关键词： exoskeletons   rehabilitation   robot-assisted gait training   robotics   spinal cord injury   stroke  

摘要： Purpose: To review lower-limb technology currently available for people with neurological disorders, such as spinal cord injury, stroke, or other conditions. We focus on 3 emerging technologies: treadmill-based training devices, exoskeletons, and other wearable robots. Summary of Key Points: Efficacy for these devices remains unclear, although preliminary data indicate that specific patient populations may benefit from robotic training used with more traditional physical therapy. Potential benefits include improved lower-limb function and a more typical gait trajectory. Statement of Conclusions: Use of these devices is limited by insufficient data, cost, and in some cases size of the machine. However, robotic technology is likely to become more prevalent as these machines are enhanced and able to produce targeted physical rehabilitation. Recommendations for Clinical Practice: Therapists should be aware of these technologies as they continue to advance but understand the limitations and challenges posed with therapeutic/mobility robots.

关键词： robotic surgery   reproductive surgery   minimally invasive surgery   gynecology   infertility  

摘要： Robotic technology applied to laparoscopy augments the armamentarium of the reproductive specialist. Uterine leiomyomas, adenomyosis, endometriosis, adnexal masses, sterilization reversal, and fertility preservation techniques can all be addressed with a robotic surgery skill set. Additionally, new approaches with single site and natural orifice surgery will continue to maximize advanced opportunities for safe, effective, and cosmetically conscious (patient-centered) approaches to surgical care. Enhanced postoperative recovery pathways are fully adaptable to these robotic procedures and improve patient acceptability while controlling costs.

关键词： 机器人技术  

ISBN: (纸本)9787111569299

摘要： 本书通过实验操作的方法向读者传授竞赛机器人的相关技术，在介绍多种竞赛机器人的功能及其国内外赛事和竞赛机器人的控制器技术、软件开发平台使用方法、整体结构设计、硬件电路设计与制作、软件模块的编程方法、机器人走迷宫的数学算法以及迷宫场地制作之后，进行了竞赛机器人工程化应用的研究分析，以门座式起重机控制系统为例，分析多自由度协调控制及在线监测等工程应用案例。

关键词： Electroactive polymer   EAP   Carbon-polymer composite   Artificial muscle   Flexible supercapacitor  

摘要： Soft electrochemically-driven actuators based on high specific surface area electrodes and having a laminate structure similar to the electrical double-layer capacitors are attractive for future generations of biomimetic robotics. Successful incorporation of such ionic and capacitive actuators into soft robots demands highly repeatable and scalable fabrication techniques. As a novel approach in fabrication of ionic and capacitive laminates, the electroactive layers are deposited layer-by-layer around a woven fabric substrate, which is pertained as the centermost layer of the laminate. The electromechanical performance of the actuators having the textile reinforcement layer was on a par with similar actuators without the reinforcement layer;however, the reinforcement layer significantly simplifies the manufacturing process and increases repeatability of the actuators characteristics. More importantly, the reinforcement layer pertains its tensile strength, which gives new opportunities for incorporation of the soft ionic actuators directly onto fabric without compromising their excellent electromechanical performance. Fortunately, the same electroactive laminates, directly exposed to ambient air, have outstanding performance as electric double-layer capacitors for energy storage. Electromechanical characterization with a galvanostatic input was carried out on a large pool of actuators to identify the factors influencing the repeatability of their actuation. The new fabrication procedure yields electroactive laminates with outstanding uniformity in thickness and areal capacitance (standard deviations at 95% confidence interval are 9.2% and 9.4%, respectively) and with a lifetime of more than ten thousand cycles. (C) 2017 Elsevier B.V. All rights reserved.

关键词： 机器人   学院   中国   汉诺威   自动化  

摘要： 中国首个机器人学院在广东佛山成立,这是全国首个机器人学院,也是全球首个机器人、自动化和工业4.0学院——德国汉诺威机器人学院唯一的品牌海外授权使用机构.

