviluppo di un simulatore in grado di simulare dinamicamente il movimento che risulta dalla cooperazione dell'essere umano e del dispositivo robotico. L'idea principale su cui si basa questa soluzione è di decomporre il sistema in diversi livelli. La soluzione proposta è stata chiamata Multi-Level modeling approach ed è l'argomento principale di questa tesi. La decomposizione proposta si articola in tre livelli: Human, Robot, e Boundary. I livelli sono poi integrati in un unico sistema in cui ogni livello si occupa di rispondere a specifici problemi. Il livello Human rappresenta il soggetto che sta indossando il sistema robotico, ad esempio un esoscheletro per gli arti inferiori. Per raggiungere una collaborazione simbiotica tra il soggetto e l'esoscheletro, l'approccio deve includere le intenzioni del soggetto e monitorare i suoi sforzi per raggiungere il movimento desiderato. Conoscere le trasformazioni interne all'utente possono fornire importanti informazioni sulla modulazione dei parametri dinamici interni dovuti al dispositivo esterno. Il livello Robot si concentra sul sistema robotico indossabile che supporta i movimenti. L'approccio si propone di modellare sia i meccanismi del dispositivo che le strategie di controllo. Questo permette di testare diverse strategie di controllo per trovare quella che meglio si adatta agli specifici bisogni del paziente e alle sue caratteristiche. L'ultimo livello è il Boundary, che ha come obiettivo principale quello di modellare il meccanismo di trasferimento di energia meccanica, includendo anche le non idealità (come le forze dissipative), per riuscire a stimare accuratamente l'interazioni risultante. Diverse sfide sono emerse durante lo sviluppo del sistema complessivo, che sono state affrontate investigando diverse soluzioni, selezionando e validando la più promettente. Il primo problema è stato individuare una piattaforma software comune ai tre livelli in grado di riprodurre simultaneamente il loro comportamento dinamico. Tra i diversi software disponibili ho selezionato OpenSim perchè molto conosciuto e già usato per lo studio della dinamica del movimento umano. Anche se OpenSim è già testato nell'ambito biomeccanico, era necessaria un'ulteriore valutazione come simulatore per i livelli Robot e Boundary. In questo lavoro sono stati presentati quali analisi sono state compiute e i risultati ottenuti. I parametri dinamici interni dell'essere umano sono modulati ed influenzati dei dispositivi esterni. Ho quindi proposto di monitorare queste variazioni, prendendo in considerazione il comando neurale che viene inviato ai muscoli. Questo può essere eseguito misurando l'attività elettromiografica dei muscoli, cioè il potenziale elettrico generato dal muscolo quando viene attivato, prima della contrazione muscolare. Questi segnali possono essere usati come ingresso per un modello dell'apparato muscoloscheletrico umano al fine di calcolare il contributo del soggetto al movimento. L'uso di questo modello si rende necessario a causa delle relazioni non lineari tra gli EMG e le forze muscolari generate e quindi i momenti ai giunti. La stima delle forze di interazione che emergono durante la cooperazione uomo-robot può essere effettuata attraverso un modello di interazione che è fondamentalmente un insieme di modelli di contatto. A causa delle specifiche caratteristiche del nostro lavoro dedicato alla riabilitazione, questo modello di contatto richiede maggiori attenzioni. Per questo ho introdotto e validato una procedura per calibrare i modelli di contatto e migliorare l'accuratezza delle forze di interazione stimate. Uno dei problemi nell'usare i segnali EMG è che è necessario utilizzare degli elettrodi di superficie per acquisirli in modo non invasivo; questo però significa che la qualità dei dati raccolti è molto sensibile alla disposizione degli elettrodi e al loro decadimento, oltre che alle interferenze magnetiche e elettriche. In molti contesti, come la riabilitazione a casa, questo può costituire una forte limitazione. Una soluzione alternativa per evitare la misura diretta degli EMG è presentata in questo lavoro. L'idea è che per azioni ripetitive, che sono spesso di grande interesse nella riabilitazione, sia possibile sostituire la raccolta dati diretta con un modello degli EMG calibrato sul soggetto. L'obiettivo di questo lavoro è stato di proporre un approccio efficace per la stima delle iterazioni che emergono durante il movimento cooperativo uomo-robot. L'approccio Multi-Level Modeling, che è stato presentato in questa tesi, decompone questo problema complesso permettendo di sviluppare tutti i componenti necessari alla realizzazione di un sistema completo che sia in grado di raggiungere l'obiettivo finale.
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Rowe, Justin Bradley. "Evaluating robotic assistance and developing a wearable hand activity monitor to improve upper extremity movement recovery after stroke." Thesis, University of California, Irvine, 2015. http://pqdtopen.proquest.com/#viewpdf?dispub=3727453.

