Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428401
T. Kikuchi, Hu Xinghao, K. Fukushima, K. Oda, J. Furusho, A. Inoue
Rehabilitation robots are effective to evaluate quantitatively rehabilitative therapies. Some kinds of haptic devices have been developed by many researchers and evaluated its efficiency with clinical tests for example upper limb training for patients with spasticity after stroke. Almost all the devices for upper limb rehabilitation have only 2-DOF for its active motion (except for wrists). But the upper limb of human works in 3-D space even except for the wrist; therefore designing a rehabilitation system for 3-D training is important. We developed new" haptic devices which have 2-DOF force-feedback function on a worktable but the inclination of the worktable can be adjusted. We named this system "Quasi-3-DOF Rehabilitation System for Upper Limbs" or "PLEMO". In this paper, we describe the mechanism of PLEMO and its software for the upper limb rehabilitation.
{"title":"Quasi-3-DOF Rehabilitation System for Upper Limbs: Its Force-Feedback Mechanism and Software for Rehabilitation","authors":"T. Kikuchi, Hu Xinghao, K. Fukushima, K. Oda, J. Furusho, A. Inoue","doi":"10.1109/ICORR.2007.4428401","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428401","url":null,"abstract":"Rehabilitation robots are effective to evaluate quantitatively rehabilitative therapies. Some kinds of haptic devices have been developed by many researchers and evaluated its efficiency with clinical tests for example upper limb training for patients with spasticity after stroke. Almost all the devices for upper limb rehabilitation have only 2-DOF for its active motion (except for wrists). But the upper limb of human works in 3-D space even except for the wrist; therefore designing a rehabilitation system for 3-D training is important. We developed new\" haptic devices which have 2-DOF force-feedback function on a worktable but the inclination of the worktable can be adjusted. We named this system \"Quasi-3-DOF Rehabilitation System for Upper Limbs\" or \"PLEMO\". In this paper, we describe the mechanism of PLEMO and its software for the upper limb rehabilitation.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134154411","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428405
T. Fujisawa, M. Takagi, Y. Takahashi, K. Inoue, T. Terada, Y. Kawakami, T. Komeda
In the field of rehabilitation, physical therapist plays an important role to resume the social life from disease and physical handicap. However, they can obtain their skills only from their practical experiences. The trainee of the physical therapist can earn the experience only from the clinical practical training, and the opportunity is limited. Therefore, we have been developing the upper limb patient simulator, which reproduce the stiffness of elbow joint to allow trainees to increase the opportunities to obtain the exercise of the physical therapy. The system reproduces the diseases by generating stiffness of the elbow joint, when the trainee is trying to flexion the elbow joint of the patient. In this paper, we tried to reproduce the stiffness of Spasticity, that is often seen the patients of stroke and shoulder paralyzed. In addition, we evaluated reproducibility of the stiffness with out system.
{"title":"Basic Research on the Upper Limb Patient Simulator","authors":"T. Fujisawa, M. Takagi, Y. Takahashi, K. Inoue, T. Terada, Y. Kawakami, T. Komeda","doi":"10.1109/ICORR.2007.4428405","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428405","url":null,"abstract":"In the field of rehabilitation, physical therapist plays an important role to resume the social life from disease and physical handicap. However, they can obtain their skills only from their practical experiences. The trainee of the physical therapist can earn the experience only from the clinical practical training, and the opportunity is limited. Therefore, we have been developing the upper limb patient simulator, which reproduce the stiffness of elbow joint to allow trainees to increase the opportunities to obtain the exercise of the physical therapy. The system reproduces the diseases by generating stiffness of the elbow joint, when the trainee is trying to flexion the elbow joint of the patient. In this paper, we tried to reproduce the stiffness of Spasticity, that is often seen the patients of stroke and shoulder paralyzed. In addition, we evaluated reproducibility of the stiffness with out system.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133507679","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428491
A. Frisoli, L. Borelli, A. Montagner, S. Marcheschi, C. Procopio, F. Salsedo, M. Bergamasco, Maria C. Carboncinit, Martina Tolainit, Bruno Rossit
Several studies demonstrate the importance of an early, constant and intensive rehabilitation following cerebral accidents. This kind of therapy is an expensive procedure in terms of human resources and time, and the increase of both life expectance of world population and incidence of stroke is making the administration of such therapies more and more important. The development of new robotic devices for rehabilitation can help to reduce this cost and lead to new effective therapeutic procedures. In this paper we present an exoskeleton for the robotic-assisted rehabilitation of the upper limb. This article describes the main issues in the design of an exoskeletal robot with high performance, in terms of backdrivability, low inertia, large workspace isomorphic to the human arm and high payload to weight ratio. The implementation of three different robotic schemes of therapy in virtual reality with this exoskeleton, based on an impedance control architecture, are presented and discussed in detail. Finally the experimental results of a preliminary evaluation of functionality of the system carried out on one patient are presented, and compared with the performance in the execution of the exercise obtained with healthy volunteers. Moreover, other preliminary results from an extended pilot clinical study with the L-Exos are reported and discussed.
