Download or read book Design Improvements and System Identification of PARTNER a Rehabilitation Robot written by Stephen A. Goodwin and published by . This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Stroke rehabilitation is a rapidly growing research field in the engineering community. The introduction of robotics into traditional rehabilitation regimes brings exciting potential benefits including lower costs, increased dosage, increased motivation, and improved quantification of the rehabilitation process. This thesis presents mechanical design improvements of PARTNER, the Parallel Actuated Robotic Trainer for NEuroRehabilitation, a robot designed to provide spatial assistance during robotic therapy while exhibiting low-impedance, high backdrivability, and spatial uniformity characteristics. Specific mechanical designs of the robot's structure, bearing assemblies, and linkages are described in detail. Additionally, some safety features and control system pieces are discussed. Finally, frequency response data of the system is presented alongside a fitted second-order dynamic model.
Download or read book Rehabilitation Robotics written by Roberto Colombo and published by Academic Press. This book was released on 2018-03-08 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: Rehabilitation Robotics gives an introduction and overview of all areas of rehabilitation robotics, perfect for anyone new to the field. It also summarizes available robot technologies and their application to different pathologies for skilled researchers and clinicians. The editors have been involved in the development and application of robotic devices for neurorehabilitation for more than 15 years. This experience using several commercial devices for robotic rehabilitation has enabled them to develop the know-how and expertise necessary to guide those seeking comprehensive understanding of this topic. Each chapter is written by an expert in the respective field, pulling in perspectives from both engineers and clinicians to present a multi-disciplinary view. The book targets the implementation of efficient robot strategies to facilitate the re-acquisition of motor skills. This technology incorporates the outcomes of behavioral studies on motor learning and its neural correlates into the design, implementation and validation of robot agents that behave as ‘optimal’ trainers, efficiently exploiting the structure and plasticity of the human sensorimotor systems. In this context, human-robot interaction plays a paramount role, at both the physical and cognitive level, toward achieving a symbiotic interaction where the human body and the robot can benefit from each other’s dynamics. Provides a comprehensive review of recent developments in the area of rehabilitation robotics Includes information on both therapeutic and assistive robots Focuses on the state-of-the-art and representative advancements in the design, control, analysis, implementation and validation of rehabilitation robotic systems
Download or read book Human robot Interaction Control of an Intrinsically Compliant Parallel Wrist Rehabilitation Robot written by Tanishka Goyal and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of rehabilitation has undergone tremendous transformation in recent years. From conventional forms of rehabilitative therapy that included a monotonous, repetitive exercise to the inclusion of rehabilitation robots to make the therapeutical treatment less daunting. Rehabilitation robots provide an objective, engaging, and inexpensive alternative to traditional practices while reducing the burden on the healthcare system as well as the patient. However, in the last few decades, the development of such devices was more focused on the lower limb. Due to the complexity of movements, the devices available for rehabilitating the wrist are limited in the literature. Therefore, this research aims to develop a compliant parallel robot for wrist rehabilitation in three degrees of rotational freedom: Pronation/Supination (PS), Flexion/Extension (FE), and Adduction/Abduction (AA). Novel control strategies have been developed to guide the robot in assisting the patient in achieving the rehabilitative goal. The developed prototype follows an end-effector design with a parallel mechanism. Intrinsically compliant Biomimetic Muscle Actuators (BMA) power the prototype and provide the necessary movement. Since these actuators have inherent hysteresis and transient characteristics, a heuristic model has been developed to provide an accurate and time-efficient relationship. The rehabilitation robots, by definition, work in proximity to the human subject and work in partnership; hence, physical interaction is certain. The physical human-robot interaction has highly nonlinear and uncertain dynamics. Therefore, the Koopman Operator theory has been employed to develop a system identification model. The Koopman Operator is a mathematical tool that linearizes highly nonlinear dynamical systems by lifting the state space into an infinite dimensional space. This data-driven approach helps identify the nonlinear system dynamics and develop a trajectory-tracking controller for wrist rehabilitation. The effectiveness of the Koopman Operator is also tested in designing an adaptive controller to predict anatomical stiffness. In a healthy person, the anatomical stiffness is accommodated by the neuromuscular system, which is affected by stroke. Hence, a successful controller should adapt to the anatomical stiffness and the altered physiological capabilities. The Koopman Operator was used to develop the model for predicting anatomical stiffness, which depends on the axis of rotation and the geometric orientation. Rehabilitation therapy can be considered a joint task undertaken by the human subject and the robot with physical interaction. In other words, it can be deemed a