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In their daily lives, stroke survivors must often choose between attempting upper-extremity activities using their impaired limb, or compensating with their less impaired limb. Choosing their impaired limb can be difficult and discouraging, but might elicit beneficial neuroplasticity that further reduces motor impairments, a phenomenon referred to as “the virtuous cycle”. In contrast, compensation is often quicker, easier, and more effective, but can reinforce maladaptive changes that limit motor recovery, a phenomenon referred to as “learned non-use”. This dissertation evaluated the role of robotic assistance in, and designed a wearable sensing system for, promoting the virtuous cycle.

In the first half of the dissertation, we use the FINGER robot to test the hypothesis that robotic assistance during clinical movement training triggers the virtual cycle. FINGER consists of two singly-actuated mechanisms that assist individuated movement of the index and middle fingers. 30 chronic stroke participants trained in FINGER using a GuitarHero-like game for nine sessions. Half were guided by an adaptive impedance controller towards a success rate of 85%, while the other half were guided towards 50%. Increasing assistance to enable successful practice decreased effort, but primarily for less-impaired participants. Overall, however, high success practice was as effective (or more) as low success practice and even more effective for highly impaired individuals. Participants who received high assistance training were more motivated and reported using their impaired hand more at home. These results support the hypothesis that high assistance clinical movement training motivates impaired hand use, leading to greater use of the hand in daily life, resulting in a self-training effect that reduces motor impairment.

The second half of the dissertation describes the development of the manumeter - a non-obtrusive wearable device for monitoring and incentivizing impaired hand use. Contrasted against wrist accelerometry (the most comparable technology), the manumeter uses a magnetic ring and a wristband with mangetometers to detect wrist and finger movement rather than gross arm movement. We describe 1) the inference of wrist and finger movement from differential magnetometer readings using a radial basis function network, 2) initial testing in which distance traveled estimates were within 94.7%±19.3 of their goniometricly measured values, 3) experiments with non-impaired participants in which the manumeter detected some functional activities better than wrist accelerometry, and 4) improvements to the hardware and data processing that allow both subject-independent tracking of the position of the finger relative to the wrist (RMS errors < 1cm) and highly reliable detection of whether the hand is open or closed. Its performance and non-obtrusive design make the manumeter well suited for measuring and reinforcing impaired hand use in daily life after stroke.

The contributions of this dissertation are experimental confirmation that high assistance movement training promotes the virtuous cycle, and development of a wearable sensor for monitoring hand movement in daily life. Training with robotic assistance and hand use feedback may ultimately help individuals with stroke recover to their full potential.

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Perozzi, Marco. "A myo-controlled wearable manipulation system with tactile sensing for prosthetics studies." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2022. http://amslaurea.unibo.it/25054/.

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The following thesis project aims to study and realize a wearable manipulation system composed by an AR10 robotic hand, controlled via myoelectric signals and tactile sensors for prosthetic studies. The project starts with the kinematic study of the hand via MATLAB and Simulink, in order to obtain a complete insight on the robotic grasping device. Thereafter, a wearable support has been designed and printed to fix the robotic hand around the user forearm. Surface electromyography is acquired using a gForce gesture armband. A Simulink system has been developed to acquire and filter the signals, then the myoelectric data are elaborated to derive the command for the robotic hand. Tactile sensors are added by means of custom 3D-printed support on the fingertips in order to get a force feedback to allow the user to perform the grasp of different objects. Finally, in order to test the whole solution, a subject wearing the whole manipulation system carried out a series of tasks to evaluate the system’s usability during dynamic grasps of different objects. The results of the tests report the accuracy of the manipulation system. The main goal of the project is to test a wearable manipulation system made to be worn by intact subjects, in order to study prosthetic grasping scenarios that can provide results useful for future developments involving amputees.
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Puehn, Christian G. "Development of a Low-Cost Social Robot for Personalized Human-Robot Interaction." Case Western Reserve University School of Graduate Studies / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=case1427889195.

