关键词： rehabilitation engineering   rehabilitation robotics   spinal cord injury   feedback control  

摘要： Robotics-assisted gait devices have been introduced as part of rehabilitation therapy for people with neurological impairment. The scope of application has recently been expanded to encompass cardiopulmonary training and assessment, but the response of oxygen uptake to progressively increasing work rate while walking with robotics assistance can be strongly nonlinear. This hampers efforts to estimate cardiopulmonary performance parameters. We hypothesized that a linear increase in oxygen uptake can be achieved by employing feedback control. We aimed to develop a nonlinear stochastic model of oxygen uptake response to work rate during robotics-assisted gait, and to employ this model to design and test feedback strategies for control of oxygen uptake during incremental exercise testing. A new model structure was developed consisting of a Hammerstein component, i.e. a static nonlinear gain combined with a linear time-invariant transfer function, and a stochastic approximation of regularized breath-by-breath fluctuations in oxygen uptake. Simulation results using the model and a range of control design parameters confirmed the ability of feedback to achieve a linear increase in work rate in the face of strong plant nonlinearity. This new approach could be applied during incremental exercise tests and may lead to improved understanding and estimates of the sub-maximal gas exchange threshold and peak cardiorespiratory performance parameters. Copyright (C) 2008 John Wiley & Sons, Ltd.

关键词： Dynamics   Kinematics   Planar parallel robot   Virtual work  

摘要： Recursive matrix relations for kinematics and dynamics of the commonly known 3-RPR planar parallel robots are established in this paper. Three identical planar legs connecting to the moving platform are located in the same plane. Knowing the motion of the platform, we develop first the inverse kinematical problem and determine the positions, velocities and accelerations of the robot. Further, the principle of virtual work is used in the inverse dynamic problem. Several matrix equations offer iterative expressions and graphs for the power requirement comparison of each of three actuators in two different actuation schemes: revolute actuators and prismatic actuators. For the same evolution of the moving platform in the vertical plane, the power distribution upon the three actuators depends on the actuating configuration, but the total power absorbed by the set of three actuators is the same, at any instant, for both driving systems. (C) 2008 Elsevier Ltd. All rights reserved.

关键词： Robotics   Laparoscopy   Computer-assisted surgery  

摘要： Advancements in conventional laparoscopy afford gynecologists the ability to treat disease with minimally invasive interventions. Procedures such as hysterectomy are still performed predominantly via laparotomy. Instrumentation, complex disease. and steep learning curves are often cited as obstacles to minimally invasive surgery. The advent of robotic technology may provide a means to overcome the limitations of conventional laparoscopy through the use of 3-dimensional imaging and more dextrous and precise instruments, Current studies clearly demonstrate the feasibility and safety of applying robotics to the entire spectrum of gynecologic procedures. Rigorous scientific studies and long-term data are needed to determine the appropriate applications of robotics in gynecology. Numerous questions still exist pertaining to costs, credentialing and privileging, and training. Journal of Minimally Invasive Gynecology (2009) 16, 291-301 (c) 2009 AAGL All rights reserved.

关键词： Variable impedance actuation   Human-in-the-loop   Biomimetic robotics   Touch sensing   Human-like arm  

摘要： The construction of robotic systems that can move the way humans do, with respect to agility, stability and precision, is a necessary prerequisite for the successful integration of robotic systems in human environments. We explain human-centered views on robotics, based on the three basic ingredients (1) actuation;(2) sensing;and (3) control, and formulate detailed examples thereof. (C) 2009 Elsevier Ltd. All rights reserved.

关键词： Fault accommodation   Fault analysis   Fault detection and isolation   Fault tolerance in robotics   Fault tolerant robot manipulators   Methods based fault detection  

摘要： This work is a contribution to illustrate the fault tolerance concepts in robotics. Every step from the analysis phase to the fault accommodation phase is presented. A fault on joint 3 is taken into account and simulated to validate the detection algorithms. The fault accommodation is thus considered and is based on the kinematic redundancy principle. The establishment of the inverse kinematic model, under some conditions of joint failure, enables the generation of an alternative trajectory to ensure the robot goes on functioning. © 2009 Inderscience Enterprises Ltd.

