4 research outputs found
Configuration control of seven-degree-of-freedom arms
A seven degree of freedom robot arm with a six degree of freedom end effector is controlled by a processor employing a 6 by 7 Jacobian matrix for defining location and orientation of the end effector in terms of the rotation angles of the joints, a 1 (or more) by 7 Jacobian matrix for defining 1 (or more) user specified kinematic functions constraining location or movement of selected portions of the arm in terms of the joint angles, the processor combining the two Jacobian matrices to produce an augmented 7 (or more) by 7 Jacobian matrix, the processor effecting control by computing in accordance with forward kinematics from the augmented 7 by 7 Jacobian matrix and from the seven joint angles of the arm a set of seven desired joint angles for transmittal to the joint servo loops of the arm. One of the kinematic functions constraints the orientation of the elbow plane of the arm. Another one of the kinematic functions minimizes a sum of gravitational torques on the joints. Still another kinematic function constrains the location of the arm to perform collision avoidance. Generically, one kinematic function minimizes a sum of selected mechanical parameters of at least some of the joints associated with weighting coefficients which may be changed during arm movement. The mechanical parameters may be velocity errors or gravity torques associated with individual joints
Configuration control of seven degree of freedom arms
A seven-degree-of-freedom robot arm with a six-degree-of-freedom end effector is controlled by a processor employing a 6-by-7 Jacobian matrix for defining location and orientation of the end effector in terms of the rotation angles of the joints, a 1 (or more)-by-7 Jacobian matrix for defining 1 (or more) user-specified kinematic functions constraining location or movement of selected portions of the arm in terms of the joint angles, the processor combining the two Jacobian matrices to produce an augmented 7 (or more)-by-7 Jacobian matrix, the processor effecting control by computing in accordance with forward kinematics from the augmented 7-by-7 Jacobian matrix and from the seven joint angles of the arm a set of seven desired joint angles for transmittal to the joint servo loops of the arms. One of the kinematic functions constrains the orientation of the elbow plane of the arm. Another one of the kinematic functions minimizing a sum of gravitational torques on the joints. Still another one of the kinematic functions constrains the location of the arm to perform collision avoidance. Generically, one of the kinematic functions minimizes a sum of selected mechanical parameters of at least some of the joints associated with weighting coefficients which may be changed during arm movement. The mechanical parameters may be velocity errors or position errors or gravity torques associated with individual joints
Upper-limb Kinematic Analysis and Artificial Intelligent Techniques for Neurorehabilitation and Assistive Environments
Stroke, one of the leading causes of death and disability around the
world, usually affects the motor cortex causing weakness or paralysis
in the limbs of one side of the body. Research efforts in neurorehabilitation
technology have focused on the development of robotic devices to
restore motor and cognitive function in impaired individuals, having
the potential to deliver high-intensity and motivating therapy.
End-effector-based devices have become an usual tool in the upper-
limb neurorehabilitation due to the ease of adapting to patients.
However, they are unable to measure the joint movements during
the exercise. Thus, the first part of this thesis is focused on the development
of a kinematic reconstruction algorithm that can be used
in a real rehabilitation environment, without disturbing the normal
patient-clinician interaction. On the basis of the algorithm found in
the literature that presents some instabilities, a new algorithm is developed.
The proposed algorithm is the first one able to online estimate
not only the upper-limb joints, but also the trunk compensation using
only two non-invasive wearable devices, placed onto the shoulder and
upper arm of the patient. This new tool will allow the therapist to perform
a comprehensive assessment combining the range of movement
with clinical assessment scales.
Knowing that the intensity of the therapy improves the outcomes of
neurorehabilitation, a ‘self-managed’ rehabilitation system can allow
the patients to continue the rehabilitation at home. This thesis proposes
a system to online measure a set of upper-limb rehabilitation gestures,
and intelligently evaluates the quality of the exercise performed by
the patients. The assessment is performed through the study of the
performed movement as a whole as well as evaluating each joint
independently. The first results are promising and suggest that this
system can became a a new tool to complement the clinical therapy at
home and improve the rehabilitation outcomes.
