A Constant-Force End-Effector With Online Force Adjustment for Robotic Ultrasonography [0.03%]
一种具有在线力调节的恒力末端执行器用于机器人超声检测
X Bao,S Wang,R Housden et al.
X Bao et al.
In this letter, we propose a novel constant-force end-effector (CFEE) to address current limitations in robotic ultrasonography. The CFEE uses a parallel, motor-spring-based solution to precisely generate constant operating forces over a wi...
Closing the Loop on Exoskeleton Motor Controllers: Benefits of Regression-Based Open-Loop Control [0.03%]
基于回归的开环控制外骨骼电机控制器的闭环评估及临床步行试验研究
Greg Orekhov,Jason Luque,Zachary F Lerner
Greg Orekhov
Lower-limb exoskeletons are widely researched to improve walking performance and mobility. Low-level sensor-less exoskeleton motor control is attractive for consumer applications due to reduced device complexity and cost, but complex and va...
Fully Actuated Body-Mounted Robotic System for MRI-Guided Lower Back Pain Injections: Initial Phantom and Cadaver Studies [0.03%]
一种用于MRI引导下腰背痛注射的完全驱动身体安装式机器人系统：初步模型和尸体研究
Gang Li,Niravkumar A Patel,Yanzhou Wang et al.
Gang Li et al.
This paper reports the improved design, system integration, and initial experimental evaluation of a fully actuated body-mounted robotic system for real-time MRI-guided lower back pain injections. The 6-DOF robot is composed of a 4-DOF need...
Offline assistance optimization of a soft exosuit for augmenting ankle power of stroke survivors during walking [0.03%]
一种助行装置的离线助力优化方法可提高卒中患者的行走踝关节功率
Christopher Siviy,Jaehyun Bae,Lauren Baker et al.
Christopher Siviy et al.
Locomotor impairments afflict more than 80% of people poststroke. Our group has previously developed a unilateral ankle exosuit aimed at assisting the paretic ankle joint of stroke survivors during walking. While studies to date have shown ...
Benchmarking Protocols for Evaluating Grasp Strength, Grasp Cycle Time, Finger Strength, and Finger Repeatability of Robot End-effectors [0.03%]
机器人末端执行器抓取力度、抓取周期时间、手指力度和手指重复性的评估基准协议
Joe Falco,Daniel Hemphill,Kenny Kimble et al.
Joe Falco et al.
This paper describes a set of metrics and supporting benchmarking protocols for determining the performance characteristics of robot end-effectors. In the short-term, these tools are proving useful as a common ground for assessing and compa...
Inferring Control Intent during Seated Balance using Inverse Model Predictive Control [0.03%]
基于逆模型预测的坐位平衡.intent识别方法
Ahmed Ramadan,Jongeun Choi,Clark J Radcliffe et al.
Ahmed Ramadan et al.
Patients with Low Back Pain (LBP) are suggested to follow a protective coping strategy. Therefore, rehabilitation of these patients requires estimating their motor control strategies (the control intent). In this letter, we present an appro...
Jennifer C Case,James Gibert,Joran Booth et al.
Jennifer C Case et al.
Spinal-driven locomotion was first hypothesized to exist in biological systems in the 1980s. However, only recently has the concept been applied to legged robots. In implementing spinal-driven locomotion in robots to-date, researchers have ...
Benchmarking Protocols for Evaluating Small Parts Robotic Assembly Systems [0.03%]
评估小型部件机器人装配系统的基准协议
Kenneth Kimble,Karl Van Wyk,Joe Falco et al.
Kenneth Kimble et al.
This paper presents a set of performance metrics, test methods, and associated artifacts to help progress the development and deployment of robotic assembly systems. The designs for three task board artifacts that replicate small part inser...
A Markov Chain Model for Transient Analysis of Handoff Process in Emergency Departments [0.03%]
急诊科交接过程瞬态分析的马尔可夫链模型
Wenjun Zhu,Brian W Patterson,Maureen Smith et al.
Wenjun Zhu et al.
Transfer of care between multiple units or facilities is of significant importance for patient safety, care quality, and operation efficiency. Such transfers are often referred to as handoffs in hospitals, which need to be carried out timel...
Towards FBG-Based Shape Sensing for Micro-scale and Meso-Scale Continuum Robots with Large Deflection [0.03%]
基于FBG的大挠度微/介尺度 continuum 机器人形貌感知技术研究
Yash Chitalia,Nancy Joanna Deaton,Seokhwan Jeong et al.
Yash Chitalia et al.
Endovascular and endoscopic surgical procedures require micro-scale and meso-scale continuum robotic tools to navigate complex anatomical structures. In numerous studies, fiber Bragg grating (FBG) based shape sensing has been used for measu...