Future bathroom: A study of user-centred design principles affecting usability, safety and satisfaction in bathrooms for people living with disabilities

Research and development work relating to assistive technology 2010-11 (Department of Health) Presented to Parliament pursuant to Section 22 of the Chronically Sick and Disabled Persons Act 197

Neuroprosthetic system to restore locomotion after neuromotor disorder

Neuromodulation of spinal sensorimotor circuits improves motor control in animal models and humans with Spinal Cord Injury (SCI) and Parkinson disease. Stimulation parameters are tuned manually and remain constant during motor execution which is suboptimal to mediate maximum therapeutic effects. Here, I present a novel neuroprosthetic system that enabled adaptive changes of neuromodulation parameters during locomotion and allowed to restore high-fidelity control over leg movements in paralyzed rats. Beyond the therapeutic potential, these findings provide a conceptual and technical framework to personalize neuromodulation treatments for other neurological disorders. Several limitations have restricted the development of neuroprosthetic systems for closed loop neuromodulation. (1) First, it required a mechanistic understanding of the relationships between stimulation features and the recruitment of specific sensorimotor circuits. I found that electrical neuromodulation primarily recruits afferent reflex pathways that lead to coordinated activity of leg muscles during stepping. Moreover, the specific electrode location on the spinal cord could activate distinct reflex pathways and activate specific leg muscle groups of paralyzed rats. These results have been leveraged for the design of flexible and stretchable multi-electrode arrays for electrical and chemical spinal cord stimulation. (2) Second, it was necessary to perform comprehensive mapping experiments to characterize the effect of neuromodulation parameters on hind limb kinematics in order to establish stable and robust feedback signals for real time control. Step height and ground reaction forces emerged as the primary targets for the control of closed loop neuromodulation after spinal cord injury. (3) Third, implementation and optimization of closed-loop neuromodulation strategies necessitated the development of an advanced technological platform that combined feedback and feed-forward loops that match the natural flow of information in the modulated neural systems. These integrated developments allowed animals with complete spinal cord injury to perform over 1000 successive steps without failure, and to climb staircases of various heights and lengths with precision and fluidity. Moreover, the neuroprosthetic system was able to alleviate locomotor deficits in an alpha-synuclein rodent model of Parkinsonâs disease. Current knowledge of human spinal cord properties in response to electrical neuromodulation suggests that the developed control policies can translate into clinical applications to improve neurorehabilitation therapies. Moreover, the developed neuroprosthetic system can readily be interfaced with control signals from the brain to establish cortico-spinal neuroprostheses that are intended to promote activity-dependent plasticity during recovery from spinal cord injury

Climbing and Walking Robots

Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. Today’s climbing and walking robots are a combination of manipulative, perceptive, communicative, and cognitive abilities and they are capable of performing many tasks in industrial and non- industrial environments. Surveillance, planetary exploration, emergence rescue operations, reconnaissance, petrochemical applications, construction, entertainment, personal services, intervention in severe environments, transportation, medical and etc are some applications from a very diverse application fields of climbing and walking robots. By great progress in this area of robotics it is anticipated that next generation climbing and walking robots will enhance lives and will change the way the human works, thinks and makes decisions. This book presents the state of the art achievments, recent developments, applications and future challenges of climbing and walking robots. These are presented in 24 chapters by authors throughtot the world The book serves as a reference especially for the researchers who are interested in mobile robots. It also is useful for industrial engineers and graduate students in advanced study

Virtual Reality

At present, the virtual reality has impact on information organization and management and even changes design principle of information systems, which will make it adapt to application requirements. The book aims to provide a broader perspective of virtual reality on development and application. First part of the book is named as "virtual reality visualization and vision" and includes new developments in virtual reality visualization of 3D scenarios, virtual reality and vision, high fidelity immersive virtual reality included tracking, rendering and display subsystems. The second part named as "virtual reality in robot technology" brings forth applications of virtual reality in remote rehabilitation robot-based rehabilitation evaluation method and multi-legged robot adaptive walking in unstructured terrains. The third part, named as "industrial and construction applications" is about the product design, space industry, building information modeling, construction and maintenance by virtual reality, and so on. And the last part, which is named as "culture and life of human" describes applications of culture life and multimedia-technology