coordination game with the human and the robot as the two players. The human's strategy is unknown to the robot, but the controller should interpret the human subject's intention. Therefore, an adaptive estimation method was developed to estimate the human's intention and then assist them in achieving the goal while fulfilling the common objective of wrist rehabilitation. The concept of modeling the human subject and the robot as two agents with a common goal are then extended to exploring them as two independent energy sources. As active human participation is crucial for prompt recovery, the robot is expected to decrease its energy dissipation to increase the level of involvement from the patient. An autodidactic algorithm was developed to estimate the transactive energy between humans and robots during physical interaction. The energy dissipation of the human and the robot was mapped for each orientation attained during the rehabilitation session. The physiological capabilities and the effects of stroke vary from patient to patient. Therefore, it is crucial that the controller can adapt to diverse needs. Accordingly, smart avatars were programmed to learn from the human subject in real-time and provide an energy-efficient rehabilitation trajectory. The smart avatars included a controller with energy optimization to modify the trajectory to minimize the robot's energy dissipation and an Inverse Dynamics model to simulate the subject and estimate the subject's involvement. The avatar was then appended with an Assist-as-Needed controller that calculates the robot's participation in achieving the goal successfully. The essential contributions of this research are the development of an intrinsically compliant parallel robot for wrist rehabilitation with energy-efficient control algorithms. The algorithms developed in this research were successfully tested with healthy human subjects; however, extensive clinical trials with neurologically impaired subjects are required to establish the efficiency of the proposed prototype.
Download or read book Control Systems Design of Bio Robotics and Bio Mechatronics with Advanced Applications written by Ahmad Taher Azar and published by Academic Press. This book was released on 2019-11-30 with total page 502 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control Systems Design of Bio-Robotics and Bio-Mechatronics with Advanced Applications delivers essential and advanced bioengineering information on the application of control and robotics technologies in the life sciences. Judging by what we have witnessed so far, this exciting field of control systems and robotics in bioengineering is likely to produce revolutionary breakthroughs over the next decade. While this book is intended for senior undergraduate or graduate students in both control engineering and biomedical engineering programs, it will also appeal to medical researchers and practitioners who want to enhance their quantitative understanding of physiological processes. Focuses on the engineering and scientific principles underlying the extraordinary performance of biomedical robotics and bio-mechatronics Demonstrates the application of principles for designing corresponding algorithms Presents the latest innovative approaches to medical diagnostics and procedures, as well as clinical rehabilitation from the point-of-view of dynamic modeling, system analysis and control
Download or read book Neurorehabilitation Technology written by David J. Reinkensmeyer and published by Springer Nature. This book was released on 2022-11-15 with total page 771 pages. Available in PDF, EPUB and Kindle. Book excerpt: This revised, updated, and substantially expanded third edition provides an accessible, practical overview of major areas of research, technical development and clinical application in the field of neurorehabilitation movement therapy. The initial section provides the basic framework and a rationale for technology application in movement therapy by summarizing recent findings in neuroplasticity and motor learning. The following section provides a detailed overview of the movement physiology of various neurologic conditions, illustrating how this knowledge has been used to design various neurorehabilitation technologies. The third section then explains the principles of human-machine interaction for movement rehabilitation. The fourth section provides an overview of assessment technology and predictive modeling in neurorehabilitation. The fifth section provides a survey of technological approaches to neurorehabilitation, including spinal cord stimulation, functional electrical stimulation, virtual reality, wearable sensing, brain computer interfaces, mobile technologies, and telerehabilitation. The final two sections examine in greater detail the ongoing revolution in robotic therapy for upper extremity movement and walking, respectively. The promises and limitations of these technologies in neurorehabilitation are discussed, including an Epilogue which debates the impact and utility of robotics for neurorehabilitation. Throughout the book the chapters provide detailed practical information on state-of-the-art clinical applications of these devices following stroke, spinal cord injury, and other neurologic disorders and future developments in the field. The text is illustrated throughout with photographs and schematic diagrams which serve to clarify the information for the reader. Neurorehabilitation Technology, Third Edition is a valuable resource for neurologists, biomedical engineers, roboticists, rehabilitation specialists, physiotherapists, occupational therapists and those training in these fields. Chapter “Spinal Cord Stimulation to Enable Leg Motor Control and Walking in People with Spinal Cord Injury is available open access under a Creative Commons Attribution 4.0 International License via link.springer.com.
