Rehabilitation Robotics Challenges In Design Control And Real Applications
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Rehabilitation Robotics Challenges In Design Control And Real Applications
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Author : Francisco Romero Sánchez
language : en
Publisher: Frontiers Media SA
Release Date : 2022-08-31
Rehabilitation Robotics Challenges In Design Control And Real Applications written by Francisco Romero Sánchez and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-08-31 with Science categories.
Rehabilitation Robotics
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Author : Roberto Colombo
language : en
Publisher: Academic Press
Release Date : 2018-03-08
Rehabilitation Robotics written by Roberto Colombo and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-03-08 with Technology & Engineering categories.
Rehabilitation Robotics gives an introduction and overview of all areas of rehabilitation robotics, perfect for anyone new to the field. It also summarizes available robot technologies and their application to different pathologies for skilled researchers and clinicians. The editors have been involved in the development and application of robotic devices for neurorehabilitation for more than 15 years. This experience using several commercial devices for robotic rehabilitation has enabled them to develop the know-how and expertise necessary to guide those seeking comprehensive understanding of this topic. Each chapter is written by an expert in the respective field, pulling in perspectives from both engineers and clinicians to present a multi-disciplinary view. The book targets the implementation of efficient robot strategies to facilitate the re-acquisition of motor skills. This technology incorporates the outcomes of behavioral studies on motor learning and its neural correlates into the design, implementation and validation of robot agents that behave as ‘optimal’ trainers, efficiently exploiting the structure and plasticity of the human sensorimotor systems. In this context, human-robot interaction plays a paramount role, at both the physical and cognitive level, toward achieving a symbiotic interaction where the human body and the robot can benefit from each other’s dynamics. Provides a comprehensive review of recent developments in the area of rehabilitation robotics Includes information on both therapeutic and assistive robots Focuses on the state-of-the-art and representative advancements in the design, control, analysis, implementation and validation of rehabilitation robotic systems
Advanced Robotics For Medical Rehabilitation
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Author : Shane (S.Q.) Xie
language : en
Publisher: Springer
Release Date : 2015-10-31
Advanced Robotics For Medical Rehabilitation written by Shane (S.Q.) Xie and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-10-31 with Technology & Engineering categories.
Focussing on the key technologies in developing robots for a wide range of medical rehabilitation activities – which will include robotics basics, modelling and control, biomechanics modelling, rehabilitation strategies, robot assistance, clinical setup/implementation as well as neural and muscular interfaces for rehabilitation robot control – this book is split into two parts; a review of the current state of the art, and recent advances in robotics for medical rehabilitation. Both parts will include five sections for the five key areas in rehabilitation robotics: (i) the upper limb; (ii) lower limb for gait rehabilitation (iii) hand, finger and wrist; (iv) ankle for strains and sprains; and (v) the use of EEG and EMG to create interfaces between the neurological and muscular functions of the patients and the rehabilitation robots. Each chapter provides a description of the design of the device, the control system used, and the implementation and testing to show how it fulfils the needs of that specific area of rehabilitation. The book will detail new devices, some of which have never been published before in any journal or conference.
Wearable Exoskeleton Systems
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Author : Shaoping Bai
language : en
Publisher: Control, Robotics and Sensors
Release Date : 2018
Wearable Exoskeleton Systems written by Shaoping Bai and has been published by Control, Robotics and Sensors this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with Technology & Engineering categories.
Wearable exoskeletons are electro-mechanical systems designed to assist, augment, or enhance motion and mobility in a variety of human motion applications and scenarios. The applications, ranging from providing power supplementation to assist the wearers to situations where human motion is resisted for exercising applications, cover a wide range of domains such as medical devices for patient rehabilitation training recovering from trauma, movement aids for disabled persons, personal care robots for providing daily living assistance, and reduction of physical burden in industrial and military applications. The development of effective and affordable wearable exoskeletons poses several design, control and modelling challenges to researchers and manufacturers. Novel technologies are therefore being developed in adaptive motion controllers, human-robot interaction control, biological sensors and actuators, materials and structures, etc. In this book, the editors and authors report recent advances and technology breakthroughs in exoskeleton developments. It will be of interest to engineers and researchers in academia and industry as well as manufacturing companies interested in developing new markets in wearable exoskeleton robotics.
Soft Robots For Healthcare Applications
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Author : Shane Xie
language : en
Publisher:
Release Date : 2017
Soft Robots For Healthcare Applications written by Shane Xie and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with HEALTH & FITNESS categories.
