Haptic interface based on tactile sensors for assistive devices

Tesis leída el 14 de febrero de 2018.Los países desarrollados deben hacer frente al creciente envejecimiento de su población. Un proceso de envejecimiento adecuado requiere capacidad funcional en las actividades del día a día. Así, las tecnologías de asistencia deben lidiar con uno de los principales problemas asociados con la edad: el deterioro de la movilidad. Los bastones y los andadores son prescritos para personas con movilidad reducida, pero aún con capacidad de andar. Sin embargo, hay un considerable número de personas en la tercera edad que necesitan otro tipo de ayuda. En este sentido, las sillas de ruedas eléctricas suponen un medio para el aumento de la participación y de la actividad de sus usuarios. Normalmente, estas sillas se conducen mediante un joystick alojado al final de uno de los reposabrazos. No obstante, este dispositivo no es adecuado para todo tipo de usuarios. Algunos de ellos lo encuentran difícil de usar y, para otros, su manejo no es posible y necesitan de la asistencia de otra persona (aquellos que padecen ciertas enfermedades del sistema nervioso, lesiones en la médula espinal, discapacidad mental, etc.). De esta manera, hay casos en que se requiere la ayuda de un cuidador que desplace la silla. Empujar una silla de ruedas de forma habitual produce distintos tipos de lesiones, por lo que es interesante que los asistentes o cuidadores también se beneficien de las ventajas de las sillas de ruedas eléctricas. En este caso, la solución más común consiste en otro joystick situado en la parte trasera de la silla. Como se ha apuntado anteriormente, este no es un dispositivo cómodo e intuitivo para muchos usuarios. Con respecto a la investigación, con frecuencia los dispositivos de asistencia propuestos basan su interfaz con el asistente en sensores de fuerza. Estos componentes son caros y suponen por tanto una barrera de cara a que el dispositivo llegue al mercado

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

Planning and Control Strategies for Motion and Interaction of the Humanoid Robot COMAN+

Despite the majority of robotic platforms are still confined in controlled environments such as factories, thanks to the ever-increasing level of autonomy and the progress on human-robot interaction, robots are starting to be employed for different operations, expanding their focus from uniquely industrial to more diversified scenarios. Humanoid research seeks to obtain the versatility and dexterity of robots capable of mimicking human motion in any environment. With the aim of operating side-to-side with humans, they should be able to carry out complex tasks without posing a threat during operations. In this regard, locomotion, physical interaction with the environment and safety are three essential skills to develop for a biped. Concerning the higher behavioural level of a humanoid, this thesis addresses both ad-hoc movements generated for specific physical interaction tasks and cyclic movements for locomotion. While belonging to the same category and sharing some of the theoretical obstacles, these actions require different approaches: a general high-level task is composed of specific movements that depend on the environment and the nature of the task itself, while regular locomotion involves the generation of periodic trajectories of the limbs. Separate planning and control architectures targeting these aspects of biped motion are designed and developed both from a theoretical and a practical standpoint, demonstrating their efficacy on the new humanoid robot COMAN+, built at Istituto Italiano di Tecnologia. The problem of interaction has been tackled by mimicking the intrinsic elasticity of human muscles, integrating active compliant controllers. However, while state-of-the-art robots may be endowed with compliant architectures, not many can withstand potential system failures that could compromise the safety of a human interacting with the robot. This thesis proposes an implementation of such low-level controller that guarantees a fail-safe behaviour, removing the threat that a humanoid robot could pose if a system failure occurred

Climbing and Walking Robots

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information

STUDY Of Electromyographic Patterns Of erector Spinae And Lower-limb Muscles during Different Modalities Of Gait In post-stroke Individuals

Stroke is one of the leading causes of motor disability in the world. New technologies have been developed to increase efficiency and reduce costs of rehabilitation of poststroke individuals. Objective: To compare electromyographic patterns related to muscle onset/offset, duration of activation and analysis of neuromuscular fatigue of erector spinae (ES) and lower-limb muscles during different modalities of gait in poststroke and healthy individuals. Methodology: The changes in the median frequency (MDF) was analyzed during isometric tasks and walking on a treadmill in healthy individuals (N = 10) to identify fatigue. Ten post-stroke and 30 healthy subjects participated of the second stage of the study, in which ES and three lower-limb muscles were analyzed during different gaits (walking on treadmill and ground, with and without arm swing, and using a walker), with the neuromuscular fatigue analyzed in stroke gait. Muscle analysis was also conducted with two post-stroke subjects while using the UFESs robotic walker. Results: For the healthy subjects, all the lower-limb muscles showed reduction in their MDF during walking on treadmill. Walking on treadmill had a stronger influence on the onset/offset muscles than the arm swing in the healthy individuals. For post-stroke subjects, their ES muscles presented a similar pattern to the healthy subjects, but the contralateral side had longer activation near the toe-off than the ipsilateral side in both gaits. All the observed changes in the activation for each phase indicated a longer duration of activation of the post-stroke subjects. Regarding neuromuscular fatigue, it was not possible to detect reduced MDF values for post-stroke individuals. The use of the UFESs robotic walker improved the symmetry of one post-stroke subject, and the symmetry of duration of activation in the swing phase for all muscles of the other subject. Conclusion: MDF changes were detected in non-strenuous exercises in healthy subjects. ES muscle activation is not influenced by arm swing in healthy individuals, with the same behavior in post-stroke individuals. As a finding of this research, we concluded that trunk muscles can be used in rehabilitation processes and also to control robotic devices for assistance or rehabilitation

