Anthropomorphic robot finger with multi-point tactile sensation

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2001.Includes bibliographical references (p. 84-95).The goal of this research is to develop the prototype of a tactile sensing platform for anthropomorphic manipulation research. We investigate this problem through the fabrication and simple control of a planar 2-DOF robotic finger inspired by anatomic consistency, self-containment, and adaptability. The robot is equipped with a tactile sensor array based on optical transducer technology whereby localized changes in light intensity within an illuminated foam substrate correspond to the distribution and magnitude of forces applied to the sensor surface plane [58]. The integration of tactile perception is a key component in realizing robotic systems which organically interact with the world. Such natural behavior is characterized by compliant performance that can initiate internal, and respond to external, force application in a dynamic environment. However, most of the current manipulators that support some form of haptic feedback, either solely derive proprioceptive sensation or only limit tactile sensors to the mechanical fingertips. These constraints are due to the technological challenges involved in high resolution, multi-point tactile perception. In this work, however, we take the opposite approach, emphasizing the role of full-finger tactile feedback in the refinement of manual capabilities. To this end, we propose and implement a control framework for sensorimotor coordination analogous to infant-level grasping and fixturing reflexes. This thesis details the mechanisms used to achieve these sensory, actuation, and control objectives, along with the design philosophies and biological influences behind them. The results of behavioral experiments with the tactilely-modulated control scheme are also described. The hope is to integrate the modular finger into an engineered analog of the human hand with a complete haptic system.by Jessica Lauren Banks.S.M

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

Evaluating joint protection education for people with rheumatoid arthritis

Joint Protection (JP) education is considered an essential component of therapeutic programmes for Rheumatoid Arthritis (RA) patients. The main emphasis is teaching alternate patterns of movement at affected joints to reduce joint stress, particularly in the hands and wrists (Hand JP). Little has been published investigating patients' knowledge of, attitudes towards and adherence to Hand JP following education. Assessments were developed to evaluate these constructs. Reliability and validity were established. A pretest-posttest trial was conducted with RA patients attending a 4 x 2 hour arthritis education programme, including 2.5 hours of JP over 2 sessions (n = 21). Teaching techniques typical of those current in the UK were used. Adherence was evaluated using the Joint Protection Behaviour Assessment. Subjects were videorecorded performing a standardised kitchen activity (making a hot drink and snack) in their own homes. Hand movements during 20 tasks within this (e.g. turning a tap) were analysed and scored as Correct (5%), Partial (2.5%) or Incorrect (0%) Hand JP behaviours. Maximum score =100%. A significant score increase was determined as 20%. Subjects were kept blind to trial aims. There was no significant behaviour change in the pre-education control phase (median score at assessment 1 = 18.40%, IQR 10.25-35.55%). No significant increase occurred at 6 and 12 week follow ups. Mean score change was +4.01% (SO 10.59%; p = 0.14). No significant knowledge increase occurred. Post-education interviews identified a number of barriers to behavioural change. A cognitive-behavioural JP education programme was developed, using motor learning, recall and adherence enhancement strategies, of 4 x 2 hours, with an optional home visit. A crossover trial was conducted (n = 35). There was no significant difference between treatment phase first (Tl, median 15.00%, IQR 5.15 - 25.60%) and control phase first(C1, median 8.75%, IQR 4.38 - 26.25%; p = 0.47) groups' scores pre-education. Both groups' scores rose significantly at 6 weeks post-education, which was sustained at 18 weeks (Tl: median 52.50%, IQR 31.75 - 65.00%; p = 0.00) (Cl: median 41.25%, IQR 30.00 - 60.23%j p =0.00). A significant increase in knowledge occurred. Factors most associated with behaviour change were: hours of education (8 or more); regular home practice; weaker grip, poorer hand range of movement and less hand pain. These results suggest: current JP education methods are ineffective; and this cognitive-behavioural programme significantly increases Hand JP at 4.5 month follow-up. Having demonstrated adherence can be achieved, it is essential to demonstrate whether any therapeutic benefit results before advocating the widespread use of this approach in practice

Evaluating joint protection education for people with rheumatoid arthritis

Joint Protection (JP) education is considered an essential component of therapeutic programmes for Rheumatoid Arthritis (RA) patients. The main emphasis is teaching alternate patterns of movement at affected joints to reduce joint stress, particularly in the hands and wrists (Hand JP). Little has been published investigating patients' knowledge of, attitudes towards and adherence to Hand JP following education. Assessments were developed to evaluate these constructs. Reliability and validity were established. A pretest-posttest trial was conducted with RA patients attending a 4 x 2 hour arthritis education programme, including 2.5 hours of JP over 2 sessions (n = 21). Teaching techniques typical of those current in the UK were used. Adherence was evaluated using the Joint Protection Behaviour Assessment. Subjects were videorecorded performing a standardised kitchen activity (making a hot drink and snack) in their own homes. Hand movements during 20 tasks within this (e.g. turning a tap) were analysed and scored as Correct (5%), Partial (2.5%) or Incorrect (0%) Hand JP behaviours. Maximum score =100%. A significant score increase was determined as 20%. Subjects were kept blind to trial aims. There was no significant behaviour change in the pre-education control phase (median score at assessment 1 = 18.40%, IQR 10.25-35.55%). No significant increase occurred at 6 and 12 week follow ups. Mean score change was +4.01% (SO 10.59%; p = 0.14). No significant knowledge increase occurred. Post-education interviews identified a number of barriers to behavioural change. A cognitive-behavioural JP education programme was developed, using motor learning, recall and adherence enhancement strategies, of 4 x 2 hours, with an optional home visit. A crossover trial was conducted (n = 35). There was no significant difference between treatment phase first (Tl, median 15.00%, IQR 5.15 - 25.60%) and control phase first(C1, median 8.75%, IQR 4.38 - 26.25%; p = 0.47) groups' scores pre-education. Both groups' scores rose significantly at 6 weeks post-education, which was sustained at 18 weeks (Tl: median 52.50%, IQR 31.75 - 65.00%; p = 0.00) (Cl: median 41.25%, IQR 30.00 - 60.23%j p =0.00). A significant increase in knowledge occurred. Factors most associated with behaviour change were: hours of education (8 or more); regular home practice; weaker grip, poorer hand range of movement and less hand pain. These results suggest: current JP education methods are ineffective; and this cognitive-behavioural programme significantly increases Hand JP at 4.5 month follow-up. Having demonstrated adherence can be achieved, it is essential to demonstrate whether any therapeutic benefit results before advocating the widespread use of this approach in practice

Multibody dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: Formulations and Numerical Methods, Efficient Methods and Real-Time Applications, Flexible Multibody Dynamics, Contact Dynamics and Constraints, Multiphysics and Coupled Problems, Control and Optimization, Software Development and Computer Technology, Aerospace and Maritime Applications, Biomechanics, Railroad Vehicle Dynamics, Road Vehicle Dynamics, Robotics, Benchmark Problems. The conference is organized by the Department of Mechanical Engineering of the Universitat Politècnica de Catalunya (UPC) in Barcelona. The organizers would like to thank the authors for submitting their contributions, the keynote lecturers for accepting the invitation and for the quality of their talks, the awards and scientific committees for their support to the organization of the conference, and finally the topic organizers for reviewing all extended abstracts and selecting the awards nominees.Postprint (published version