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Following recent advances in robotics for supporting human activities, ethical reviews similar to those for medical research and development have been requested for clinical trials in the development process of this field of robotics. In this environment, many robot developers have found it difficult to understand the criteria for these ethical reviews. One of the basic reasons for this difficulty...
This work presents a robotic platform for upper-limb rehabilitation robotics. It integrates devices for human multisensorial feedback for engaging and immersive therapies. Its modular software design and architecture allows the implementation of advanced control algorithms for effective and customized rehabilitations. A flexible communication infrastructure allows straightforward devices integration...
Medical robot can enhance surgery through improved precision, stability, and dexterity, which has brought great benefits for patients. However, it yields a series of disadvantages to the surgeons, such as the bad eye-hand coordination, the ill-designed workstations etc. All these disadvantages can cause human error during operations, and human error is considered to be the major contributing factor...
The purpose of this study was to develop a robotic endoscope that is low invasive, easy to operate and capable of locomotion from the rectum to the appendix in the human body. We believe that it would contribute to relieving pain in patients. We therefore developed a robotic endoscope that consists of a front and rear body with clockwise and anticlockwise helical fins, respectively. The front and...
This work presents a new approach to shared control driving a robotic wheelchair for persons with disabilities. The proposal is based on weighting the robot and human commands by their respective efficiencies to obtain an emergent command in a reactive way. It was tested with a robotized Meyra wheelchair at Fondazione Santa Lucia (FSL) in Rome with volunteers presenting different disabilities and...
This paper addresses a new collaborative control method for robotic wheelchairs. The original method was specifically designed for disabled people who are unable to drive a robotic wheelchair on their own. Its main novelty was that the wheelchair just provided the amount of help needed at each moment, to avoid loss of residual abilities. This wheelchair was tested by volunteering in-patients in Casa...
This paper presents an intelligent control architecture for robot-assisted rehabilitation after stroke that has the potential to minimize the workload of the therapist and incorporate patient feedback into autonomous modification of the task presentation during therapy. In particular, the presented intelligent controller will be able to administer a therapy task, monitor safety issues, provide assessment...
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