Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523662
This paper describes the design and integration of miniature wired robots into a modular and intelligent operation room focused on performing single-incision laparoscopic surgery. These devices were designed to be moved by a robotic arm. Its position was tracked by a tracking camera which consisted of camera and light miniature robots, having the former a stepper motor in order to provide a tilt turn. Some experiments were conducted in order to test the integration of these devices into the system.
{"title":"Toward an enhanced modular operating room","authors":"","doi":"10.1109/BIOROB.2016.7523662","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523662","url":null,"abstract":"This paper describes the design and integration of miniature wired robots into a modular and intelligent operation room focused on performing single-incision laparoscopic surgery. These devices were designed to be moved by a robotic arm. Its position was tracked by a tracking camera which consisted of camera and light miniature robots, having the former a stepper motor in order to provide a tilt turn. Some experiments were conducted in order to test the integration of these devices into the system.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133280523","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523741
Serena Maggioni, S. Stucki, L. Lunenburger, R. Riener, A. Melendez-Calderon
The development of new algorithms for controlling rehabilitation robots requires iterative testing prior experimentation with humans. Experiments in humans - especially in humans with physical impairments - pose several challenges regarding safety and repeatability of the testing conditions. To address this problem we propose the use of a test bench that uses a bio-inspired model of a human leg implemented on the leg orthosis of a robotic gait trainer. The model consists of a feedback controller, used to simulate muscle-tendon visco-elastic properties and spinal reflexes, and a feedforward stage simulating motor commands from higher brain centers. Abnormal limb neuro-mechanics, such as weakness or spastic-like behavior can then be simulated and tested against newly developed robotic algorithms. In this study, such bio-inspired robotic test bench was used to evaluate the performance of an algorithm for the assessment of the walking function (RAGA, Robot-Aided Gait Assessment). We hypothesized that the RAGA software is able to identify the level of simulated impairment and to localize in which phase of the gait cycle the impairment is more evident. Therefore, we simulated different levels and types of impairments at three walking speeds and evaluated the outcome measures of the RAGA algorithm. We could confirm that the RAGA was able to identify different levels of simulated impairment correctly and to provide useful insights into gait dynamics. Moreover, we determined how increasing walking speeds can cause a positive offset in the outcome measures. We believe that this test bench represents a very useful and versatile tool that can be applied for testing novel training and assessment strategies implemented in rehabilitation robots.
{"title":"A bio-inspired robotic test bench for repeatable and safe testing of rehabilitation robots","authors":"Serena Maggioni, S. Stucki, L. Lunenburger, R. Riener, A. Melendez-Calderon","doi":"10.1109/BIOROB.2016.7523741","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523741","url":null,"abstract":"The development of new algorithms for controlling rehabilitation robots requires iterative testing prior experimentation with humans. Experiments in humans - especially in humans with physical impairments - pose several challenges regarding safety and repeatability of the testing conditions. To address this problem we propose the use of a test bench that uses a bio-inspired model of a human leg implemented on the leg orthosis of a robotic gait trainer. The model consists of a feedback controller, used to simulate muscle-tendon visco-elastic properties and spinal reflexes, and a feedforward stage simulating motor commands from higher brain centers. Abnormal limb neuro-mechanics, such as weakness or spastic-like behavior can then be simulated and tested against newly developed robotic algorithms. In this study, such bio-inspired robotic test bench was used to evaluate the performance of an algorithm for the assessment of the walking function (RAGA, Robot-Aided Gait Assessment). We hypothesized that the RAGA software is able to identify the level of simulated impairment and to localize in which phase of the gait cycle the impairment is more evident. Therefore, we simulated different levels and types of impairments at three walking speeds and evaluated the outcome measures of the RAGA algorithm. We could confirm that the RAGA was able to identify different levels of simulated impairment correctly and to provide useful insights into gait dynamics. Moreover, we determined how increasing walking speeds can cause a positive offset in the outcome measures. We believe that this test bench represents a very useful and versatile tool that can be applied for testing novel training and assessment strategies implemented in rehabilitation robots.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114812625","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523725
L. J. Consoni, Thales B. Pasqual, W. D. Santos, A. Siqueira
Background. The rise in cases of motor impairing illnesses demands the research for improvements in rehabilitation therapy. The study of robotics for enhancing motor recovery has been gaining momentum, but there is still little standardization of tools. Objectives. This paper shows the current development state of a proposed new robotic treatment platform, primarily geared towards post-stroke cases, but intended to be reusable for other kinds of motor disabilities. Methods. This project differs from current solutions because of its modular design, distributed processing, remote interaction capabilities, and by dealing with patients motivation while treated with multiplayer video-games. Custom and commercial robotic orthoses could be used by individuals, while they are being treated, to join each other in a competitive or cooperative activity in a virtual reality environment. As network-connected participants could be separated by large distances, communication delays are minimized or compensated. For a viability test, two healthy subjects played a customized Pong game together using the system. Results. The preliminary testing provides evidence that the designed infrastructure could become a viable platform for rehabilitation systems, as data can be synchronized across users within a tolerable deviation margin. Conclusion. The system proves itself feasible, but improvements on handling bad communication conditions and definition of performance evaluation protocols are needed.