{"title":"Arm rehabilitation with a robotic exoskeleleton in Virtual Reality","authors":"A. Frisoli, L. Borelli, A. Montagner, S. Marcheschi, C. Procopio, F. Salsedo, M. Bergamasco, Maria C. Carboncinit, Martina Tolainit, Bruno Rossit","doi":"10.1109/ICORR.2007.4428491","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428491","url":null,"abstract":"Several studies demonstrate the importance of an early, constant and intensive rehabilitation following cerebral accidents. This kind of therapy is an expensive procedure in terms of human resources and time, and the increase of both life expectance of world population and incidence of stroke is making the administration of such therapies more and more important. The development of new robotic devices for rehabilitation can help to reduce this cost and lead to new effective therapeutic procedures. In this paper we present an exoskeleton for the robotic-assisted rehabilitation of the upper limb. This article describes the main issues in the design of an exoskeletal robot with high performance, in terms of backdrivability, low inertia, large workspace isomorphic to the human arm and high payload to weight ratio. The implementation of three different robotic schemes of therapy in virtual reality with this exoskeleton, based on an impedance control architecture, are presented and discussed in detail. Finally the experimental results of a preliminary evaluation of functionality of the system carried out on one patient are presented, and compared with the performance in the execution of the exercise obtained with healthy volunteers. Moreover, other preliminary results from an extended pilot clinical study with the L-Exos are reported and discussed.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116532728","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428476
M. Arvetti, G. Gini, M. Folgheraiter
In order to increase the effectiveness of active hand prostheses we intend to exploit electromyographic (EMG) signals more than in the usual application for controlling one degree of freedom (gripper open or closed). Among all the numerous muscles that move the fingers, we chose only the ones in the forearm, to have a simple way to position only two electrodes. We analyze the EMG signals coming from two different subjects using a novel integration of ANN and wavelet. We show how to discriminate between more movements, five in this study, using our new classifier. Results show how the methodology we adopted allows us to obtain good accuracy in classifying the hand postures, and opens the way to more functional hand prostheses.
{"title":"Classification of EMG signals through wavelet analysis and neural networks for controlling an active hand prosthesis","authors":"M. Arvetti, G. Gini, M. Folgheraiter","doi":"10.1109/ICORR.2007.4428476","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428476","url":null,"abstract":"In order to increase the effectiveness of active hand prostheses we intend to exploit electromyographic (EMG) signals more than in the usual application for controlling one degree of freedom (gripper open or closed). Among all the numerous muscles that move the fingers, we chose only the ones in the forearm, to have a simple way to position only two electrodes. We analyze the EMG signals coming from two different subjects using a novel integration of ANN and wavelet. We show how to discriminate between more movements, five in this study, using our new classifier. Results show how the methodology we adopted allows us to obtain good accuracy in classifying the hand postures, and opens the way to more functional hand prostheses.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126128832","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428531
K. Fite, J. Mitchell, F. Sup, M. Goldfarb
This paper describes the design and control of a transfemoral prosthesis with an electrically powered knee joint. This paper details the design of the active-knee prototype and presents an impedance-based control approach with which to coordinate the interaction between the prosthesis and user during level walking. The control methodology is implemented on the prosthesis, and experimental results and video frame sequences are shown that demonstrate the effectiveness of the prosthesis and control approach for level walking.