Download or read book Program Directory written by National Institute on Disability and Rehabilitation Research (U.S.) and published by . This book was released on with total page 808 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Virtual Reality Enhanced Robotic Systems for Disability Rehabilitation written by Hu, Fei and published by IGI Global. This book was released on 2016-01-07 with total page 406 pages. Available in PDF, EPUB and Kindle. Book excerpt: The study of technology and its implications in the medical field has become an increasingly crucial area of research. By integrating technological innovations into clinical practices, patients can receive improved diagnoses and treatments, as well as faster and safer recoveries. Virtual Reality Enhanced Robotic Systems for Disability Rehabilitation is an authoritative reference source for the latest scholarly research on the use of computer-assisted rehabilitation methods for disabled patients. Highlighting the application of robots, sensors, and virtual environments, this book is ideally designed for graduate students, engineers, technicians, and company administrators interested in the incorporation of auto-training methods in patient recovery.
Download or read book Wearable Robots written by José L. Pons and published by John Wiley & Sons. This book was released on 2008-04-15 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.
Download or read book Human robot Interaction written by Michael A. Goodrich and published by Now Publishers Inc. This book was released on 2007 with total page 89 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents a unified treatment of HRI-related issues, identifies key themes, and discusses challenge problems that are likely to shape the field in the near future. The survey includes research results from a cross section of the universities, government efforts, industry labs, and countries that contribute to HRI.
Download or read book Rehabilitation Technology written by E. Ballabio and published by IOS Press. This book was released on 1993 with total page 276 pages. Available in PDF, EPUB and Kindle. Book excerpt: In What Ways Can the Psychology of Perception Contribute to the Development of Rehabilitation Technology? -- The design and evaluation of rehabilitative computer technology for blind people: the need for a multidisciplinary approach -- Session 3.2: Issues on Methodologies II -- Information for People Planning Technical Research for Visually Disabled Persons -- Tools for Living: Design Principles for Rehabilitation Technology -- Networking, Consensus and Awareness -- Evaluation Methodologies for Rehabilitation Technology -- Session 3.3: Accent on User Needs -- User Requirements Capture for Adaptable Smarter Home Technologies -- An Integrated Research Strategy for Improving Communication Systems for Severely Physically Impaired Non-speaking People -- Evaluation of Products which are Intended to Ease the Lives of Elderly People: The Hi-Riser Chair -- Index of Authors
Download or read book Artificial Intelligence in Healthcare written by Adam Bohr and published by Academic Press. This book was released on 2020-06-21 with total page 385 pages. Available in PDF, EPUB and Kindle. Book excerpt: Artificial Intelligence (AI) in Healthcare is more than a comprehensive introduction to artificial intelligence as a tool in the generation and analysis of healthcare data. The book is split into two sections where the first section describes the current healthcare challenges and the rise of AI in this arena. The ten following chapters are written by specialists in each area, covering the whole healthcare ecosystem. First, the AI applications in drug design and drug development are presented followed by its applications in the field of cancer diagnostics, treatment and medical imaging. Subsequently, the application of AI in medical devices and surgery are covered as well as remote patient monitoring. Finally, the book dives into the topics of security, privacy, information sharing, health insurances and legal aspects of AI in healthcare. Highlights different data techniques in healthcare data analysis, including machine learning and data mining Illustrates different applications and challenges across the design, implementation and management of intelligent systems and healthcare data networks Includes applications and case studies across all areas of AI in healthcare data
Download or read book Handbook of Research on Advanced Mechatronic Systems and Intelligent Robotics written by Habib, Maki K. and published by IGI Global. This book was released on 2019-07-26 with total page 466 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advanced research in the field of mechatronics and robotics represents a unifying interdisciplinary and intelligent engineering science paradigm. It is a holistic, concurrent, and interdisciplinary engineering science that identifies novel possibilities of synergizing and fusing different disciplines. The Handbook of Research on Advanced Mechatronic Systems and Intelligent Robotics is a collection of innovative research on the methods and applications of knowledge in both theoretical and practical skills of intelligent robotics and mechatronics. While highlighting topics including green technology, machine learning, and virtual manufacturing, this book is ideally designed for researchers, students, engineers, and computer practitioners seeking current research on developing innovative ideas for intelligent robotics and autonomous and smart interdisciplinary mechatronic products.
