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A hands-free interface has been developed to allow a single surgeon to control a locally operated forceps manipulating robot. It is based on the use of a pressure sensor sheet placed on the floor to measure temporal changes in the center of gravity of the operator's foot, in addition to the applied force. Pattern recognition was carried out during trials with endoscope specialists and students for...
This paper deals with the development of a coordinated control system for a robot and robot-driven shape memory alloy (SMA) actuated needle to follow a curvilinear path for percutaneous intervention. The robot driving the needle is considered as the outer loop and the non-linear SMA actuated flexible needle system forms the inner loop. The two feedback control loops are coordinated in such a way that...
This paper proposes a novel texture sensing method for nursing-care gel by using an artificial mastication system, in which not only mechanical characteristics but also geometrical ones are objectively and quantitatively evaluated. When human masticates gel food, she or he perceives the changes of the shape and contact force simultaneously. Based on the impressions, they evaluate the texture. For...
To enhance the efficiency of the search and rescue process of a Mass Casualty Incident, we introduce a low cost autonomous mobile platform. The mobile platform motion is controlled by an Android Smartphone mounted on a robot. The pictures and video captured by the Smartphone camera can significantly enhance the situational awareness of the incident commander leading to a more efficient search and...
When imitating biological sensors, we have not completely understood the early processing of the input to reproduce artificially. Building hybrid systems with both artificial and real biological components is a promising solution. For example, when a dragonfly is used as a living sensor, the early processing of visual information is performed fully in the brain of the dragonfly. The only significant...
The use of in-home and mobile sensing is likely to be a key component of future care and has recently been studied by many research groups world-wide. Researchers have shown that embedded sensors can be used for health assessment such as early illness detection and the management of chronic health conditions. However, research collaboration and data sharing have been hampered by disparate sets of...
Regenerative peripheral nerve interfaces have been proposed as viable alternatives for the natural control and feel of robotic prosthetic limbs. We have developed a Regenerative Multi-electrode Interface (REMI) that guides re-growing axons through an electrode array deployed in the lumen of a nerve guide. While acute studies have shown the use of the REMI in the rat sciatic nerve, the quality of chronic...
Several functional neuroimaging studies had been performed to explore the sensorimotor function for motor imagery and passive movement, but there is scanty work that investigated the cortical activation pattern for passive movement using functional Near-Infrared Spectroscopy (fNIRS). This study investigated the cortical activation pattern from fNIRS data of 8 healthy subjects performing motor imagery...
Treadmills provide a safe and efficient method for gait rehabilitation but treadmill based training paradigms have not been shown to create superior results when compared with traditional physical therapy methods such as overground training. One explanation for this may be that walking at a constant, fixed speed requires little mental engagement from the user, which has been postulated as a key factor...
Advances in robotic technologies offer objective, highly reliable tools for assessment of brain function following stroke. KINARM is an exoskeleton device that uses a number of behavioral tasks to objectively quantify sensorimotor, proprioceptive and cognitive brain function. As more tasks are developed to more broadly assess different aspects of behavior using the robot, different strategies are...
Dexterous arm reaching movements are a critical feature that allow human interactions with tools, the environment, and socially with others. Thus the development of a neural architecture providing unified mechanisms for actual, mental, observed and imitated actions could enhance robot performance, enhance human-robot social interactions, and inform specific human brain processes. Here we present a...
In this paper we present a series of design directions for the development of affordable, compliant, modular, underactuated robot fingers, that can be used as prostheses by amputees that suffer from various partial hand amputations (index to pinky fingers are considered). Our design is based on parametric models that have been derived from hand anthropometry studies. Various interfaces have been considered...
Most of the currently available prosthetic hands do not have a proper sensation of touching and slipping. Thus it is not easy for arm amputees to grasp objects properly only with an assistance of visual feedback. In this pilot work, a sensor based on thin-film piezoelectret was used to detect the possible tactile and slip information of a prosthetic hand. The piezoelectret sensor is flexible and is...
The ability of an organism to specifically attend to relevant sensory information during learning and subsequent performance of a task is highly dependent on the release of the neurotransmitter Acetylcholine (ACh). Electrophysiological studies have shown that pairing endogenous ACh with specific visual or auditory stimuli induces long lasting enhancements of subsequent cortical responses to the previously...
This paper presents a recent study on kinematic modeling of a remote-controlled active catheter. The tip steering motion of the catheter is actuated in a tendon-driven manner. Two antagonistic groups of tendon actuation realize the distal tip deflecting with two-degree-of-freedom (2-DOF) allowing it to reach a considerable large spatial workspace without catheter shaft rotation. However, when modeling...
Presented is the design, implementation, and initial gait testing of a lightweight, compliant robotic device for ankle rehabilitation. Many patients with neuromuscular disorders suffer deficits in sensorimotor control of the ankle joint, leading to an abnormal walking pattern. Robotic devices have been used to assist ankle rehabilitation. However, these devices are usually heavy and rigid, which can...
Among several characteristics seen in gait of hemiplegic patients after stroke, symmetry is known to be an indicator of the degree of impairment of walking ability. This paper proposes a control method for a wearable type lower limb motion assist robot to realize spontaneous symmetric gait for these individuals. This control method stores the motion of the unaffected limb during swing and then provides...
Locomotor training using treadmill has been shown to elicit significant improvements in locomotor ability for some children with cerebral palsy (CP), the functional gains are relatively small and it requires greater involvement from a physical therapist. Current robotic gait training systems are effective in reducing the strenuous work of a physical therapist during locomotor training, but are less...
The present study aims at designing and evaluating a low-cost, simple and portable system for arm joint angle estimation during grasping-like motions. The system is based on a single RGB-D camera and three customized markers. The automatically detected and tracked marker positions were used as inputs to an offline inverse kinematic process based on bio-mechanical constraints to reduce noise effect...
This paper presents a novel three-axis force sensor based on optical photo interrupters and integrated with the robot arm STIFF-FLOP (STIFFness controllable Flexible and Learnable Manipulator for Surgical Operations) to measure external interacting forces and torques. The ring-shape bio-compatible sensor presented here embeds the distributed actuation and sensing system of the STIFF-FLOP manipulator...
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