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A Portable Robot for Tele-Rehabilitation: Remote Therapy and Outcome Evaluation InTech
Park; Hyung-Soon; Zhang; Li-Qun.
A portable rehabilitation robot for the elbow joint of neurologically impaired patients was developed to perform physical treatment task followed by the outcome evaluation for monitoring the progression of the therapy. The hardware was designed for portability by using the small actuator and compact electronic components. After defining five tasks, two controllers were developed and implemented accordingly. For the active range of motion test, a torque controller maintaining zero torque was developed to make the device back-drivable. For other tests, velocity controller with intelligent velocity adjustment algorithm was developed in order to stretch the spastic/contractured elbow joint forcefully and safely. The sequence of the tasks was organized to...
Tipo: 32 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_portable_robot_for_tele-rehabilitation__remote_therapy_and_outcome_evaluation
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Dental Patient Robot InTech
Hideaki Takanobu.
A patient robot with an oral cavity mimicking unexpected movement due to vomiting and pain and functions to induce bleeding and saliva flow was developed and used for clinical training. Trainee students and clinical residents were asked to complete a questionnaire about the patient robot. The results showed the patient robot to be effective as a means of training students to respond to unexpected movements during surgical procedures. In the future, the author intend to incorporate additional sensors such as those used in the oral cavity, to enhance reactions to due pain so that clinical students could train by themselves without supervision.
Tipo: 32 Palavras-chave: Medical Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/dental_patient_robot
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Development of a Range of Robot and Automation Prototypes for Service Applications InTech
Bing Lam Luk; Alexandar Djordjevic; Shiu Kit Tso; King Pui Liu.
The MARCH robot, baggage carrying robot, Cleanbot III and safety support vehicle were financially supported by the City University of Hong Kong grant for CIDAM research unit (CityU #9360077), an RGC grant #9040407 and an RGC Central Allocation grant (CUHK 3/98C). Cleanbot I, Cleanbot II and WIC robots were funded by RGC grants #9040407 and #9040711, an ISF grant (AF/76/98) and an ITF grant (ITS/33/01) respectively. The home automation project was supported by an ITF grant (UIM-55). The telemedicine project was funded by an ITF grant (ITS/99/02). The authors would like to express their sincere gratitude to the following persons: ? Prof. Y.T. Zhang and his research team, Mr. D. Lam, Mr. A. Choy and Dr. Y.H. Fung for their important collaboration and advice...
Tipo: 32 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/development_of_a_range_of_robot_and_automation_prototypes_for_service_applications
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Friction Compensation in Hybrid Force/Velocity Control for Contour Tracking Tasks InTech
Antonio Visioli; Giacomo Ziliani; Giovanni Legnani.
Tipo: 32 Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/friction_compensation_in_hybrid_force_velocity_control_for_contour_tracking_tasks
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Intuitive Multimodal Interaction with Communication Robot Fritz InTech
Maren Bennewitz; Felix Faber; Dominik Joho; Sven Behnke.
In this chapter, we presented our humanoid communication robot Fritz. Fritz communicates in an intuitive, multimodal way. He employs speech, an animated face, eyegaze, and gestures to interact with people. Depending on the audio-visual input, our robot shifts its attention between different communication partners in order to involve them into an interaction. Fritz performs human-like arm and head gestures, which are synchronized to the speech synthesis. He generates pointing gestures with its head, eyes, and arms to direct the attention of its communication partners towards objects of interest. Fritz changes its emotional state
Tipo: 32 Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/intuitive_multimodal_interaction_with_communication_robot_fritz
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Planning Versatile Motions for Humanoid in a Complex Environment InTech
Tsai-Yen Li; Pei-Zhi Huang.
Building autonomous humanoid robots has been the goal of many applications in robotics and computer animation. Spatial reasoning is a key capability to enable a robot to accept high-level commands and move autonomously. In this chapter, we have described a motion-planning system that can generate feasible humanoid animations with versatile locomotion in a complex virtual environment. The focus has been put on designing a global path planner that can generate a gross motion plan respecting the environmental and the humanoid constraints. The reachability can be defined by the properties of humanoid and can be extended through locomotion abilities. With the new problem definition, we modify the Best-First planning algorithm to account for user preference on...
Tipo: 32 Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/planning_versatile_motions_for_humanoid_in_a_complex_environment
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Robot-based Gonioreflectometer InTech
Andreas Hoepe; Dirk Huenerhoff; Kai-Olaf Hauer.
The new gonioreflectometer of the PTB enables high precision goniometric measurements of diffuse reflecting samples within the whole hemispheric range above the surface of the sample, due to its out-of-plane capabilities, by using a 5-axis-robot. The whole facility was build using standard laboratory and engineering equipment. The five-axis robot model RV-2AJ from Mitsubishi Electric could be used without any modification for this unusual field of application. The current wavelength range for measurements and calibrations is 250 nm to 1700 nm. It is planned to extend this wavelength range up to 2500 nm in the near future. It is also planned to install an additional lamp with increased UV output power in order to improve the current uncertainty budget for...
Tipo: 32 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/robot-based_gonioreflectometer
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