{"title":"Design and Control of an Electrically Powered Knee Prosthesis","authors":"K. Fite, J. Mitchell, F. Sup, M. Goldfarb","doi":"10.1109/ICORR.2007.4428531","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428531","url":null,"abstract":"This paper describes the design and control of a transfemoral prosthesis with an electrically powered knee joint. This paper details the design of the active-knee prototype and presents an impedance-based control approach with which to coordinate the interaction between the prosthesis and user during level walking. The control methodology is implemented on the prosthesis, and experimental results and video frame sequences are shown that demonstrate the effectiveness of the prosthesis and control approach for level walking.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122387410","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428408
Tobias Nef, M. Mihelj, Gabriela Kiefer, Christina Perndl, Roland Müller, R. Riener
Task-oriented repetitive movement can improve movement performance in patients with neurological lesions. The application of robotics can serve to assist, enhance, evaluate and document rehabilitation of movements. ARMin is a robot for arm therapy applicable to the arm training in clinics. It has an exoskeleton structure and is equipped with position and force sensors. Our latest version ARMin II has six degrees of freedom. The mechanical structure, the actuators, and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. The device can work in three therapy modes: passive mobilization, game therapy, and task-oriented training. This paper presents the technical components of the new version ARMin II, the therapy modes, the control strategy for a new example of a game therapy, and clinical results of a pilot study with 11 chronic stroke patients and of single case studies conducted with three chronic stroke patients.
{"title":"ARMin - Exoskeleton for Arm Therapy in Stroke Patients","authors":"Tobias Nef, M. Mihelj, Gabriela Kiefer, Christina Perndl, Roland Müller, R. Riener","doi":"10.1109/ICORR.2007.4428408","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428408","url":null,"abstract":"Task-oriented repetitive movement can improve movement performance in patients with neurological lesions. The application of robotics can serve to assist, enhance, evaluate and document rehabilitation of movements. ARMin is a robot for arm therapy applicable to the arm training in clinics. It has an exoskeleton structure and is equipped with position and force sensors. Our latest version ARMin II has six degrees of freedom. The mechanical structure, the actuators, and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. The device can work in three therapy modes: passive mobilization, game therapy, and task-oriented training. This paper presents the technical components of the new version ARMin II, the therapy modes, the control strategy for a new example of a game therapy, and clinical results of a pilot study with 11 chronic stroke patients and of single case studies conducted with three chronic stroke patients.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125553889","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428420
Eduardo Rocon, J. Moreno, A. Ruiz, F. Brunetti, J. A. Miranda, J. Pons
Microelectromechanical systems (MEMS) are revolutionizing a multitude of industries world wide, from consumer products to the scientific community. Rehabilitation robotics is a robotic field specially interested in using the advantages of inertial sensors. The essential aspect in this area is the intrinsic interaction between human and robot, which imposes several restrictions in the design of this sort of robots. This paper addresses the analysis of the application of inertial sensors as sensing technologies in controlled orthotic devices with a detailed analysis with two biomechatronic robotics rehabilitation exoskeletons, one for the upper and other for the lower limb. Eventually, the results and conclusion of the experiments are given.
{"title":"Application of inertial sensors in rehabilitation robotics","authors":"Eduardo Rocon, J. Moreno, A. Ruiz, F. Brunetti, J. A. Miranda, J. Pons","doi":"10.1109/ICORR.2007.4428420","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428420","url":null,"abstract":"Microelectromechanical systems (MEMS) are revolutionizing a multitude of industries world wide, from consumer products to the scientific community. Rehabilitation robotics is a robotic field specially interested in using the advantages of inertial sensors. The essential aspect in this area is the intrinsic interaction between human and robot, which imposes several restrictions in the design of this sort of robots. This paper addresses the analysis of the application of inertial sensors as sensing technologies in controlled orthotic devices with a detailed analysis with two biomechatronic robotics rehabilitation exoskeletons, one for the upper and other for the lower limb. Eventually, the results and conclusion of the experiments are given.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124103998","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428454
G. Rosati, M. Andreolli, A. Biondi, P. Gallina
This work presents a general simulation tool to evaluate the performance of a set of cable suspended rehabilitation robots. Such a simulator is based on the mechanical model of the upper limb of a patient. The tool was employed to assess the performances of two cable-driven robots, the NeReBot and the MariBot, developed at the Robotics & Mechatronics Laboratories of the Department of Innovation in Mechanics and Management (DIMEG) of University of Padua, Italy. This comparison demonstrates that the second machine, which was conceived as an evolution of the first one, yields much better results in terms of patient's arm trajectories.
