Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496320
J. Ronczka
This paper utilizes a road network robotic system called a ‘Traffic Control Signal’ (TCS). The TCS uses a variety of active sensing (‘active perception of motion’ (APMs)) but the focus will only be on pavement bicycle inductance loops. This leads to an entanglement of functionality of signal processing for motion control of Humans-to-robotic to power recharging, and enhance communications for people with vision and hearing impairments for wayfinding. Inductance loop development is likely to be driven by increasing community expectations for inclusive sustainable technologies with low whole of life costs. Secondly, to improve communications between Human-to- machines-to-entities to achieve an inclusive ‘Internet of Things’ (IOT) ecosystem. In this paper, the focus is on existing technologies (‘off-the-self’ [OTS]) that may be re-engineered and then re-purposed. The context relates to in-pavement loops as an enabler to the development of Bio-communications between machines-to-entities for ‘Internet of Things’ (IOT) motion control. Existing technologies may be able to be re-purposed and reused as ‘off-the-self’ (OTS) technologies to achieve future needs (must have) and wants (like to have) of Human-to-robot interaction. The outcome desired is a visualisation method to map the surface pattering of the unique active sensing (‘active perception of motion’ (APMs)) and then mitigate any constraints that limit an inclusive ‘Internet of Things’ (IOT) ecosystem.
{"title":"Motion control in environmental biorheology using inductance signal processing","authors":"J. Ronczka","doi":"10.1109/AMC.2016.7496320","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496320","url":null,"abstract":"This paper utilizes a road network robotic system called a ‘Traffic Control Signal’ (TCS). The TCS uses a variety of active sensing (‘active perception of motion’ (APMs)) but the focus will only be on pavement bicycle inductance loops. This leads to an entanglement of functionality of signal processing for motion control of Humans-to-robotic to power recharging, and enhance communications for people with vision and hearing impairments for wayfinding. Inductance loop development is likely to be driven by increasing community expectations for inclusive sustainable technologies with low whole of life costs. Secondly, to improve communications between Human-to- machines-to-entities to achieve an inclusive ‘Internet of Things’ (IOT) ecosystem. In this paper, the focus is on existing technologies (‘off-the-self’ [OTS]) that may be re-engineered and then re-purposed. The context relates to in-pavement loops as an enabler to the development of Bio-communications between machines-to-entities for ‘Internet of Things’ (IOT) motion control. Existing technologies may be able to be re-purposed and reused as ‘off-the-self’ (OTS) technologies to achieve future needs (must have) and wants (like to have) of Human-to-robot interaction. The outcome desired is a visualisation method to map the surface pattering of the unique active sensing (‘active perception of motion’ (APMs)) and then mitigate any constraints that limit an inclusive ‘Internet of Things’ (IOT) ecosystem.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122770070","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496348
Kensuke Oda, K. Ohnishi, Eiji Kobayashi
In this paper, the effect of sterilization on a thin suture thread is evaluated, and verification of a developed testing machine is conducted. The suture threads for microsurgery is thin and easy to rupture. That will lead a medical accident, so that the evaluation of the thread's performance is important. One of the factors which decides the performance of the thread is sterilization. The thread must be sterilized for being utilized in a medical operation, and generally it deteriorates the performance of the thread. Tension and elongation of sterilized threads and non-sterilized threads are measured, and the difference among them is discussed. The measurement of the threads is conducted by using a developed testing machine. Reaction force observer (RFOB) is implemented in the machine to measure tension and elongation of the thread at the same time. Also, tension control is implemented to pull the thread from both sides that is similar to the operation which surgeons do. The validity of the testing machine is confirmed through the measurement.
{"title":"Verification of a developed testing machine for suture threads through measurement of tension and elongation","authors":"Kensuke Oda, K. Ohnishi, Eiji Kobayashi","doi":"10.1109/AMC.2016.7496348","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496348","url":null,"abstract":"In this paper, the effect of sterilization on a thin suture thread is evaluated, and verification of a developed testing machine is conducted. The suture threads for microsurgery is thin and easy to rupture. That will lead a medical accident, so that the evaluation of the thread's performance is important. One of the factors which decides the performance of the thread is sterilization. The thread must be sterilized for being utilized in a medical operation, and generally it deteriorates the performance of the thread. Tension and elongation of sterilized threads and non-sterilized threads are measured, and the difference among them is discussed. The measurement of the threads is conducted by using a developed testing machine. Reaction force observer (RFOB) is implemented in the machine to measure tension and elongation of the thread at the same time. Also, tension control is implemented to pull the thread from both sides that is similar to the operation which surgeons do. The validity of the testing machine is confirmed through the measurement.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"41 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132119525","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496402
Keisuke Yoshida, K. Ohishi, T. Miyazaki, J. Fukui
This paper compares performance of a double feedforward control system that considers for time delay. Recently, digital content size continues to increase. In order to cope, manufacturers of digital storage media try to increase capacity by narrowing the track pitch of these digital storage media. This digital controller designs and implements in a Field-Programmable Gate Array (FPGA). However, the control system includes non-integer the time delay. The time delay element exists in its characteristic polynomial. Therefore, the system is possibly destabilized by time delay. In the feedforward system, the feedforward compensation value is delayed by time delay. Considering these factors, a high-precision pickup control system that considering time delay is needed for optical discs. This paper proposes a new double feedforward control system considering time delay. In this paper, the tracking performance of the control system is compared to the conventional feedback control system and the new error based communication disturbance observer. In optical disc systems, the proposed double feedforward control system considering time delay has a good performance.