This book presents novel applications of mechatronics to provide better clinical rehabilitation services and new insights into emerging technologies utilized in soft robots for healthcare, and is essential reading for researchers and students working in these and related fields.
New Trends In Medical And Service Robots
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Author : Aleksandar Rodić
language : en
Publisher: Springer Science & Business Media
Release Date : 2014-04-08
New Trends In Medical And Service Robots written by Aleksandar Rodić and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-04-08 with Technology & Engineering categories.
This volume describes new frontiers in medical and service robotics in the light of recent developments in technology to advance robot design and implementation. In particular, the work looks at advances in design, development and implementation of contemporary surgical, rehabilitation and biorobots. Surgical robots allow surgeons greater access to areas under operation using more precise and less invasive methods. Rehabilitation robots facilitate and support the lives of the infirm, elderly people, or those with dysfunction of body parts affecting movement. These robots are also used for rehabilitation and related procedures, such as training and therapy. Biorobots are designed to imitate the cognition of humans and animals. The need to substitute humans working on delicate, tiresome and monotonous tasks, or working with potentially health-damaging toxic materials, requires intelligent, high-performance service robots with the ability to cooperate, advanced communication and sophisticated perception and cognitive capabilities. Progress in this field is fast and results need to be disseminated to stimulate both practical applications and further research. Thus, these papers are a valuable addition to existing literature.
Design Analysis And Control Of Wearable Ankle Rehabilitation Robot
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Author : Prashant Kumar Jamwal
language : en
Publisher:
Release Date : 2011
Design Analysis And Control Of Wearable Ankle Rehabilitation Robot written by Prashant Kumar Jamwal and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with Ankle categories.
While rehabilitation robots are not uncommon in the literature, they are undesirably inspired by industrial robot designs. Some of the shortcomings which are common to all these contemporary robots are, kinematic incompatibility, stiff actuation, non-backdrivability, high cost, unfriendly or intimidating appearance due to use of heavy and bulky electromagnetic actuators. Wearable robots, owing to their biologically inspired design, compliant actuation, backdrivability and safe use, are better candidates for rehabilitation robots compared to industrial robots. In recent years, wearable robots have received considerable attention and several instances such as exoskeletons, orthotics, and prosthetics have been proposed by researchers. However, there are certain challenges from the design and control perspective of wearable robots, which limit their wider implementation. Bio-inspired or biological design, kinematic compliance and holistic design optimization are the chief design issues, whereas, suitable actuation, development of appropriate physical and cognitive human-robot interaction are the essential control related concerns. Most of the skeletal joints in the human body are actuated by parallel action of a group of muscles and hence a bio-inspired wearable robot design is likely to be based on parallel mechanisms. Impending research issues associated with the use of parallel mechanism are small workspace, abundance of singularities and unavailability of forward kinematics solution. Ambulatory requirement of the wearable robots also calls for compact, light weight, and energy proficient technologies for actuators, sensors, and controllers. This thesis explores the wide-ranging potential of wearable robots in rehabilitation in the pretext of a wearable ankle rehabilitation robot. In this research, a parallel mechanism based wearable robot for ankle rehabilitation was developed to study design and control related aspects of wearable robots in general. Arrangement of actuators, in the kinematically compliant design, had been carefully selected to allow natural foot-ankle motions while keeping the ankle joint position stationary. A fuzzy based computational model was developed in this research to provide a unique solution for the forward kinematics of parallel robots. The proposed method is accurate and time efficient compared to previous methods proposed in the literature. The fast computation of forward kinematics has facilitated its online use in the controller replacing use of heavy inclinometers. A complete design analysis had been carried out by mathematically formulating important performance indices affecting robot performance in three major aspects such as, kinematic, actuation and structural aspects. Initially, a single objective optimisation approach was adopted following past practice, wherein a performance index called global condition number was optimized. Analysis of the results shows that some of the objectives were of conflicting nature and hence the single objective approach could not optimize all the performance criteria simultaneously. Subsequently, robot design optimization was carried out using existing multiobjective optimization methods, namely, preference based optimization and the evolutionary algorithm (EA) based optimization. Interestingly, these existing optimization methods were also found to be unsuccessful due to the incompatible and contradictory nature of objectives, their large number and continuous solution space. Further investigation in the EA methodology revealed fundamental shortcomings in the existing NSGA II approach. As a result of subsequent research efforts, a major breakthrough was achieved through the development of a fuzzy dominance based evolutionary optimization method to address the inadequacies of existing EA approach. Finally, the robot design optimization was carried out using newly developed fuzzy sorting genetic algorithm (FSGA) and the wearable robot was constructed using the optimized design. To improve the compliance of the wearable robot, light weight yet powerful actuators called Pneumatic muscle actuators (PMA) were used which exhibit skeletal muscle like behaviour. Construction of a dynamic model of the PMA was a difficult task owing to their non-linear and time dependent behaviour. Therefore, a Mamdani based fuzzy model was developed and optimized to accurately predict the PMA behaviour in the presence of an external force. The forward kinematics model of the robot and the dynamic model of PMA were finally incorporated in an overall fuzzy controller designed for the position control of the wearable robot. Apart from the conceptualization of a wearable ankle robot design, optimization of two variants of fuzzy inference systems namely, Takagi-Sugeno fuzzy system and Mamdani fuzzy system as well as their distinctive uses in this thesis are important contributions of the present research. The major contribution of this research lies in the development of a fuzzy dominance based evolutionary optimization method which is a strong alternate to the predominantly used evolutionary algorithm NSGA II, which has been used in diverse optimization applications over the last two decades.