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Книги з теми "Wearable robotic"

1

L, Pons José, ed. Wearable robots: Biomechatronic exoskeletons. Hoboken: Wiley, 2008.

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L, Pons José, ed. Wearable robots: Biomechatronic exoskeletons. Hoboken: Wiley, 2008.

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L, Pons José, ed. Wearable robots: Biomechatronic exoskeletons. Hoboken: Wiley, 2008.

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4

Fang, Bin, Fuchun Sun, Huaping Liu, Chunfang Liu, and Di Guo. Wearable Technology for Robotic Manipulation and Learning. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-5124-6.

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Moreno, Juan C., Jawad Masood, Urs Schneider, Christophe Maufroy, and Jose L. Pons, eds. Wearable Robotics: Challenges and Trends. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-69547-7.

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González-Vargas, José, Jaime Ibáñez, Jose L. Contreras-Vidal, Herman van der Kooij, and José Luis Pons, eds. Wearable Robotics: Challenges and Trends. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-46532-6.

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Carrozza, Maria Chiara, Silvestro Micera, and José L. Pons, eds. Wearable Robotics: Challenges and Trends. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-01887-0.

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Mooney, Carla. Wearable robots. Chicago, IL: Norwood House Press, 2016.

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9

Andrea, Gaggioli, ed. Advanced technologies in rehabilitation: Empowering cognitive, physical, social, and communicative skills through virtual reality, robots, wearable systems, and brain-computer interfaces. Amsterdam: IOS Press, 2009.

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Wearable Robots:: Biomechatronic Exoskeletons. Wiley, 2008.

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Частини книг з теми "Wearable robotic"

1

Weinberg, Gil, Mason Bretan, Guy Hoffman, and Scott Driscoll. "“Wear it”—Wearable Robotic Musicians." In Robotic Musicianship, 213–54. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-38930-7_7.

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Fang, Bin, Fuchun Sun, Huaping Liu, Chunfang Liu, and Di Guo. "Wearable Sensors." In Wearable Technology for Robotic Manipulation and Learning, 33–63. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-5124-6_2.

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Fang, Bin, Fuchun Sun, Huaping Liu, Chunfang Liu, and Di Guo. "Wearable Design and Computing." In Wearable Technology for Robotic Manipulation and Learning, 65–87. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-5124-6_3.

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Fang, Bin, Fuchun Sun, Huaping Liu, Chunfang Liu, and Di Guo. "Applications of Developed Wearable Devices." In Wearable Technology for Robotic Manipulation and Learning, 89–123. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-5124-6_4.

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Yu, Shu-mei, Feng-feng Zhang, Meng Dou, Rong-chuan Sun, and Li-ning Sun. "Unscented Transform-Based Correlation Between Surrogate and Tumor Motion in Robotic Radiosurgery." In Wearable Sensors and Robots, 239–49. Singapore: Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2404-7_19.

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Solis-Ortega, Rodrigo D., Abbas A. Dehghani-Sanij, and Uriel Martinez-Hernandez. "Characterization of Kinetic and Kinematic Parameters for Wearable Robotics." In Towards Autonomous Robotic Systems, 548–56. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-64107-2_44.

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Baraniecki, Lisa, Gina Hartnett, Linda Elliott, Rodger Pettitt, Jack Vice, and Kenyon Riddle. "An Intuitive Wearable Concept for Robotic Control." In Human Interface and the Management of Information: Information, Knowledge and Interaction Design, 492–503. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-58521-5_38.

