Reproducing the Motion of a Diarthrodial Joint During a Clinical Examination Using Robotic Technology

2003 ◽  
Author(s):  
Susan M. Moore ◽  
Maribeth Thomas ◽  
Mary T. Gabriel ◽  
Jennifer Zeminski ◽  
Savio L.-Y. Woo ◽  
...  
Keyword(s):  
Clinical Examination ◽  
Force Control ◽  
Robotic Systems ◽  
Control Algorithms ◽  
Testing System ◽  
Robotic Technology ◽  
Recent Interest ◽  
Diarthrodial Joint ◽  
Force Moment ◽  
Six Degree Of Freedom

Six-degree-of-freedom (DOF) robotic/universal force-moment sensor (UFS) testing systems have become very useful tools in the study of biomechanics of joints. (DeFrate 2001, Fujie 2000, Rudy 1996) Researchers have successfully utilized these systems to determine joint kinematics using force control algorithms. Recent interest in using these robotic systems to reproduce previously recorded motions of a diarthrodial joint during a clinical examination has emerged. However, reproducing these previously recorded kinematics using a robotic/UFS testing system poses several problems.

scholarly journals Control of Kinesthetic Haptic Interfaces in VR Applications

1997 ◽  
Vol 3 (1) ◽  
pp. 27-46
Author(s):  
Robert L. Williams II
Keyword(s):  
Task Force ◽  
Control Algorithms ◽  
Haptic Interfaces ◽  
Gravity Compensation ◽  
Cartesian Space ◽  
Virtual Force ◽  
Experimental Implementation ◽  
Kinesthetic Feedback ◽  
Force Moment ◽  
Six Degree Of Freedom

Cartesian control algorithms are presented for six degree of freedom (6-DOF) force-reflecting hand-controllers (FRHCs) used for simultaneous operator position/orientation (or rate) commands to a virtual reality (VR) system and virtual force/moment kinesthetic reflection to the operator. The commands and kinesthetic feedback are transferred in Cartesian space. The task force/moment (wrench) dominates while features are provided to reduce operator loading: virtual payload and FRHC gravity compensation, input channels to easily separate 6-DOF inputs with one hand, constant-force return-to-center, and FRHC damping to improve relative stability. In experimental implementation, the "VR system" was a real remotely located teleoperated robotic system with real sensed task wrenches. Experimental results show that the algorithms are effective for reduced contact wrenches and increased telepresence quality in practical tasks. The methods in this paper are suitable for kinesthetic haptic display in virtual environments.

Validation of a High-Payload Robotic/UFS Testing System for Studying of Joint Motion

2007 ◽  
Author(s):  
Noah H. Lorang ◽  
Lauren A. Hellmann ◽  
Changfu Wu ◽  
Savio L.-Y. Woo
Keyword(s):  
Scientific Data ◽  
Testing System ◽  
Orthopedic Surgeons ◽  
Wide Range ◽  
Force Moment ◽  
Robotic Testing ◽  
Six Degree Of Freedom ◽  
Reconstructive Techniques ◽  
Robotic Testing System ◽  
High Payload

Robotic technology has been adopted for studying the biomechanics of the knee joint by our research center and others since 1993 to gain a fundamental understanding of the knee, as well as to provide orthopedic surgeons with scientific data on the efficacy of various reconstructive techniques [1–4]. A robotic testing system generally consists of a six degree-of-freedom (DOF) robotic manipulator with a universal force-moment sensor (UFS) attached to the end effector [5]. This testing system offers a wide range of motion with precision path and position repeatability.

A Low-Cost Hexa Platform for Efficient Force Control Systems Using Industrial Manipulators

2009 ◽  
Vol 147-149 ◽  
pp. 1-6 ◽  
Author(s):  
Rafal Osypiuk ◽  
Torsten Kröger
Keyword(s):  
Control Systems ◽  
Force Control ◽  
Execution Time ◽  
Low Cost ◽  
Degree Of Freedom ◽  
Industrial Manipulators ◽  
Control Concept ◽  
Six Dof ◽  
Parallel Platform ◽  
Six Degree Of Freedom

This contribution presents a new force control concept for industrial six-degree of freedom (DOF) manipulators, which uses a Hexa platform that provides an active environmental stiffness for all six DOFs. The paper focuses on the Hexa platform and is split into two essential parts: (i) parallel platform construction, and (ii) application of force control with industrial manipulators using a six-DOF environmental stiffness. This mechatronic solution almost gives one hundred percent robustness for stiffness changes in the environment, what guaranties a significant shortening of execution time.

scholarly journals A Survey of Robots in Healthcare

Technologies ◽  
2021 ◽  
Vol 9 (1) ◽  
pp. 8 ◽  
Author(s):  
Maria Kyrarini ◽  
Fotios Lygerakis ◽  
Akilesh Rajavenkatanarayanan ◽  
Christos Sevastopoulos ◽  
Harish Ram Nambiappan ◽  
...  
Keyword(s):  
Artificial Intelligence ◽  
State Of The Art ◽  
The Elderly ◽  
Robotic Systems ◽  
Care Hospital ◽  
Robotic Technology ◽  
Persons With Disabilities ◽  
Survey Paper ◽  
Recent Advances ◽  
Art Research

In recent years, with the current advancements in Robotics and Artificial Intelligence (AI), robots have the potential to support the field of healthcare. Robotic systems are often introduced in the care of the elderly, children, and persons with disabilities, in hospitals, in rehabilitation and walking assistance, and other healthcare situations. In this survey paper, the recent advances in robotic technology applied in the healthcare domain are discussed. The paper provides detailed information about state-of-the-art research in care, hospital, assistive, rehabilitation, and walking assisting robots. The paper also discusses the open challenges healthcare robots face to be integrated into our society.