{"title":"Fine tracking control system based on double feedforward tracking control considering time delay for optical disc","authors":"Keisuke Yoshida, K. Ohishi, T. Miyazaki, J. Fukui","doi":"10.1109/AMC.2016.7496402","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496402","url":null,"abstract":"This paper compares performance of a double feedforward control system that considers for time delay. Recently, digital content size continues to increase. In order to cope, manufacturers of digital storage media try to increase capacity by narrowing the track pitch of these digital storage media. This digital controller designs and implements in a Field-Programmable Gate Array (FPGA). However, the control system includes non-integer the time delay. The time delay element exists in its characteristic polynomial. Therefore, the system is possibly destabilized by time delay. In the feedforward system, the feedforward compensation value is delayed by time delay. Considering these factors, a high-precision pickup control system that considering time delay is needed for optical discs. This paper proposes a new double feedforward control system considering time delay. In this paper, the tracking performance of the control system is compared to the conventional feedback control system and the new error based communication disturbance observer. In optical disc systems, the proposed double feedforward control system considering time delay has a good performance.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122709879","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496332
Tomoki Kono, S. Katsura
This paper proposes a design method of multilateral system based on reachability matrix for independent operation. A multilateral system is a one of the haptic transmission control, which is extended structure of bilateral control. If the multilateral system consists of many master system and one slave system, many human can obtain the haptic information of an environment through a slave system. However, a conventional multilateral system is that independent operation of master system is difficult because of same response of all master system. Therefore, the proposed method is focused on direct and indirect connection of subsystem. Specifically, design of subsystem connection which is satisfied desired performance is based on a reachability matrix and a digraph is derived by the reachability matrix. This research aims to construct multilateral system realizing independent operation and to transmit a haptic information from slave system. By using proposed method, the desired multilateral control that many human can operate independently can be realized. The validity of the proposed method is confirmed through the experiments.
{"title":"Control design based on reachability matrix for realization of independent operation in multilateral system","authors":"Tomoki Kono, S. Katsura","doi":"10.1109/AMC.2016.7496332","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496332","url":null,"abstract":"This paper proposes a design method of multilateral system based on reachability matrix for independent operation. A multilateral system is a one of the haptic transmission control, which is extended structure of bilateral control. If the multilateral system consists of many master system and one slave system, many human can obtain the haptic information of an environment through a slave system. However, a conventional multilateral system is that independent operation of master system is difficult because of same response of all master system. Therefore, the proposed method is focused on direct and indirect connection of subsystem. Specifically, design of subsystem connection which is satisfied desired performance is based on a reachability matrix and a digraph is derived by the reachability matrix. This research aims to construct multilateral system realizing independent operation and to transmit a haptic information from slave system. By using proposed method, the desired multilateral control that many human can operate independently can be realized. The validity of the proposed method is confirmed through the experiments.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126792101","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496335
F. Yamada, Kohei Suzuki, Tatsuo Toda, Gan Chen, I. Takami
This paper proposes the robust H2 controller with constraints for the active suspension using the half car model. The purpose of this study is to improve the ride comfort with satisfying the structural constraints. According to International Organization for Standardization 2631, there exist the uncomfortable frequency bands of the human body. The uncomfortable frequency bands are 4–8[Hz] for the vertical acceleration and 0.63–0.8[Hz] for the pitch angular acceleration. In this paper, the acceleration in the specific frequency bands is suppressed by using frequency shaping. On the other hand, the active suspension has the structural constraints which are constraints on the vertical force of the wheel, the suspension stroke, and the control input. They are expressed as the time-domain constraints. In addition, the robust stability for the perturbation of the front and rear weights of the car body is guaranteed. The perturbation of the weights of the car body affects the pitch motion of the car body and the vertical force of the wheels. The robust stability for the perturbation is guaranteed by using the polytopic representation. The robust H2 controller is designed by solving a finite set of LMIs to achieve the purposes. The effectiveness of proposed controller is evaluated by simulations and experiments.