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Mei, Biao, Wei-dong Zhu, and Ying-lin Ke. "Autofocus for Enhanced Measurement Accuracy of a Machine Vision System for Robotic Drilling." In Wearable Sensors and Robots, 333–52. Singapore: Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2404-7_27.

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Fang, Bin, Fuchun Sun, Huaping Liu, Chunfang Liu, and Di Guo. "Learning from Wearable-Based Teleoperation Demonstration." In Wearable Technology for Robotic Manipulation and Learning, 127–44. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-5124-6_5.

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Fang, Bin, Fuchun Sun, Huaping Liu, Chunfang Liu, and Di Guo. "Learning from Wearable-Based Indirect Demonstration." In Wearable Technology for Robotic Manipulation and Learning, 173–203. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-5124-6_7.

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Тези доповідей конференцій з теми "Wearable robotic"

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Yi, Juan, Xiaojiao Chen, Zhonggui Fang, Yujia Liu, Dehao Duanmu, Yinyin Su, Chaoyang Song, Sicong Liu, and Zheng Wang. "A Soft Wearable Elbow Skeleton for Safe Motion Assistance by Variable Stiffness." In ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/detc2022-90320.

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Abstract Wearable robots could provide external physical assist, contributing to the well-being of elderly or disabled users in accomplishing tasks or therapeutic procedures. However, closely integrating robot dynamics into human activity demands for safety, pleasance and effectiveness simultaneously, requiring both strength and compliance. Soft robotics is generally regarded as a suitable alternative to rigid motor-based actuators for their light weight and passive compliance. However, existing approaches either have predetermined and/or limited passive compliance, or have moderate payload or motion range. While proven very successful in hand actuation in terms of various robotic gloves, their fundamental limitations restrict further expansion to driving other human body parts with higher demands in payload and speed. Previously we have developed an origami soft robotic joint with high torque, customizable dimensions and motion range. In this paper, we report the most recent results on controller development and wearable system integration of the proposed soft actuator in achieving excellent variable-stiffness compliant performance with inherent safety. Using the newly proposed controller, we demonstrate that a higher stiffness leads to quicker passive recovery than human’s normal reaction, suitable in stabilizing common object; while a more submissive configuration, represented by a lower stiffness, could delay the submissive interaction time allowing for a more delicate control of the dynamics of the interaction port with further involvement of human commands, suitable for objects requiring smoother dynamics like preventing a cup of coffee from sloshing. The proposed control strategy and framework has been implemented in a 3D-scanned, 3D-printed wearable robot with elbow actuation, to demonstrate the advantages and new features through experimental results.
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Fernandes, Vinicius B. P., Jared A. Frank, and Vikram Kapila. "A Wearable Interface for Intuitive Control of Robotic Manipulators Without User Training." In ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/esda2014-20128.

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This paper describes the development of a wearable interface that exploits the user’s natural arm movements to intuitively control a robotic manipulator. The design is intended to alleviate the time and effort spent in operating the robotic manipulator, regardless of the age and technological experience of the user. The interface is made to be low-cost, comfortably worn, and easy to put on and remove. Kinematic models of human and robot arms are used to produce a natural mapping from the user’s arm movements to the commanded movements of the robotic manipulator. An experiment is conducted with 30 participants of varied ages and experience to assess the usability of the wearable interface. Each of the participants is assigned to perform a pick and place task using two of three different interfaces (the wearable interface, a game controller, and a mobile interface running on a tablet computer) for a total of 60 trials. The results of the study show that the wearable interface is easier to learn compared to the alternative interfaces and is chosen as the preferred interface by the participants. Performance data shows that the users complete the pick and place task faster with the wearable interface than with the alternative interfaces.
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Flechtner, Rahel, Katharina Lorenz, and Gesche Joost. "Designing a Wearable Soft-Robotic Orthosis." In TEI '20: Fourteenth International Conference on Tangible, Embedded, and Embodied Interaction. New York, NY, USA: ACM, 2020. http://dx.doi.org/10.1145/3374920.3375012.