{"title":"A robotic telerehabilitation game system for multiplayer activities","authors":"L. J. Consoni, Thales B. Pasqual, W. D. Santos, A. Siqueira","doi":"10.1109/BIOROB.2016.7523725","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523725","url":null,"abstract":"Background. The rise in cases of motor impairing illnesses demands the research for improvements in rehabilitation therapy. The study of robotics for enhancing motor recovery has been gaining momentum, but there is still little standardization of tools. Objectives. This paper shows the current development state of a proposed new robotic treatment platform, primarily geared towards post-stroke cases, but intended to be reusable for other kinds of motor disabilities. Methods. This project differs from current solutions because of its modular design, distributed processing, remote interaction capabilities, and by dealing with patients motivation while treated with multiplayer video-games. Custom and commercial robotic orthoses could be used by individuals, while they are being treated, to join each other in a competitive or cooperative activity in a virtual reality environment. As network-connected participants could be separated by large distances, communication delays are minimized or compensated. For a viability test, two healthy subjects played a customized Pong game together using the system. Results. The preliminary testing provides evidence that the designed infrastructure could become a viable platform for rehabilitation systems, as data can be synchronized across users within a tolerable deviation margin. Conclusion. The system proves itself feasible, but improvements on handling bad communication conditions and definition of performance evaluation protocols are needed.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114848569","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523664
F. Fukunaga, J. Nagase
The diverse pipe installations used today include pipelines in chemical plants, water pipes, and gas pipes. Severe accidents at such pipe installations must be prevented by regular pipe inspection and repair. As described herein, a novel tracked crawler mechanism is proposed for pipe inspection. This simple and compact cylindrical elastic tracked crawler has multiple crawler belts in axial symmetry to a cylindrical frame, driven solely by a single motor via a single worm. It is suitable for propulsion through a narrow pipe. It can propel itself upward in a pipe using elastic force generated by deforming the crawler belt passively. Moreover, the proposed tracked crawler can cross over a level difference and pass an elbow by deforming the crawler belt passively along the pipe shape. For a prototype tracked crawler, running performance experiments conducted in various pipe conditions yielded good results. This study clarified the relation between belt rigidity and traction force in theory and experiment respectively.
{"title":"Cylindrical elastic crawler mechanism for pipe inspection inspired by amoeba locomotion","authors":"F. Fukunaga, J. Nagase","doi":"10.1109/BIOROB.2016.7523664","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523664","url":null,"abstract":"The diverse pipe installations used today include pipelines in chemical plants, water pipes, and gas pipes. Severe accidents at such pipe installations must be prevented by regular pipe inspection and repair. As described herein, a novel tracked crawler mechanism is proposed for pipe inspection. This simple and compact cylindrical elastic tracked crawler has multiple crawler belts in axial symmetry to a cylindrical frame, driven solely by a single motor via a single worm. It is suitable for propulsion through a narrow pipe. It can propel itself upward in a pipe using elastic force generated by deforming the crawler belt passively. Moreover, the proposed tracked crawler can cross over a level difference and pass an elbow by deforming the crawler belt passively along the pipe shape. For a prototype tracked crawler, running performance experiments conducted in various pipe conditions yielded good results. This study clarified the relation between belt rigidity and traction force in theory and experiment respectively.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115182311","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523667
Francois Heremans, N. V. D. Noot, A. Ijspeert, R. Ronsse
Humanoid robots are gaining much interest nowadays. This is partly motivated by the ability of such robots to replace humans in dangerous environments being specifically designed for humans, such as man-made or natural disaster scenarios. However, existing robots are far from reaching human skills regarding the robustness to external perturbations required for such tasks, although torque-controlled and even bio-inspired robots hold new promises for research. A humanoid robot robustly interacting with its environment should be capable of handling highly uncertain ground structures, collisions, and other external perturbations. In this paper, a 3D bio-inspired balance controller is developed using a virtual lower limbs musculoskeletal model. An inverse muscular model that transforms the desired torque patterns into muscular stimulations closes the gap between traditional and bio-inspired controllers. The main contribution consists in developing a neural controller that computes the muscular stimulations driving this musculoskeletal model. This neural controller exploits the inverse model output to progressively learn the appropriate muscular stimulations for rejecting disturbances, without relying on the inverse model anymore. Two concurrent approaches are implemented to perform this autonomous learning: a cerebellar model and a support vector regression algorithm. The developed methods are tested in the Robotran simulation environment with COMAN, a compliant child-sized humanoid robot. Results illustrate that - at the end of the learning phase - the robot manages to reject perturbations by performing a full-body compensation requiring neither to solve an inverse dynamic model nor to get force measurement. Muscular stimulations are directly generated based on the previously learned perturbations.