Soft pneumatic actuators: a review of design, fabrication, modeling, sensing, control and applications

Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow a bioinspired design. Their high dexterity and safety make them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dynamic and sensitive to physical interaction. Pneumatic actuation remains the dominant technology in soft robotics due to its low cost and mass, fast response time, and easy implementation. Given the significant number of publications in soft robotics over recent years, newcomers and even established researchers may have difficulty assessing the state of the art. To address this issue, this article summarizes the development of soft pneumatic actuators and robots up until the date of publication. The scope of this article includes the design, modeling, fabrication, actuation, characterization, sensing, control, and applications of soft robotic devices. In addition to a historical overview, there is a special emphasis on recent advances such as novel designs, differential simulators, analytical and numerical modeling methods, topology optimization, data-driven modeling and control methods, hardware control boards, and nonlinear estimation and control techniques. Finally, the capabilities and limitations of soft pneumatic actuators and robots are discussed and directions for future research are identified

Humanoid Robots

For many years, the human being has been trying, in all ways, to recreate the complex mechanisms that form the human body. Such task is extremely complicated and the results are not totally satisfactory. However, with increasing technological advances based on theoretical and experimental researches, man gets, in a way, to copy or to imitate some systems of the human body. These researches not only intended to create humanoid robots, great part of them constituting autonomous systems, but also, in some way, to offer a higher knowledge of the systems that form the human body, objectifying possible applications in the technology of rehabilitation of human beings, gathering in a whole studies related not only to Robotics, but also to Biomechanics, Biomimmetics, Cybernetics, among other areas. This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion

NASA Tech Briefs Index, 1976

Abstracts of new technology derived from the research and development activities of the National Aeronautics and Space Administration are presented. Emphasis is placed on information considered likely to be transferrable across industrial, regional, or disciplinary lines. Subject matter covered includes: electronic components and circuits; electronic systems; physical sciences; materials; life sciences; mechanics; machinery; fabrication technology; and mathematics and information sciences

Doing Sound: An Ethnography of Fidelity, Temporality, and Labor Among Live Sound Engineers

This dissertation ethnographically represents the work of three live sound engineers and the profession of live sound reinforcement engineering in the New York City metropolitan area. In addition to amplifying music to intelligible sound levels, these engineers also amplify music in ways that engage the sonic norms associated with the pertinent musical genres of jazz, rock and music theater. These sonic norms often overdetermine audience members' expectations for sound quality at concerts. In particular, these engineers also work to sonically and visually mask themselves and their equipment. Engineers use the term “transparency” to describe this mode of labor and the relative success of sound reproduction technologies. As a concept within the realm of sound reproduction technologies, transparency describes methods of reproducing sounds without coloring or obscuring the original quality. Transparency closely relates to “fidelity,” a concept that became prominent throughout the late nineteenth, twentieth, and twenty-first centuries to describe the success of sound reproduction equipment in making the quality of reproduced sound faithful to its original. The ethnography opens by framing the creative labor of live sound engineering through a process of “fidelity.” I argue that fidelity dynamically oscillates as struggle and satisfaction in live sound engineers’ theory of labor and resonates with their phenomenological encounters with sounds and social positions as laborers at concerts. In the first chapter, I describe my own live sound engineering at Jazzmobile in Harlem. The following chapter analyzes the freelance engineering of Randy Taber, who engineers rock and music theater concerts throughout New York City. The third chapter investigates Justin Rathbun’s engineering at Broadway’s Richard Rodgers theater production of “Porgy and Bess.” Much of engineering scholarship privileges the recording studio as the primary site of technological mediation in the production of music. However, this dissertation ethnographically asserts that similar politics and facilities of technological mediation shape live performances of music. In addition, I argue that the shifting temporal conditions of live music production reveal the dynamism of the sound engineers’ personhood on the shop floors of the live music stage