关键词： Robotic surgery   Resident training   Health care cost   Opportunity cost  

摘要： Background: Robotic technology is increasingly being utilized by general surgeons. However, the impact of introducing robotics to surgical residency has not been examined. This study aims to assess the financial costs and training impact of introducing robotics at an academic general surgery residency program. Methods: All patients who underwent laparoscopic or robotic cholecystectomy, ventral hernia repair (VHR), and inguinal hernia repair (IHR) at our institution from 2011-2015 were identified. The effect of robotic surgery on laparoscopic case volume was assessed with linear regression analysis. Resident participation, operative time, hospital costs, and patient charges were also evaluated. Results: We identified 2260 laparoscopic and 139 robotic operations. As the volume of robotic cases increased, the number of laparoscopic cases steadily decreased. Residents participated in all laparoscopic cases and 70% of robotic cases but operated from the robot console in only 21% of cases. Mean operative time was increased for robotic cholecystectomy (+22%), IHR (+55%), and VHR (+61%). Financial analysis revealed higher median hospital costs per case for robotic cholecystectomy (+$411), IHR (+$ 887), and VHR (+$ 1124) as well as substantial associated fixed costs. Conclusions: Introduction of robotic surgery had considerable negative impact on laparoscopic case volume and significantly decreased resident participation. Increased operative time and hospital costs are substantial. An institution must be cognizant of these effects when considering implementing robotics in departments with a general surgery residency program. (C) 2017 Elsevier Inc. All rights reserved.

关键词： 拓扑结构   跑步机器人   虚拟铰   Kane方程  

摘要： 仿人跑步机器人运动过程分为起跳阶段与飞行阶段,因此存在不同的拓扑结构,动力学方程建模较为困难。针对该问题,基于Kane方程提出了一种仿人跑步机器人动力学建模方法。该方法的优点在于只需改变"虚拟铰"长度,便能实现机器人起跳与飞行阶段动力学方程的转换。与Newton-Euler、Lagrange方程相比,最终的Kane动力学方程较为简洁,易于计算机求解。

关键词： 工业机器人   机械行业   职业院校   技能竞赛   职业技能培训   职业技能鉴定   高技能人才   制造企业  

摘要： 在行业相关企业、院校的积极倡导下，为了加快培养和选拔工业机器人领域高技能人才，为工业机器人制造企业、系统集成商和应用企业培养急需人才，促进和引导职业院校工业机器人相关专业建设，科学、规范的开展职业技能培训、职业技能鉴定和职业技能竞赛活动，机械工业职业技能鉴定指导中心（以下简称机械指导中心）组织行业骨干企业和有关院校组织编写了《工业机器人操作调整工》、《工业机器人装调维修工》两项职业技能标准，并于2017年3月14日在全行业隆重发布。

关键词： 欠驱动   双足机器人   动力学   步态规划  

摘要： 欠驱动双足步行机器人是仿人机器人领域研究的热点之一.针对带有被动踝关节的双足机器人,建立了五杆四驱动模型,对模型进行动力学分析.根据拉格朗日原理,建立机器人单足支撑动力学模型和基于碰撞的双足支撑动力学模型.建立完整的欠驱动双足步行机器人动力学模型.对机器人步态进行了规划.规划了欠驱动机器人的时不变步态;利用贝塞尔多项式拟合出虚拟约束的轨迹,给出了欠驱动机器人轨迹规划的算法;采用极限环方法,通过验证庞加莱回归映射不动点稳定性,验证了极限环的稳定性,从而验证了机器人步态的稳定性.

关键词： 空间双臂机器人   冗余   解析形式   逆运动学   动力学   失重   建模   判定系数  

摘要： 针对空间双臂机器人运动学和动力学建模,对失重状态下空间机器人的运动学分析与建模进行了研究。给出了双臂机器人左右臂的DH坐标及参数,建立了正运动学的计算公式,基于臂形角的方法,给出了更高效的空间机器人冗余单臂的解析形式逆解求解方法。分析了空间双臂机器人全部工作状态,引入二元判定系数归纳得到了双臂独立运动、双臂协同操作、闭链本体漂浮、开链本体漂浮4种四种机器人工作状态,并基于拉格朗日方程得到了4种不同工作状态下的动力学模型。通过对空间双臂机器人运动学及动力学进行分析与建模,为空间双臂机器人的设计与研究提供理论基础。