Download or read book Integrated Multi modal and Sensorimotor Coordination for Enhanced Human Robot Interaction written by Bin Fang and published by Frontiers Media SA. This book was released on 2021-06-08 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Trust in Human Robot Interaction written by Chang S. Nam and published by Academic Press. This book was released on 2020-11-17 with total page 614 pages. Available in PDF, EPUB and Kindle. Book excerpt: Trust in Human-Robot Interaction addresses the gamut of factors that influence trust of robotic systems. The book presents the theory, fundamentals, techniques and diverse applications of the behavioral, cognitive and neural mechanisms of trust in human-robot interaction, covering topics like individual differences, transparency, communication, physical design, privacy and ethics. Presents a repository of the open questions and challenges in trust in HRI Includes contributions from many disciplines participating in HRI research, including psychology, neuroscience, sociology, engineering and computer science Examines human information processing as a foundation for understanding HRI Details the methods and techniques used to test and quantify trust in HRI
Download or read book Architectural Robotics written by Keith Evan Green and published by MIT Press. This book was released on 2016-02-10 with total page 279 pages. Available in PDF, EPUB and Kindle. Book excerpt: How a built environment that is robotic and interactive becomes an apt home to our restless, dynamic, and increasingly digital society. The relationship of humans to computers can no longer be represented as one person in a chair and one computer on a desk. Today computing finds its way into our pockets, our cars, our appliances; it is ubiquitous—an inescapable part of our everyday lives. Computing is even expanding beyond our devices; sensors, microcontrollers, and actuators are increasingly embedded into the built environment. In Architectural Robotics, Keith Evan Green looks toward the next frontier in computing: interactive, partly intelligent, meticulously designed physical environments. Green examines how these “architectural robotic” systems will support and augment us at work, school, and home, as we roam, interconnect, and age. Green tells the stories of three projects from his research lab that exemplify the reconfigurable, distributed, and transfigurable environments of architectural robotics. The Animated Work Environment is a robotic work environment of shape-shifting physical space that responds dynamically to the working life of the people within it; home+ is a suite of networked, distributed “robotic furnishings” integrated into existing domestic and healthcare environments; and LIT ROOM offers a simulated environment in which the physical space of a room merges with the imaginary space of a book, becoming “a portal to elsewhere.” How far beyond workstations, furniture, and rooms can the environments of architectural robotics stretch? Green imagines scaled-up neighborhoods, villages, and metropolises composed of physical bits, digital bytes, living things, and their hybrids. Not global but local, architectural robotics grounds computing in a capacious cyber-physical home.
Download or read book Towards Autonomous Robotic Systems written by Manuel Giuliani and published by Springer. This book was released on 2018-07-21 with total page 493 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 19th Annual Conference on Towards Autonomous Robotics, TAROS 2018, held in Bristol, UK, in July 2018. The 38 full papers presented together with 14 short papers were carefully reviewed and selected from 68 submissions. The papers focus on presentation and discussion of the latest results and methods in autonomous robotics research and applications. The conference offers a friendly environment for robotics researchers and industry to take stock and plan future progress.
Download or read book Biologically Inspired Robotics written by Yunhui Liu and published by CRC Press. This book was released on 2011-12-21 with total page 343 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic engineering inspired by biology—biomimetics—has many potential applications: robot snakes can be used for rescue operations in disasters, snake-like endoscopes can be used in medical diagnosis, and artificial muscles can replace damaged muscles to recover the motor functions of human limbs. Conversely, the application of robotics technology to our understanding of biological systems and behaviors—biorobotic modeling and analysis—provides unique research opportunities: robotic manipulation technology with optical tweezers can be used to study the cell mechanics of human red blood cells, a surface electromyography sensing system can help us identify the relation between muscle forces and hand movements, and mathematical models of brain circuitry may help us understand how the cerebellum achieves movement control. Biologically Inspired Robotics contains cutting-edge material—considerably expanded and with additional analysis—from the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). These 16 chapters cover both biomimetics and biorobotic modeling/analysis, taking readers through an exploration of biologically inspired robot design and control, micro/nano bio-robotic systems, biological measurement and actuation, and applications of robotics technology to biological problems. Contributors examine a wide range of topics, including: A method for controlling the motion of a robotic snake The design of a bionic fitness cycle inspired by the jaguar The use of autonomous robotic fish to detect pollution A noninvasive brain-activity scanning method using a hybrid sensor A rehabilitation system for recovering motor function in human hands after injury Human-like robotic eye and head movements in human–machine interactions A state-of-the-art resource for graduate students and researchers in the fields of control engineering, robotics, and biomedical engineering, this text helps readers understand the technology and principles in this emerging field.
