Suche
Ergebnisse
-
Overview of robot-aided gait biofeedback and assessment
(2006)The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006)Robot-assisted gait training can increase the duration and number of training sessions, whilst reducing the number of therapists required per patient. However, robotic training without therapists lacks feedback required for patient assessment. In this paper, we present results from the literature and our research in order to provide an overview of novel human-centered strategies that enable the robot to support biofeedback and assessment ...Conference Paper -
Review on MR-Compatible Robotic Systems
(2006)The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006)Magnetic Resonance Imaging (MRI) and its functional applications (fMRI) play increasing roles in diagnostic and basic neuroscience. In contrast to the high demand for MR-compatible devices and robotic systems in both academic and practical fields, MR-compatibility has been a tough hurdle for developers. Since traditional electromagnetic components interact with the high magnetic field and become useless, researchers are working on ...Conference Paper -
Investigation of a Cable Transmission for the Actuation of MR Compatible Haptic Interfaces
(2006)The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006)This paper investigates a cable transmission to remotely actuate MR compatible robots over a distance of several meters. Such a transmission could be an interesting solution for haptic interfaces for neuroscience studies performing force feedback during functional magnetic resonance imaging (fMRI), as well as for robots for interventional MRI. MR compatible components, transmission length and bandwidth as well as cable properties are ...Conference Paper -
Calibration of multi-axis MEMS force sensors using the shape from motion method
(2006)2006 IEEE International Conference on Robotics and AutomationThis paper presents a new design of a two-axis MEMS (microelectromechanical systems) capacitive force sensor with strict linearity and a new sensor calibration method for micro-sensors. Precise calibration of multi-axis micro force sensors is difficult for several reasons, including the need to apply many known force vectors at precise orientations at the micro force scale, and the risk of damaging the small, fragile MEMS device. In this ...Conference Paper -
Hybrid Nanorobotic Approaches for Fabricating NEMS from 3D Helical Nanostructures
(2006)2006 IEEE International Conference on Robotics and AutomationRobotic manipulation at the nanometer scale is a promising technology for structuring, characterizing and assembling nano building blocks into nanoelectromechanical systems (NEMS). Combined with recently developed nanofabrication processes, a hybrid approach to building NEMS from SiGe/Si/Cr nanocoils and Si/Cr nanospirals is presented. Nanosensors and nanoactuators are investigated from experimental, theoretical, and design perspectivesConference Paper -
A Cognitive Modeling of Space using Fingerprints of Places for Mobile Robot Navigation
(2006)2006 IEEE International Conference on Robotics and AutomationIn this work we address the problem of perception, spatial cognition and topological navigation for a mobile robot. The objective of this work is to enable the navigation of an autonomous mobile robot (or vehicle) in an indoor (or outdoor) structured environment without relying on maps a priori learned and without using artificial landmarks. A new method for incremental and automatic topological mapping and global localization using ...Conference Paper -
ARMin - robot for rehabilitation of the upper extremities
(2006)2006 IEEE International Conference on Robotics and AutomationTask-oriented repetitive movements can improve motor recovery in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation. ARMin is a new robot for arm therapy applicable to the training of activities of daily living in clinics. ARMin has a semiexoskeletal structure with six degrees of freedom, and is equipped with position ...Conference Paper -
Robust statistics for 3D object tracking
(2006)2006 IEEE International Conference on Robotics and AutomationThis paper focuses on methods that enhance performance of a model based 3D object tracking system. Three statistical methods and an improved edge detector are discussed and compared. The evaluation is performed on a number of characteristic sequences incorporating shift, rotation, texture, weak illumination and occlusion. Considering the deviations of the pose parameters from ground truth, it is shown that improving the measurements' ...Conference Paper -
Miniature endoscopic capsule robot using biomimetic micro-patterned adhesives
(2006)The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006)This paper presents a stopping and a locomotion mechanism to be used with an endoscopic microcapsule robot. In the diagnosis of gastrointestinal diseases, microcapsules have been developed recently as alternatives to conventional endoscopy. However, they have less accuracy and functionality in diagnosis as they lack the ability to control their position. We propose mechanisms to be used with such microcapsules that would enable them to ...Conference Paper -
Modeling of the supporting legs for designing biomimetic water strider robots
(2006)2006 IEEE International Conference on Robotics and AutomationRecent studies on the insect water strider showed that the insect heavily relies on surface tension force to stay afloat. Inspired by this insect, water strider robots have been developed using the same locomotive principles as the insect. This paper focuses on numerically modeling the supporting legs of the insect and the robots. The rigid-leg model as well as the compliant-leg model is developed using numerical approaches, under an ...Conference Paper