Complete Accessibility of Oscillations in Robotic Systems by Orthogonal Projections

1990 ◽  
Vol 112 (2) ◽  
pp. 194-202 ◽  
Author(s):  
Sabri Tosunoglu ◽  
Shyng-Her Lin ◽  
Delbert Tesar
Keyword(s):  
Current Practice ◽  
Industrial Robot ◽  
Robotic Systems ◽  
Orthogonal Projections ◽  
Small Oscillations ◽  
Robotic Arms ◽  
Driven System ◽  
System Equations ◽  
Six Degree Of Freedom

The current practice of controller development for flexible robotic systems generally focuses on one-link robotic arms and is valid for small oscillations. This work addresses the control of n-link, serial, spatial robotic systems modeled with m1 joint and m2 link flexibilities such that n≥m1+m2. System compliance is modeled by local springs and nonactuated prismatic and revolute type pseudo joints. The coupled, nonlinear, error-driven system equations are derived for the complete model without linearization or neglecting certain terms. For this system, the complete accessibility of vibrations is studied by orthogonal projections. It is shown that under some configurations of a robotic system, the induced oscillations may not be accessible to the controller. Given accessibility, the controller developed in this work assures the global asymptotic stability of the system. Example numerical simulations are presented based on the model of a six-degree-of-freedom Cincinnati Milacron T3-776 industrial robot. One example models the system compliance in four joints, while another case study simulates four lateral link oscillations. These examples show that this controller, even under inaccurate payload description, eliminates the oscillations while tracking desired trajectories.

Glenohumeral Translations are Only Partially Restored after Repair of a Simulated Type II Superior Labral Lesion

2003 ◽  
Vol 31 (1) ◽  
pp. 56-63 ◽  
Author(s):  
Andreas Burkart ◽  
Richard E. Debski ◽  
Volker Musahl ◽  
Patrick J. McMahon
Keyword(s):  
Clinical Relevance ◽  
Glenohumeral Joint ◽  
Surgical Techniques ◽  
Testing System ◽  
Type Ii ◽  
Joint Stability ◽  
Anterior Translation ◽  
Labral Lesion ◽  
Force Moment ◽  
Biceps Anchor

Background The effect on joint stability of repair of type II superior labrum and biceps anchor lesions is unknown. Hypothesis Increased translations of the glenohumeral joint after a simulated type II lesion will be reduced after the lesion is repaired. Study Design Controlled laboratory study. Methods A robotic/universal force-moment testing system was used to simulate load-and-shift and apprehension tests on eight cadaveric shoulders to determine joint kinematics of the shoulder after venting, creation of a type II lesion, and repair of the lesion. Results At 30° of abduction, anterior translation of the vented joint in response to an anterior load was 18.7 ± 8.5 mm and was significantly increased to 26.2 ± 6.5 mm after simulation of a type II lesion. Repair did not restore anterior translation (23.9 ± 8.6 mm) to that of the vented joint. The inferior translation that also occurred during application of an anterior load was 3.8 ± 4.0 mm in the vented joint and increased significantly to 8.5 ± 5.4 mm with a simulated type II lesion. After repair, the inferior translation decreased significantly to 6.7 ± 5.3 mm. Conclusions Repair of a type II lesion only partially restored glenohumeral translations to that of the vented joint. Clinical Relevance Surgical techniques including improved repair of passive stabilizers injured in the type II lesion should be considered.

Regulating a Formation of a Large Number of Vehicles

2005 ◽  
Author(s):  
Akira Okamoto ◽  
Dean B. Edwards
Keyword(s):  
Control Problem ◽  
Coordinate System ◽  
Formation Control ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Degree Of Freedom ◽  
Relative Distance ◽  
Control Algorithms ◽  
Distance Measurements ◽  
Six Degree Of Freedom

Various control algorithms have been developed for fleets of autonomous vehicles. Many of the successful control algorithms in practice are behavior-based control or nonlinear control algorithms, which makes analyzing their stability difficult. At the same time, many system theoretic approaches for controlling a fleet of vehicles have also been developed. These approaches usually use very simple vehicle models such as particles or point-mass systems and have only one coordinate system which allows stability to be proven. Since most of the practical vehicle models are six-degree-of-freedom systems defined relative to a body-fixed coordinate system, it is difficult to apply these algorithms in practice. In this paper, we consider a formation regulation problem as opposed to a formation control problem. In a formation control problem, convergence of a formation from random positions and orientations is considered, and it may need a scheme to integrate multiple moving coordinates. On the contrary, in a formation regulation problem, it is not necessary since small perturbations from the nominal condition, in which the vehicles are in formation, are considered. A common origin is also not necessary if the relative distance to neighbors or a leader is used for regulation. Under these circumstances, the system theoretic control algorithms are applicable to a formation regulation problem where the vehicle models have six degrees of freedom. We will use a realistic six-degree-of-freedom model and investigate stability of a fleet using results from decentralized control theory. We will show that the leader-follower control algorithm does not have any unstable fixed modes if the followers are able to measure distance to the leader. We also show that the leader-follower control algorithm has fixed modes at the origin, indicating that the formation is marginally stable, when the relative distance measurements are not available. Multi-vehicle simulations are performed using a hybrid leader-follower control algorithm where each vehicle is given a desired trajectory to follow and adjusts its velocity to maintain a prescribed distance to the leader. Each vehicle is modeled as a three-degree-of-freedom system to investigate the vehicle’s motion in a horizontal plane. The examples show efficacy of the analysis.

Sign in / Sign up

Export Citation Format

Share Document