{"title":"Performance of cable suspended robots for upper limb rehabilitation","authors":"G. Rosati, M. Andreolli, A. Biondi, P. Gallina","doi":"10.1109/ICORR.2007.4428454","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428454","url":null,"abstract":"This work presents a general simulation tool to evaluate the performance of a set of cable suspended rehabilitation robots. Such a simulator is based on the mechanical model of the upper limb of a patient. The tool was employed to assess the performances of two cable-driven robots, the NeReBot and the MariBot, developed at the Robotics & Mechatronics Laboratories of the Department of Innovation in Mechanics and Management (DIMEG) of University of Padua, Italy. This comparison demonstrates that the second machine, which was conceived as an evolution of the first one, yields much better results in terms of patient's arm trajectories.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127162747","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428469
M. Schoone, P. van Os, A. Campagne
ACRE is a robotic training device for rehabilitation of the upper limbs. ACRE stimulates patients to train their affected arm more frequently and repetitively, via so called game based therapy. A prototype of ACRE (ACRE2) was tested in a user trial with patients who had recently suffered a stroke. Therapists concluded that the ACRE can be useful in addition to the conventional training. After the first user trail specific technical improvements were suggested and realized in a new version of the robot (ACRE3) to increase safety, comfort and autonomous self-training. Patients and therapists experienced training with the ACRE arm pleasant and beneficial for recovery. Eventually, robot-mediated therapy may be applied instead of or in addition to one-to-one therapy and therapist-to-group therapy and may lead to a better rehabilitation. More research is needed especially on the cost-effectiveness of the ACRE in rehabilitation practice.
{"title":"Robot-mediated Active Rehabilitation (ACRE) A user trial","authors":"M. Schoone, P. van Os, A. Campagne","doi":"10.1109/ICORR.2007.4428469","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428469","url":null,"abstract":"ACRE is a robotic training device for rehabilitation of the upper limbs. ACRE stimulates patients to train their affected arm more frequently and repetitively, via so called game based therapy. A prototype of ACRE (ACRE2) was tested in a user trial with patients who had recently suffered a stroke. Therapists concluded that the ACRE can be useful in addition to the conventional training. After the first user trail specific technical improvements were suggested and realized in a new version of the robot (ACRE3) to increase safety, comfort and autonomous self-training. Patients and therapists experienced training with the ACRE arm pleasant and beneficial for recovery. Eventually, robot-mediated therapy may be applied instead of or in addition to one-to-one therapy and therapist-to-group therapy and may lead to a better rehabilitation. More research is needed especially on the cost-effectiveness of the ACRE in rehabilitation practice.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129968091","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-13DOI: 10.1109/ICORR.2007.4428429
Redwan Alqasemi, R. Dubey
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy are optimized to effectively perform activities of daily living (ADLs) and overcome singularities, joint limits and some workspace limitations. The control system is designed for teleoperated or autonomous coordinated Cartesian control, and it offers expandability for future research, such as voice or sip and puff control operations and sensor assist functions.
{"title":"Maximizing Manipulation Capabilities for People with Disabilities Using a 9-DoF Wheelchair-Mounted Robotic Arm System","authors":"Redwan Alqasemi, R. Dubey","doi":"10.1109/ICORR.2007.4428429","DOIUrl":"https://doi.org/10.1109/ICORR.2007.4428429","url":null,"abstract":"A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy are optimized to effectively perform activities of daily living (ADLs) and overcome singularities, joint limits and some workspace limitations. The control system is designed for teleoperated or autonomous coordinated Cartesian control, and it offers expandability for future research, such as voice or sip and puff control operations and sensor assist functions.","PeriodicalId":197465,"journal":{"name":"2007 IEEE 10th International Conference on Rehabilitation Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121144314","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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