{"title":"Robust control of active suspension to improve ride comfort with structural constraints","authors":"F. Yamada, Kohei Suzuki, Tatsuo Toda, Gan Chen, I. Takami","doi":"10.1109/AMC.2016.7496335","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496335","url":null,"abstract":"This paper proposes the robust H2 controller with constraints for the active suspension using the half car model. The purpose of this study is to improve the ride comfort with satisfying the structural constraints. According to International Organization for Standardization 2631, there exist the uncomfortable frequency bands of the human body. The uncomfortable frequency bands are 4–8[Hz] for the vertical acceleration and 0.63–0.8[Hz] for the pitch angular acceleration. In this paper, the acceleration in the specific frequency bands is suppressed by using frequency shaping. On the other hand, the active suspension has the structural constraints which are constraints on the vertical force of the wheel, the suspension stroke, and the control input. They are expressed as the time-domain constraints. In addition, the robust stability for the perturbation of the front and rear weights of the car body is guaranteed. The perturbation of the weights of the car body affects the pitch motion of the car body and the vertical force of the wheels. The robust stability for the perturbation is guaranteed by using the polytopic representation. The robust H2 controller is designed by solving a finite set of LMIs to achieve the purposes. The effectiveness of proposed controller is evaluated by simulations and experiments.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131214904","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496369
Z. Qi, Kuang Ma, Kun-Hsien Lee, Nicholas Sargeant
This paper presents a novel steering control method for 4-Wheel Independent Drive and Independent Steering (4-WIDIS) electric mobility scooter for disabled people and elderlies, in which steering of all four wheels are coordinated to minimise the turning radius of the scooter to zero. A full-scale prototype is built for experiment on mobility pathway, which demonstrated the manoeuvrability advantage of such steering control in a scooter application.
{"title":"A design of all wheel coordinated steering for electric mobility scooter","authors":"Z. Qi, Kuang Ma, Kun-Hsien Lee, Nicholas Sargeant","doi":"10.1109/AMC.2016.7496369","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496369","url":null,"abstract":"This paper presents a novel steering control method for 4-Wheel Independent Drive and Independent Steering (4-WIDIS) electric mobility scooter for disabled people and elderlies, in which steering of all four wheels are coordinated to minimise the turning radius of the scooter to zero. A full-scale prototype is built for experiment on mobility pathway, which demonstrated the manoeuvrability advantage of such steering control in a scooter application.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132458657","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496331
Yuki Nagatsu, S. Katsura
This research proposed a high-order disturbance estimation using Kalman filter for precise reaction-torque control. The proposed method is able to realize the reaction torque control system by using the proportional-derivative controller. It is confirmed that the proposed proportional-derivative controller of reaction torque can improve control system performance without enhancing the noise effect. This is because estimated variables by the proposed Kalman filter based high order disturbance/reaction torque observer are utilized in the PD controller. The observer can estimate the disturbance/external torque and its time derivative with lower noise level than the conventional disturbance observers (DOBs) or reaction torque observers (RTOBs). Experimental results validate the proposed method.
{"title":"High-order disturbance estimation using Kalman filter for precise reaction-torque control","authors":"Yuki Nagatsu, S. Katsura","doi":"10.1109/AMC.2016.7496331","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496331","url":null,"abstract":"This research proposed a high-order disturbance estimation using Kalman filter for precise reaction-torque control. The proposed method is able to realize the reaction torque control system by using the proportional-derivative controller. It is confirmed that the proposed proportional-derivative controller of reaction torque can improve control system performance without enhancing the noise effect. This is because estimated variables by the proposed Kalman filter based high order disturbance/reaction torque observer are utilized in the PD controller. The observer can estimate the disturbance/external torque and its time derivative with lower noise level than the conventional disturbance observers (DOBs) or reaction torque observers (RTOBs). Experimental results validate the proposed method.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131820102","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496378
S. Dirven, M. Stommel, Ryman Hashem, Weiliang Xu
Soft-robotic structures and their materials are typically chosen according to a biological example. Medical imaging has been used to obtain 3D models of biological structures to create moulds for production of artificial, soft robotic counterparts. However, it is not enough to simply copy the geometry of these organisms; robots must be able to be modeled, and controlled, such that they can perform meaningful tasks. This involves investigating the robot's capability after it has been manufactured. The similarities between the biological and artificial robotic materials allow us to use methods from medical imaging in soft robotics. This paper proposes the use of medical imaging and alternative medical investigation methods for the static and dynamic characterization of soft robots and involves two soft-robotic case studies: a peristaltic pump (swallowing robot), and a peristaltic table. Articulography and manometry are shown to be useful techniques for investigation of the peristaltic pumping robot, and visual 3D scanning is demonstrated for the peristaltic table. Alternative medical investigation methods such as magnetic resonance imaging, computed tomography, and ultrasound are considered as other possibilities that require further investigation.
