Архив категории Ищем научные статьи

In the News

Дата: Сентябрь 24th, 2011 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 1019
  • Название документа: In the News
  • Номер (DOI, IBSN, Патент): 10.1109/MIS.2011.16
  • Изобретатель/автор: Ingebretsen, M.
  • Правопреемник/учебное заведение: Не заполнено
  • Дата публикации документа: 2011-02-17
  • Страна опубликовавшая документ: Не заполнено
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено

Scientists and businesses are increasingly using computer vision systems for tasks such as identifying important research results, developing highly functional robots, making video games more realistic, and enabling surveillance cameras to recognize potential security problems. Considerable effort is now under way to add more intelligence to vision systems to make them even more effective.

Категория: Ищем научные статьи | Нет комментариев »


Impedance Compensation of SUBAR for Back-Drivable Force-Mode Actuation

Дата: Сентябрь 24th, 2011 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 1015
  • Название документа: Impedance Compensation of SUBAR for Back-Drivable Force-Mode Actuation
  • Номер (DOI, IBSN, Патент): 10.1109/TRO.2009.2019786
  • Изобретатель/автор: Tomizuka, M., Kyoungchul Kong, Hyosang Moon, Doyoung Jeon, Beomsoo Hwang
  • Правопреемник/учебное заведение: Dept. of Mech. Eng., Univ. of California, Berkeley, CA
  • Дата публикации документа: 2009-06-05
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено

The Sogang University biomedical assistive robot (SUBAR), which is an advanced version of the exoskeleton for patients and the old by Songang (EXPOS) is a wearable robot developed to assist physically impaired people. It provides a person with assistive forces controlled by human intentions. If a standard geared DC motor is applied, however, the control efforts will be used mainly to overcome the resistive forces caused by the friction, the damping, and the inertia in actuators. In this paper, such undesired properties are rejected by applying a flexible transmission. With the proposed method, it is intended that an actuator exhibits zero impedance without friction while generating the desired torques precisely. Since the actuation system of SUBAR has a large model variation due to human-robot interaction, a control algorithm for the flexible transmission is designed based on a robust control method. In this paper, the mechanical design of SUBAR, including the flexible transmission and its associated control algorithm, are presented. They are also verified by experiments.

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ShouldeRO, an alignment-free two-DOF rehabilitation robot for the shoulder complex

Дата: Сентябрь 24th, 2011 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 1013
  • Название документа: ShouldeRO, an alignment-free two-DOF rehabilitation robot for the shoulder complex
  • Номер (DOI, IBSN, Патент): 10.1109/ICORR.2011.5975339
  • Изобретатель/автор: Sapin, J., Dehez, B.
  • Правопреемник/учебное заведение: Center for Res. in Mechatron., Univ. catholique de Louvain, Louvain-la-Neuve, Belgium
  • Дата публикации документа: 2011-08-12
  • Страна опубликовавшая документ: Бельгия
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено

This paper presents a robot aimed to assist the shoulder movements of stroke patients during their rehabilitation process. This robot has the general form of an exoskeleton, but is characterized by an action principle on the patient no longer requiring a tedious and accurate alignment of the robot and patient’s joints. It is constituted of a poly-articulated structure whose actuation is deported and transmission is ensured by Bowden cables. It manages two of the three rotational degrees of freedom (DOFs) of the shoulder. Quite light and compact, its proximal end can be rigidly fixed to the patient’s back on a rucksack structure. As for its distal end, it is connected to the arm through passive joints and a splint guaranteeing the robot action principle, i.e. exert a force perpendicular to the patient’s arm, whatever its configuration. This paper also presents a first prototype of this robot and some experimental results such as the arm angular excursions reached with the robot in the three joint planes.

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Design of human — Machine interface and altering of pelvic obliquity with RGR Trainer

Дата: Сентябрь 24th, 2011 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 1011
  • Название документа: Design of human — Machine interface and altering of pelvic obliquity with RGR Trainer
  • Номер (DOI, IBSN, Патент): 10.1109/ICORR.2011.5975496
  • Изобретатель/автор: Unluhisarcikli, O., Pietrusinski, M., Mavroidis, C., Cajigas, I., Bonato, P.
  • Правопреемник/учебное заведение: Mech. & Ind. Eng., Northeastern Univ., Boston, MA, USA
  • Дата публикации документа: 2011-08-12
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено

The Robotic Gait Rehabilitation (RGR) Trainer targets secondary gait deviations in stroke survivors undergoing rehabilitation. Using an impedance control strategy and a linear electromagnetic actuator, the device generates a force field to control pelvic obliquity through a Human-Machine Interface (i.e. a lower body exoskeleton). Herein we describe the design of the RGR Trainer Human-Machine Interface (HMI) and we demonstrate the system’s ability to alter the pattern of movement of the pelvis during gait in a healthy subject. Results are shown for experiments during which we induced hip-hiking — in healthy subjects. Our findings indicate that the RGR Trainer has the ability of affecting pelvic obliquity during gait. Furthermore, we provide preliminary evidence of short-term retention of the modified pelvic obliquity pattern induced by the RGR Trainer.

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Design of a new lower extremity orthosis for overground gait training with the WalkTrainer

Дата: Сентябрь 24th, 2011 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 1009
  • Название документа: Design of a new lower extremity orthosis for overground gait training with the WalkTrainer
  • Номер (DOI, IBSN, Патент): 10.1109/ICORR.2009.5209585
  • Изобретатель/автор: Stauffer, Y., Clavel, R., Brodard, R., Allemand, Y.
  • Правопреемник/учебное заведение: Lab. de Syst. Robotiques, EPFL, Lausanne, Switzerland
  • Дата публикации документа: 2009-08-21
  • Страна опубликовавшая документ: Швейцария
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Не заполнено
  • Аналитик: Не заполнено

A new set of lower limb orthoses was developed for the WalkTrainer project. This mobile reeducation device for paralyzed people allows overground gait training combining closed loop electrical muscle stimulation and lower limb guiding while walking. An active body weight support system offers precise body weight unloading during locomotion. A 6 DOF parallel robot moves the pelvis in any desired position and orientation. The lower extremity orthosis is composed of two key parts. First, a purely passive lightweight exoskeleton acts as the interface between the human leg and the machine. A 1 DOF knee orthotic joint is also designed to prevent hyperextension. Second, the active part — composed of a mechanical leg equipped with motors and sensors — is located behind each human leg, with its base fixed to the WalkTrainer base frame. The two kinematic chains are connected with appropriate linkages at the thigh and the ankle joint. Actuation of the hip, knee and ankle joints is thus provided for their flexion/extension axis. The active mechanism operates only within the sagittal plane and guides the ankle-foot subsystem. Thigh and shank add/abduction movements are possible and even essential since the pelvis moves in a 3D space. This achievement prevents the scissors effect while allowing natural walking motion at the other joints. This paper describes the design and development of the lower extremity orthosis. Starting from a biomechanical approach, the needed actuation and the mechanical structure are discussed as well as the interface between the patient and the robot.

Категория: Ищем научные статьи | Нет комментариев »