Exoskeletons In Rehabilitation Robotics
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Author : Eduardo Rocon
language : en
Publisher: Springer
Release Date : 2011-02-02
Exoskeletons In Rehabilitation Robotics written by Eduardo Rocon and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-02-02 with Technology & Engineering categories.
The new technological advances opened widely the application field of robots. Robots are moving from the classical application scenario with structured industrial environments and tedious repetitive tasks to new application environments that require more interaction with the humans. It is in this context that the concept of Wearable Robots (WRs) has emerged. One of the most exciting and challenging aspects in the design of biomechatronics wearable robots is that the human takes a place in the design, this fact imposes several restrictions and requirements in the design of this sort of devices. The key distinctive aspect in wearable robots is their intrinsic dual cognitive and physical interaction with humans. The key role of a robot in a physical human–robot interaction (pHRI) is the generation of supplementary forces to empower and overcome human physical limits. The crucial role of a cognitive human–robot interaction (cHRI) is to make the human aware of the possibilities of the robot while allowing them to maintain control of the robot at all times. This book gives a general overview of the robotics exoskeletons and introduces the reader to this robotic field. Moreover, it describes the development of an upper limb exoskeleton for tremor suppression in order to illustrate the influence of a specific application in the designs decisions.
New Trends In Medical And Service Robots
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Author : Doina Pisla
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-09-06
New Trends In Medical And Service Robots written by Doina Pisla and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-09-06 with Technology & Engineering categories.
This book contains mainly the selected papers of the First International Workshop on Medical and Service Robots, held in Cluj-Napoca, Romania, in 2012. The high quality of the scientific contributions is the result of a rigorous selection and improvement based on the participants’ exchange of opinions and extensive peer-review. This process has led to the publishing of the present collection of 16 independent valuable contributions and points of view and not as standard symposium or conference proceedings. The addressed issues are: Computational Kinematics, Mechanism Design, Linkages and Manipulators, Mechanisms for Biomechanics, Mechanics of Robots, Control Issues for Mechanical Systems, Novel Designs, Teaching Methods, all of these being concentrated around robotic systems for medical and service applications. The results are of interest to researchers and professional practitioners as well as to Ph.D. students in the field of mechanical and electrical engineering. This volume marks the start of a subseries entitled “New Trends in Medical and Service Robots” within the Machine and Mechanism Science Series, presenting recent trends, research results and new challenges in the field of medical and service robotics.
Advances In Rehabilitation Robotics
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Author : Z. Zenn Bien
language : en
Publisher: Springer Science & Business
Release Date : 2004-06-24
Advances In Rehabilitation Robotics written by Z. Zenn Bien and has been published by Springer Science & Business this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-06-24 with Technology & Engineering categories.
One of the major application targets of service robots is to use them as assistive devices for rehabilitation. This book introduces some latest achievements in the field of rehabilitation robotics and assistive technology for people with disabilities and aged people. The book contains results from both theoretical and experimental works and reviews on some new advanced rehabilitation devices which has been recently transferred to the industry. Significant parts of the book are devoted to the assessment of new rehabilitation technologies, the evaluation of prototype devices with end-users, the safety of rehabilitation robots, and robot-assisted neurorehabilitation. The book is a representative selection of the latest trends in rehabilitation robotics and can be used as a reference for teaching on mechatronic devices for rehabilitation.