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In this paper, a spiral-type medical robot based on an endoscopic capsule was propelled in a fluidic and tubular environment using electromagnetic actuation. Both modeling and experimental methods have been employed to characterize the propulsion of the robotic capsule. The experiments were performed not only in a simulated environment (vinyl tube filled with silicone oil) but also in a real small...
Nowadays, studies of the interventional micro-robots have been hot topics in the field of medical device. The ultimate goal of medical micro robots is to reach currently inaccessible areas of the human body. In this paper, a novel bio-inspired interventional micro-robot in screw-in swim way is presented, which can move along the line, turn at the corner, and spinning. Based on the propulsion mechanism...
In this study, we propose a leg-robot with a compact MR fluid clutch (CMRFC) to demonstrate haptic control of abnormal spastic movements of brain-injured patients. This system can be used in the practical training for trainees of physical therapy. In this paper, basic structure and characteristics of the leg-robot are explained. Then, we suggest a control method to reproduce clonus-like movements,...
Many kinds of actuator-based (active type) haptic devices have developed and utilized as rehabilitation robots. These systems have great advantages for rehabilitative activities, for example assistive forces and so on. However, from the view point of safety, we have a room to consider utilizing brake-based (passive type) haptic devices as rehabilitation-tools. The effects and roles of active / passive...
We developed a compact and low-cost quasi-3-DOF rehabilitation system ldquoHybrid-PLEMOrdquo for upper limbs of stroke patients. Hybrid-PLEMO has 2-DOF force feedback function in working plane, its working plane can be adjusted the inclination, and it can be switched between active type and passive type. However, there are some directions and link positions which are difficult to display the force...
Several 2-DOF rehabilitation robots for upper limbs have been proposed so far, and clinical effectiveness was reported in several studies for the aged people or patients with stroke. We developed the quasi 3-DOF rehabilitation system ldquoHybrid PLEMOrdquo which has 2-DOF force-feedback function in working plane but its working plane can be adjusted the inclination. Hybrid-PLEMO is a compact, low-cost...
This paper reports on the current status of the effort conducted at ULB in order to develop a portable muscular rehabilitation device for telemedicine applications. It is divided into four parts. The first part recalls the basic modes of muscular rehabilitation and gives a brief overview of commercial rehabilitation machines as well as portable devices under development. The second part describes...
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