{"title":"Bio-inspired balance controller for a humanoid robot","authors":"Francois Heremans, N. V. D. Noot, A. Ijspeert, R. Ronsse","doi":"10.1109/BIOROB.2016.7523667","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523667","url":null,"abstract":"Humanoid robots are gaining much interest nowadays. This is partly motivated by the ability of such robots to replace humans in dangerous environments being specifically designed for humans, such as man-made or natural disaster scenarios. However, existing robots are far from reaching human skills regarding the robustness to external perturbations required for such tasks, although torque-controlled and even bio-inspired robots hold new promises for research. A humanoid robot robustly interacting with its environment should be capable of handling highly uncertain ground structures, collisions, and other external perturbations. In this paper, a 3D bio-inspired balance controller is developed using a virtual lower limbs musculoskeletal model. An inverse muscular model that transforms the desired torque patterns into muscular stimulations closes the gap between traditional and bio-inspired controllers. The main contribution consists in developing a neural controller that computes the muscular stimulations driving this musculoskeletal model. This neural controller exploits the inverse model output to progressively learn the appropriate muscular stimulations for rejecting disturbances, without relying on the inverse model anymore. Two concurrent approaches are implemented to perform this autonomous learning: a cerebellar model and a support vector regression algorithm. The developed methods are tested in the Robotran simulation environment with COMAN, a compliant child-sized humanoid robot. Results illustrate that - at the end of the learning phase - the robot manages to reject perturbations by performing a full-body compensation requiring neither to solve an inverse dynamic model nor to get force measurement. Muscular stimulations are directly generated based on the previously learned perturbations.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116292754","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523742
F. Ongaro, C. Pacchierotti, ChangKyu Yoon, D. Prattichizzo, D. Gracias, S. Misra
Current wireless, small-scale robots have restricted manipulation capabilities, and limited intuitive tools to control their motion. This paper presents a novel teleoperation system with haptic feedback for the control of untethered soft grippers. The system is able to move and open/close the grippers by regulating the magnetic field and temperature in the workspace. Users can intuitively control the grippers using a grounded haptic interface, that is also capable of providing compelling force feedback information as the gripper interacts with the environment. The magnetic closed-loop control algorithm is designed starting from a Finite Element Model analysis. The electromagnetic model used is validated by a measurement of the magnetic field with a resolution of 0.1 mT and sampling rate of 6.8×106 samples/m2. The system shows an accuracy in positioning the gripper of 0.08 mm at a velocity of 0.81 mm/s. The robustness of the control and tracking algorithms are tested by spraying the workspace with water drops that cause glares and related disturbances of up to 0.41 mm.