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Schneider, Erich, Stefan Kohlbecher, Thomas Villgrattner, Klaus Bartl, Stanislavs Bardins, Tony Poitschke, Heinz Ulbrich, and Thomas Brandt. "Vision system for wearable and robotic uses." In 2008 RO-MAN: The 17th IEEE International Symposium on Robot and Human Interactive Communication. IEEE, 2008. http://dx.doi.org/10.1109/roman.2008.4600633.

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Hirai, Shinichi, and Kazuhiro Kato. "Micro pneumatic valves for wearable robotic systems." In 2015 24th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN). IEEE, 2015. http://dx.doi.org/10.1109/roman.2015.7333584.

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Haoyong, Yu. "A Wearable Robotic Exoskeleton for Gait Rehabilitation." In The 3rd World Congress on Electrical Engineering and Computer Systems and Science. Avestia Publishing, 2017. http://dx.doi.org/10.11159/icbes17.117.

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Asin-Prieto, Guillermo, Eduardo Asin-Prieto, Aitor Martinez-Exposito, Jose L. Pons, and Juan C. Moreno. "Tacit adaptability on submaximal force control for ankle robotic training." In 2019 Wearable Robotics Association Conference (WearRAcon). IEEE, 2019. http://dx.doi.org/10.1109/wearracon.2019.8719397.

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Terfurth, Jonathan, and Nejila Parspour. "Integrated Planetary Gear Joint Actuator Concept for Wearable and Industrial Robotic Applications." In 2019 Wearable Robotics Association Conference (WearRAcon). IEEE, 2019. http://dx.doi.org/10.1109/wearracon.2019.8719400.

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Martori, Amanda L., Stephanie L. Carey, Redwan Alqasemi, Daniel Ashley, and Rajiv V. Dubey. "Characterizing Suitability of Wearable Sensors for Movement Analysis Using a Programmed Robotic Motion." In ASME 2013 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/imece2013-65064.

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Wearable sensor systems have the potential to offer advancements in the study of motion disorders, particularly outside of a laboratory setting during activities of daily living or on a football field. Advantages like portability and the capability to gather real-world data have resulted in the rapid adoption of these sensors in various studies for gait analysis, balance control evaluation, physical activity recognition and fall prevention. However, before using wearable sensors in long-term acquisition studies, it is necessary to quantify and analyze errors and determine their sources. In this study, the accuracy of joint angles and velocities measured with the wearable inertial measurement unit (IMU) sensors were compared to both measurements from an optical motion-tracking system and from encoders on a robotic arm while it completed various predetermined paths. The robotic arm uses incremental encoders at each joint to measure and calculate its Cartesian motion relative to a reference frame using inverse kinematics. Motion profiles of the robotic arm were tracked using the onboard encoders, an eight-camera Vicon (Oxford, UK) motion-tracking system with passive retro-reflective markers, and four wearable IMUs by APDM (Portland, OR). In order to better isolate various types of contributing errors, linear, planar, and 3-dimensional robot motions were used. Data were collected from the sensors over several hours, which provided insight into time-based effects as well as management of large amounts of data for future long-term tracking applications. In addition, the authors have previously seen acquisition errors with high-speed gaits, thus robotic arm trajectories of varying velocities were used to provide further insight into these rate-based effects. Angular velocity and joint angles were compared for all three systems and used to investigate the hysteresis, drift and time-based effects on the IMUs as well as their accuracy during motion tracking. Effects on IMU performance due to the application of filtering algorithms were not investigated. The results show that the IMUs were able to calculate the joint angles within a clinically acceptable range of the gold standard optical motion-tracking system. The IMUs also provided accurate trajectory recognition and angular velocity measurements relative to the known motion input of the robotic arm. Future work will include the development of algorithms to detect gait abnormalities such as those seen in patients with mild traumatic brain injury (mTBI). To complement human subject testing with gait pathology, controlled introduction of gait deviations into this robotic testing framework will allow for well-characterized unit testing, providing more robust algorithm development.
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Vatsal, Vighnesh, and Guy Hoffman. "Design and Analysis of a Wearable Robotic Forearm." In 2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018. http://dx.doi.org/10.1109/icra.2018.8461212.

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