{"title":"Medically-inspired approaches for the analysis of soft-robotic motion control","authors":"S. Dirven, M. Stommel, Ryman Hashem, Weiliang Xu","doi":"10.1109/AMC.2016.7496378","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496378","url":null,"abstract":"Soft-robotic structures and their materials are typically chosen according to a biological example. Medical imaging has been used to obtain 3D models of biological structures to create moulds for production of artificial, soft robotic counterparts. However, it is not enough to simply copy the geometry of these organisms; robots must be able to be modeled, and controlled, such that they can perform meaningful tasks. This involves investigating the robot's capability after it has been manufactured. The similarities between the biological and artificial robotic materials allow us to use methods from medical imaging in soft robotics. This paper proposes the use of medical imaging and alternative medical investigation methods for the static and dynamic characterization of soft robots and involves two soft-robotic case studies: a peristaltic pump (swallowing robot), and a peristaltic table. Articulography and manometry are shown to be useful techniques for investigation of the peristaltic pumping robot, and visual 3D scanning is demonstrated for the peristaltic table. Alternative medical investigation methods such as magnetic resonance imaging, computed tomography, and ultrasound are considered as other possibilities that require further investigation.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117033975","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496406
R. Luo, Y. Perng, Pang Cheng
The objective of this paper is to design and implement a process about reverse engineering, which will generate smooth trajectories without using a high cost controller. Because contour of work pieces is more complex today, the trajectory planning and generation are essential in the whole process. In this paper, using Bezier curve to clarify the rough outline makes the process of reverse engineering more accurate and clearer. The pros and cons of Bezier curve and the comparison between Bezier curve and NURBS are mentioned. Additionally, we implement this system without a high level expensive controller, and to solve the complex curve problems efficiently and economically. We implement this system with Dual Drive Machine that is designed and implemented in our lab previously. Experimental results have been successfully conducted to prove the principle as proposed.
{"title":"Reverse engineering with trajectory generation based on Bezier curve at dual drive machine","authors":"R. Luo, Y. Perng, Pang Cheng","doi":"10.1109/AMC.2016.7496406","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496406","url":null,"abstract":"The objective of this paper is to design and implement a process about reverse engineering, which will generate smooth trajectories without using a high cost controller. Because contour of work pieces is more complex today, the trajectory planning and generation are essential in the whole process. In this paper, using Bezier curve to clarify the rough outline makes the process of reverse engineering more accurate and clearer. The pros and cons of Bezier curve and the comparison between Bezier curve and NURBS are mentioned. Additionally, we implement this system without a high level expensive controller, and to solve the complex curve problems efficiently and economically. We implement this system with Dual Drive Machine that is designed and implemented in our lab previously. Experimental results have been successfully conducted to prove the principle as proposed.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115607935","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496324
M. Evans, J. Forrest, Wayne Tse, R. Finch, Weiliang Xu
In this paper, a concept design for a robotic exoskeleton for the neurological rehabilitation of temporomandibular disorder (TMD) is presented. The proposed system presents a lightweight, portable solution aimed at promoting user engagement in the rehabilitation process. A literature review into temporomandibular joint (TMJ) disorders and existing therapeutic devices has been undertaken, characterizing the problems experienced by patients and the solutions offered by current medical devices. Gaps in existing research have been identified and the study's findings used to determine the objectives of the design. The robotic exoskeleton provides a method of delivering assisted therapy to a range of TMD sufferers, incorporating visual feedback into therapy routines to promote active participation. Mechatronic design and development into both actuation and motion control of the proposed system has been conducted, arriving at a final solution that meets the needs of both the patient and the medical community.
{"title":"A shoulder-mounted robotic exoskeleton for rehabilitation of temporomandibular disorder via assisted motion of the jaw","authors":"M. Evans, J. Forrest, Wayne Tse, R. Finch, Weiliang Xu","doi":"10.1109/AMC.2016.7496324","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496324","url":null,"abstract":"In this paper, a concept design for a robotic exoskeleton for the neurological rehabilitation of temporomandibular disorder (TMD) is presented. The proposed system presents a lightweight, portable solution aimed at promoting user engagement in the rehabilitation process. A literature review into temporomandibular joint (TMJ) disorders and existing therapeutic devices has been undertaken, characterizing the problems experienced by patients and the solutions offered by current medical devices. Gaps in existing research have been identified and the study's findings used to determine the objectives of the design. The robotic exoskeleton provides a method of delivering assisted therapy to a range of TMD sufferers, incorporating visual feedback into therapy routines to promote active participation. Mechatronic design and development into both actuation and motion control of the proposed system has been conducted, arriving at a final solution that meets the needs of both the patient and the medical community.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125432335","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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