{"title":"Evaluation of an electromagnetic system with haptic feedback for control of untethered, soft grippers affected by disturbances","authors":"F. Ongaro, C. Pacchierotti, ChangKyu Yoon, D. Prattichizzo, D. Gracias, S. Misra","doi":"10.1109/BIOROB.2016.7523742","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523742","url":null,"abstract":"Current wireless, small-scale robots have restricted manipulation capabilities, and limited intuitive tools to control their motion. This paper presents a novel teleoperation system with haptic feedback for the control of untethered soft grippers. The system is able to move and open/close the grippers by regulating the magnetic field and temperature in the workspace. Users can intuitively control the grippers using a grounded haptic interface, that is also capable of providing compelling force feedback information as the gripper interacts with the environment. The magnetic closed-loop control algorithm is designed starting from a Finite Element Model analysis. The electromagnetic model used is validated by a measurement of the magnetic field with a resolution of 0.1 mT and sampling rate of 6.8×106 samples/m2. The system shows an accuracy in positioning the gripper of 0.08 mm at a velocity of 0.81 mm/s. The robustness of the control and tracking algorithms are tested by spraying the workspace with water drops that cause glares and related disturbances of up to 0.41 mm.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114499702","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523719
Han-Sol Kim, Jae-Hyun Jung, Kyeong-Jun Lee, C. Choi, Gabsoon Kim
We describe the ankle rehabilitation robot using a three-axis force/torque sensor. The Designed and manufactured three-axis force/torque sensor which can detect two directional force Fx, Fz and one directional torque Tz, was attached to the developed ankle rehabilitation robot. The robot was designed and manufactured using by three-axis force/torque sensor. The results of a characteristics test for the developed ankle rehabilitation robot showed that it was safely operated while the ankle bending flexibility rehabilitation exercise was performed.
{"title":"Design of an ankle rehabilitation robot based on force sensor","authors":"Han-Sol Kim, Jae-Hyun Jung, Kyeong-Jun Lee, C. Choi, Gabsoon Kim","doi":"10.1109/BIOROB.2016.7523719","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523719","url":null,"abstract":"We describe the ankle rehabilitation robot using a three-axis force/torque sensor. The Designed and manufactured three-axis force/torque sensor which can detect two directional force Fx, Fz and one directional torque Tz, was attached to the developed ankle rehabilitation robot. The robot was designed and manufactured using by three-axis force/torque sensor. The results of a characteristics test for the developed ankle rehabilitation robot showed that it was safely operated while the ankle bending flexibility rehabilitation exercise was performed.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114657475","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523595
Jonathan Oehlke, Maziar Ahmad Sharbafi, P. Beckerle, A. Seyfarth
In human hopping in place, the axial leg function is representable by a spring mass model. This description can be utilized to control robot hopping. In this paper, the SLIP (spring loaded inverted pendulum) model is employed as a template for the control of MARCO Hopper II, a robot with a two-segmented leg. Using VMC (virtual model control) a spring is emulated between the foot and hip joint. The required knee torque is generated by a cable-driven actuator to mimic the unilateral knee extensor. In ground contact, gravity acts as the antagonistic knee flexor. The paper describes an evolution of controllers operating on systems ranging from a simple SLIP to more complex simulation models and finally proposes a control strategy that yields stable hopping in the hardware setup. To compensate losses, energy management by tuning the virtual leg spring stiffness is utilized. The resulting hopping motion is similar to human motions with respect to the positions of foot and hip as well as the ground reaction force. A combination of the SLIP model with a control technique for segmented structures and the addition of a bio-inspired energy management method is the result of this work.
{"title":"Template-based hopping control of a bio-inspired segmented robotic leg","authors":"Jonathan Oehlke, Maziar Ahmad Sharbafi, P. Beckerle, A. Seyfarth","doi":"10.1109/BIOROB.2016.7523595","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523595","url":null,"abstract":"In human hopping in place, the axial leg function is representable by a spring mass model. This description can be utilized to control robot hopping. In this paper, the SLIP (spring loaded inverted pendulum) model is employed as a template for the control of MARCO Hopper II, a robot with a two-segmented leg. Using VMC (virtual model control) a spring is emulated between the foot and hip joint. The required knee torque is generated by a cable-driven actuator to mimic the unilateral knee extensor. In ground contact, gravity acts as the antagonistic knee flexor. The paper describes an evolution of controllers operating on systems ranging from a simple SLIP to more complex simulation models and finally proposes a control strategy that yields stable hopping in the hardware setup. To compensate losses, energy management by tuning the virtual leg spring stiffness is utilized. The resulting hopping motion is similar to human motions with respect to the positions of foot and hip as well as the ground reaction force. A combination of the SLIP model with a control technique for segmented structures and the addition of a bio-inspired energy management method is the result of this work.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114667063","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523796
M. Xiloyannis, L. Cappello, B. Dinh, S. Yen, L. Masia
The need for a means of assistance in human grasping, to compensate for weakness or to augment performance, is well documented. An appealing new way of doing so is through soft, wearable robots that work in parallel with the human muscles. In this paper we present the design and modelling of a tendon-driving unit that empowers a wearable, soft glove. Being portability one of our main objectives, we use only 1 motor to move 8 degrees of freedom of the hand. To achieve this we use an underactuation strategy based on the human hand's first postural synergy, which explains alone ≈60% of activities of daily living. The constrains imposed by the underactuation strategy are softened, to allow adaptability during grasping, by placing elastic elements in series with the tendons. A simulation of the dynamic behaviour of the glove on a human hand allows us to quantify the magnitude and distribution of the forces involved during usage. These results are used to guide design choices such as the power of the motor and the stiffness of the springs. The designed tendon-driving unit comprises a DC motor which drives an array of spools dimensioned according to the first postural synergy, an electromechanical clutch to hold the hand in position during static posture and a feeder mechanism to avoid slacking of the tendons around the spool. Finally, the tendon-driving unit is tested to verify that it satisfies motion and force characteristics required to assist its wearer in activities of daily living.