Analysis to Support Design for Additive Manufacturing with Desktop 3D Printing

[ES] En los últimos años, la fabricación aditiva a través de la extrusión de materiales ha experimentado un desarrollo y adopción acelerados gracias a la amplia disponibilidad de máquinas y materiales de bajo costo. El tamaño de estas máquinas se ha reducido del tamaño del taller al tamaño del escritorio, lo que permite su uso en configuraciones de oficina o en el hogar. Este cambio ha permitido la adopción de la tecnología por la gama más amplia de usuarios que nunca, con o sin experiencia en diseño de ingeniería. Este nuevo paradigma ha creado el desafío de cómo habilitar que estos nuevos usuarios aprovechen las capacidades proporcionadas por esta tecnología. Esta tecnología permite la creación de geometrías complejas y productos personalizados con un coste inferior a los procesos de fabricación convencionales. Además, la gran cantidad de usuarios dispuestos a compartir sus diseños permite encontrar soluciones de diseño desde otros diseñadores. Sin embargo, la amplia gama de configuraciones de máquina, parámetros y materiales requiere brindar soporte para obtener resultados exitosos para cualquier combinación. Esta tesis aborda este desafío identificando las características de diseño y fabricación a considerar e investigando las consideraciones mecánicas y de pos procesamiento. Se propone y evalúa un nuevo marco de diseño que permite a los nuevos usuarios aprovechar las capacidades y considerar las limitaciones. Esta investigación encuentra que es posible crear un conjunto de herramientas de diseño que permita a los usuarios no capacitados diseñar productos utilizando la complejidad habilitada por la tecnología al tiempo que garantiza la funcionalidad y la capacidad de fabricación del producto.[CA] En els últims anys, la fabricació additiva a través de l'extrusió de materials ha experimentat un desenvolupament i adopció accelerats gràcies a l'àmplia disponibilitat de màquines i materials de baix cost. La grandària d'aquestes màquines s'ha reduït de la grandària del taller a la grandària de l'escriptori, la qual cosa permet el seu ús en configuracions d'oficina o en a casa. Aquest canvi ha permés l'adopció de la tecnologia per la gamma més àmplia d'usuaris que mai, amb o sense experiència en disseny o enginyeria. Aquest nou paradigma ha creat el desafiament de com habilitar que aquests nous usuaris aprofiten les capacitats proporcionades per aquesta tecnologia. Aquesta tecnologia permet la creació de geometries complexes i productes personalitzats amb un cost inferior als processos de fabricació convencionals. A més, la gran quantitat d'usuaris disposats a compartir els seus dissenys permet trobar solucions de disseny des d'altres dissenyadors. No obstant això, l'àmplia gamma de configuracions de màquina, paràmetres i materials requereix brindar suport per a obtindre resultats reeixits per a qualsevol combinació. Aquesta tesi aborda aquest desafiament identificant les característiques de disseny i fabricació a considerar i investigant les consideracions mecàniques i de post processament. Es proposa i avalua un nou marc de disseny que permet als nous usuaris aprofitar les capacitats i considerar les limitacions. Aquesta investigació troba que és possible crear un conjunt d'eines de disseny que permeta als usuaris no capacitats dissenyar productes utilitzant la complexitat habilitada per la tecnologia al mateix temps que garanteix la funcionalitat i la capacitat de fabricació del producte.[EN] In recent years, additive manufacturing through material extrusion has experienced accelerated development and adoption thanks to the wide availability of low-cost machines and materials. The size of these machines has been reduced from shop floor to desktop size, enabling their usage in office setups or at home. This change has allowed the adoption of the technology by the broadest range of users than ever, with or without an engineering design background. This new paradigm has created the challenge of how to enable these novel users to leverage the capabilities provided by this technology. This technology allows the creation of complex geometry and customised products with a cost lower than conventional manufacturing processes. Furthermore, the large number of users willing to share their designs allows finding design solutions from other designers. However, the wide range of machine configurations, parameters and materials requires providing support to obtain successful results under any combination. This thesis addresses this challenge by identifying the design and manufacturing characteristics to be considered and investigating the mechanical and post-processing considerations. A new design framework that enables new users to leverage the capabilities and consider the limitations is proposed and evaluated. This research finds that it is possible to create a design toolkit that enables untrained users to design products using the complexity enabled by the technology whilst ensuring the product's functionality and manufacturability.Fernández Vicente, M. (2022). Analysis to Support Design for Additive Manufacturing with Desktop 3D Printing [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/185344TESI