关键词： Stroke   Aerobic exercise   Sub-acute   Non-ambulatory   Aerobic capacity   Robotics-assisted  

摘要： Background: After experiencing a stroke, most individuals also suffer from cardiac disease, are immobile and thus have low endurance for exercise. Aerobic capacity is seriously reduced in these individuals and does not reach reasonable levels after conventional rehabilitation programmes. Cardiovascular exercise is beneficial for improvement of aerobic capacity in mild to moderate stroke. However, less is known about its impact on aerobic capacity, motor recovery, and quality-of-life in severely impaired individuals. The aim of this pilot study is to explore the clinical efficacy and feasibility of cardiovascular exercise with regard to aerobic capacity, motor recovery, and quality-of-life using feedback-controlled robotics-assisted treadmill exercise in non-ambulatory individuals soon after experiencing a stroke. Methods/Design: This will be a single-centred single blind, randomised control trial with a pre-post intervention design. Subjects will be recruited early after their first stroke (<= 20 weeks) at a neurological rehabilitation clinic and will be randomly allocated to an inpatient cardiovascular exercise programme that uses feedback-controlled robotics-assisted treadmill exercise (experimental) or to conventional robotics-assisted treadmill exercise (control). Intervention duration depends on the duration of each subject's inpatient rehabilitation period. Aerobic capacity, as the primary outcome measure, will be assessed using feedback-controlled robotics-assisted treadmill-based cardiopulmonary exercise testing. Secondary outcome measures will include gait speed, walking endurance, standing function, and quality-of-life. Outcome assessment will be conducted at baseline, after each 4-week intervention period, and before clinical discharge. Ethical approval has been obtained. Discussion: Whether cardiovascular exercise in non-ambulatory individuals early after stroke has an impact on aerobic capacity, motor recovery, and quality-of-life is not yet known. Feed

关键词： Robotic agent   Mechatronics   Mobile robot kinematics   Mobile robot motion-planning   Cooperative systems  

摘要： This paper presents the development of the robotic multi-agent system SMART. In this system, the agent concept is applied to both hardware and software entities. Hardware agents are robots, with three and four legs, and an IP-camera that takes images of the scene where the cooperative task is carried out. Hardware agents strongly cooperate with software agents. These latter agents can be classified into image processing, communications, task management and decision making, planning and trajectory generation agents. To model, control and evaluate the performance of cooperative tasks among agents, a kind of Petri Net, called Work-Flow Petri Net, is used. Experimental results shows the good performance of the system. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： Elastic joint drive   Compliant joint   Elasticity   Elastomer coupling   Compliance identification   System modeling  

摘要： While classical robotics traditionally makes use of stiff constructions in order to achieve a high precision, there is on-going research in development and control of new compliant robotic systems. These systems are suitable for direct human-machine-interaction due to their elastic behavior. The compliance is mostly achieved by control or by the integration of steel springs into the joint drives. This paper proposes a novel approach based on a sensorized elastomer coupling. Due to its damping characteristics, the interaction-safety can be improved in comparison to steel spring or purely control based approaches. The presented coupling is an integral part of a self-contained drive system which is also introduced. Simulation results of the strain/torsion and torque/torsion relationship for different geometrical variations of the elastomer coupling and experimental data of a prototype are presented. Since the sensorized coupling provides torsion measurements of the elastomer inlay, a system identification approach was employed to derive nonlinear and linear models of the coupling which can later be used in model-based joint-control. (C) 2013 Elsevier B.V. All rights reserved.

关键词： 合作学习   实践教学   机器人竞赛  

摘要： 合作学习模式的研究应用是当前教学理论和教学方法改革的一项重要内容。该学习模式以学生为中心,避免了传统教学中以教师为中心的缺陷,因而能够提高学生自主学习的积极性,提高学习效率,也有利于学生创新思维的培养。实践教学是培养创新人才的重要教学环节,其中学科竞赛是实践教学的重要组成部分。论文结合RoboCup和Robocon机器人竞赛,分析了在学科竞赛中应用合作学习模式的必要性和实践方法,并通过具体的竞赛实践,证明了在学科竞赛中应用合作学习模式不仅能取得较好的竞赛成绩,同时能有效提高创新人才培养质量。

关键词： 国际会展中心   科学技术产业   博览会   西安   中国   成果奖   机器人竞赛   陕西省  

摘要： 2013年8月23—25日，我院应邀参加了在西安曲江国际会展中心举办的“第八届中国西安国际科学技术产业博览会”暨“陕西省首届家庭机器人竞赛”。

关键词： 机器人竞赛   中小学教育   课程   机器人教育   科学技术素养   学校数量   课外兴趣小组   青少年活动  

摘要： 机器人教育现状 近10年来，机器人竞赛已成为我国青少年活动的一个品牌项目，机器人教育也随之被学校、家长及社会认可和推崇，特别是在培养学生的创新能力和科学技术素养方面展现了它独有的特性。但因为经费、教师、场地等缘故，目前仅有少数学校开展了机器人课程，但也仅限于几个班或者少数年级，全面普及机器人教育的学校数量很少，绝大多数是以课外兴趣小组、学科整合等方式存在，这样就局限了机器人教育在中小学教育中所发挥的特性和价值。

关键词： 机器人竞赛   科技创新   选拔赛   中国区   青少年   北京   亚太   梦想  

摘要： 8月11日，北京暴雨，但风雨阻挡不住参加2013年亚太青少年机器人竞赛中国区选拔赛选手们的热情。在怀柔区生存岛实践基地，来自北京、上海、河南、江苏、湖南、浙江、辽宁、广东等10多个省市的200多名中小学生冒雨步入赛场，向专家和评委们展示自己的机器人作品和科技创新梦想。

关键词： 摘钩机器人   运动学   动力学分析   仿真  

摘要： 针对编组站驼峰摘钩问题,设计一种三自由度行走式摘钩机器人。在上关节处建立各连杆的坐标系,用D-H参数法推导出机器人的运动学方程,同时用拉格朗日法建立机器人的动力学方程。在Pro/E软件中建立摘钩机器人的三维模型,并将其导入ADAMS软件进行动力学仿真,得到摘钩机器人各关节的力/力矩-时间曲线。与理论计算结果进行对比,表明所建立的摘钩机器人的动力学方程是正确的,进而说明该摘钩机器人的结构可行。

关键词： 动力学建模   动力学仿真   SCARA机器人   工业机器人  

摘要： 以SCARA型四自由度物料搬运机器人为研究载体,提出一种基于逆动力学分析的机器人关键零部件选型方法。该方法是使用Denavit-Hartenberg参数法建立机器人运动学模型,使用Newton-Euler迭代动力学方程建立机器人的动力学模型,利用数学软件Mathematica建立机器人逆动力学仿真系统,并在关节空间下进行仿真分析,最后获得机器人在运动过程中各关节的功率、扭矩、转速及相邻连杆间的相互作用力等参数的一套机器人关键零部件选型方法。该方法为机器人结构设计以及电机、减速机等关键零部件的选型提供理论依据,同时也适用于其他类型的机器人关键零部件选型。

关键词： 机器人设计   竞赛   创意   青少年宫   VC系列   文化生活   白云区   广州市  

摘要： 机器人竞赛是一项集趣味、科技与竞技于一体的活动。2013年5月，广州市白云区青少年宫举办了2013年白云区青少年电脑机器人设计与制作竞赛，主办方将低碳环保的PVC系列机器人引入机器人竞赛，鼓励青少年积极参与其中，丰富校园文化生活。