{"title":"Modelling and design of a synergy-based actuator for a tendon-driven soft robotic glove","authors":"M. Xiloyannis, L. Cappello, B. Dinh, S. Yen, L. Masia","doi":"10.1109/BIOROB.2016.7523796","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523796","url":null,"abstract":"The need for a means of assistance in human grasping, to compensate for weakness or to augment performance, is well documented. An appealing new way of doing so is through soft, wearable robots that work in parallel with the human muscles. In this paper we present the design and modelling of a tendon-driving unit that empowers a wearable, soft glove. Being portability one of our main objectives, we use only 1 motor to move 8 degrees of freedom of the hand. To achieve this we use an underactuation strategy based on the human hand's first postural synergy, which explains alone ≈60% of activities of daily living. The constrains imposed by the underactuation strategy are softened, to allow adaptability during grasping, by placing elastic elements in series with the tendons. A simulation of the dynamic behaviour of the glove on a human hand allows us to quantify the magnitude and distribution of the forces involved during usage. These results are used to guide design choices such as the power of the motor and the stiffness of the springs. The designed tendon-driving unit comprises a DC motor which drives an array of spools dimensioned according to the first postural synergy, an electromechanical clutch to hold the hand in position during static posture and a feeder mechanism to avoid slacking of the tendons around the spool. Finally, the tendon-driving unit is tested to verify that it satisfies motion and force characteristics required to assist its wearer in activities of daily living.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133761351","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 : 2016-06-26DOI: 10.1109/BIOROB.2016.7523791
Amirhossein Farvardin, R. Murphy, Robert Grupp, I. Iordachita, M. Armand
Fiber Bragg grating (FBG) sensors are a promising tool for real-time shape reconstruction of dexterous continuum manipulators (DCM). We have recently developed a novel FBG-based shape sensor which is capable of detecting a radius of curvature of 15 mm for a 35 mm length DCM. This paper aims to further evaluate the accuracy of this shape sensor during motion of the DCM. Different experiments were performed including free bending, bending in the presence of an obstacle, and bending with a tool inserted in the lumen of the DCM. Results indicate that this sensor can track the tip position with an average error of 0.81 mm for free bending, 2.73 mm for bending with an obstacle, and 0.93 mm for bending with a tool.
{"title":"Towards real-time shape sensing of continuum manipulators utilizing fiber Bragg grating sensors","authors":"Amirhossein Farvardin, R. Murphy, Robert Grupp, I. Iordachita, M. Armand","doi":"10.1109/BIOROB.2016.7523791","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523791","url":null,"abstract":"Fiber Bragg grating (FBG) sensors are a promising tool for real-time shape reconstruction of dexterous continuum manipulators (DCM). We have recently developed a novel FBG-based shape sensor which is capable of detecting a radius of curvature of 15 mm for a 35 mm length DCM. This paper aims to further evaluate the accuracy of this shape sensor during motion of the DCM. Different experiments were performed including free bending, bending in the presence of an obstacle, and bending with a tool inserted in the lumen of the DCM. Results indicate that this sensor can track the tip position with an average error of 0.81 mm for free bending, 2.73 mm for bending with an obstacle, and 0.93 mm for bending with a tool.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134118692","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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