关键词： Complex system   Nonlinear dynamics   Self-organization   Embodied mind   Embodied robotics  

摘要： After an introduction (1) the article analyzes the evolution of the embodied mind (2), the innovation of embodied robotics (3), and finally discusses conclusions of embodied robotics for human responsibility (4). Considering the evolution of the embodied mind (2), we start with an introduction of complex systems and nonlinear dynamics (2.1), apply this approach to neural self-organization (2.2), distinguish degrees of complexity of the brain (23), explain the emergence of cognitive states by complex systems dynamics (2.4), and discuss criteria for modeling the brain as complex nonlinear system (2.5). The innovation of embodied robotics (3) is a challenge of future technology. We start with the distinction of symbolic and embodied AI (3.1) and explain embodied robots as dynamical systems (3.2). Self-organization needs self-control of technical systems (33). Cellular neural networks (CNN) are an example of self-organizing technical systems offering new avenues for neurobionics (3.4). In general, technical neural networks support different kinds of learning robots (3.5). Finally, embodied robotics aim at the development of cognitive and conscious robots (3.6). (C) 2009 Elsevier Ltd. All rights reserved.

关键词： Miniature robots   In vivo robots   Robotic surgery   Novel technology   Natural orifice surgery  

摘要： Robotic surgical systems, such as the da Vinci Surgical System (Intuitive Surgical, Inc., Sunnyvale, California), have revolutionized laparoscopic surgery but are limited by large size, increased costs, and limitations in imaging. Miniature in vivo robots are being developed that are inserted entirely into the peritoneal cavity for laparoscopic and natural orifice transluminal endoscopic surgical (NOTES) procedures. In the future, miniature camera robots and microrobots should be able to provide a mobile viewing platform. This article discusses the current state of miniature robotics and novel robotic surgical platforms and the development of future robotic technology for general surgery and urology.

关键词： Neural networks   Genetic algorithms   Self-organisation   Motor schema-based controllers   Potential fields   Modularity   Multi-variable statistical regression  

摘要： This paper analyses the strengths and weaknesses of self-orgainising approaches, such as evolutionary robotics, and direct design approaches, such as behaviour-based controllers, for the production of autonomous robots' controllers, and shows how the two approaches can be usefully combined. in particular, the paper proposes a method for encoding evolved neural-network based behaviours into motor schema-based controllers and then shows how these controllers can be modified and combined to produce robots capable of solving new tasks. The method has been validated in the context of a collective robotics scenario in which a group of physically assembled simulated autonomous robots are requested to produce different forms of coordinated behaviours (e.g., coordinated motion, walled-arena exiting, and light pursuing). (c) 2009 Elsevier B.V. All rights reserved.

关键词： Robotic   Humanoid   Human   Cognition   Neuroscience   Social interactions  

摘要： We believe that humanoid robots provide new tools to investigate human social cognition, the processes underlying everyday interactions between individuals. Resonance is an emerging framework to understand social interactions that is based on the finding that cognitive processes involved when experiencing a mental state and when perceiving another individual experiencing the same mental state overlap, both at the behavioral and neural levels. We will first review important aspects of his framework. In a second part, we will discuss how this framework is used to address questions pertaining to artificial agents' social competence. We will focus on two types of paradigm, one derived from experimental psychology and the other using neuroimaging, that have been used to investigate humans' responses to humanoid robots. Finally, we will speculate on the consequences of resonance in natural social interactions if humanoid robots are to become integral part of our societies. (C) 2009 Elsevier Ltd. All rights reserved.

关键词： NATURAL orifice transluminal endoscopic surgery   ROBOTICS in medicine   ENDOSCOPIC surgery   MEDICAL equipment   MEDICAL technology   OPERATIVE surgery  

摘要： Natural orifice translumenal endoscopic surgery (NOTES) bridges the gap between standard endoluminal and extraluminal surgery and, as such, presents unique instrumentation challenges, including lack of stable platforms, loss of spatial orientation, and limited instrument tip maneuverability. The proper instrumentation remains to be established, and the incorporation of robotic technology will be essential moving forward. Flexible robotics has been applied to ureteroscopy and holds promise for NOTES. Miniature in vivo robots will potentially play a role. The current status and future implications of these technologies are reviewed.