Finally, severe motor condition can remain after rehabilitation process.
Thus, a technology solution for these patients and people with
severe motor disabilities is proposed. An intelligent environmental
control interface is developed with the ability to adapt its scan control
to the residual capabilities of the user. Furthermore, the system estimates
the intention of the user from the environmental information and the behavior of the user, helping in the navigation through the
interface, improving its independence at home.El accidente cerebrovascular o ictus es una de las causas principales
de muerte y discapacidad a nivel mundial. Normalmente afecta a la
corteza motora causando debilidad o parálisis en las articulaciones del
mismo lado del cuerpo. Los esfuerzos de investigación dentro de la
tecnologÃa de neurorehabilitación se han centrado en el desarrollo de
dispositivos robóticos para restaurar las funciones motoras y cognitivas
en las personas con esta discapacidad, teniendo un gran potencial
para ofrecer una terapia de alta intensidad y motivadora.
Los dispositivos basados en efector final se han convertido en una
herramienta habitual en la neurorehabilitación de miembro superior
ya que es muy sencillo adaptarlo a los pacientes. Sin embargo, éstos
no son capaces de medir los movimientos articulares durante la realización
del ejercicio. Por tanto, la primera parte de esta tesis se centra
en el desarrollo de un algoritmo de reconstrucción cinemática que
pueda ser usado en un entorno de rehabilitación real, sin perjudicar a
la interacción normal entre el paciente y el clÃnico. Partiendo de la base
que propone el algoritmo encontrado en la literatura, el cual presenta
algunas inestabilidades, se ha desarrollado un nuevo algoritmo. El
algoritmo propuesto es el primero capaz de estimar en tiempo real
no sólo las articulaciones del miembro superior, sino también la compensación
del tronco usando solamente dos dispositivos no invasivos
y portátiles, colocados sobre el hombro y el brazo del paciente. Esta
nueva herramienta permite al terapeuta realizar una valoración más
exhaustiva combinando el rango de movimiento con las escalas de
valoración clÃnicas.
Sabiendo que la intensidad de la terapia mejora los resultados de la
recuperación del ictus, un sistema de rehabilitación ‘auto-gestionado’
permite a los pacientes continuar con la rehabilitación en casa. Esta
tesis propone un sistema para medir en tiempo real un conjunto de
gestos de miembro superior y evaluar de manera inteligente la calidad
del ejercicio realizado por el paciente. La valoración se hace a través del
estudio del movimiento ejecutado en su conjunto, asà como evaluando
cada articulación independientemente. Los primeros resultados son
prometedores y apuntan a que este sistema puede convertirse en una
nueva herramienta para complementar la terapia clÃnica en casa y
mejorar los resultados de la rehabilitación. Finalmente, después del proceso de rehabilitación pueden quedar
secuelas motoras graves. Por este motivo, se propone una solución
tecnológica para estas personas y para personas con discapacidades
motoras severas. AsÃ, se ha desarrollado una interfaz de control de
entorno inteligente capaz de adaptar su control a las capacidades
residuales del usuario. Además, el sistema estima la intención del
usuario a partir de la información del entorno y el comportamiento del
usuario, ayudando en la navegación a través de la interfaz, mejorando
su independencia en el hogar
State-of-the-Art Sensors Technology in Spain 2015: Volume 1
This book provides a comprehensive overview of state-of-the-art sensors technology in specific leading areas. Industrial researchers, engineers and professionals can find information on the most advanced technologies and developments, together with data processing. Further research covers specific devices and technologies that capture and distribute data to be processed by applying dedicated techniques or procedures, which is where sensors play the most important role. The book provides insights and solutions for different problems covering a broad spectrum of possibilities, thanks to a set of applications and solutions based on sensory technologies. Topics include: • Signal analysis for spectral power • 3D precise measurements • Electromagnetic propagation • Drugs detection • e-health environments based on social sensor networks • Robots in wireless environments, navigation, teleoperation, object grasping, demining • Wireless sensor networks • Industrial IoT • Insights in smart cities • Voice recognition • FPGA interfaces • Flight mill device for measurements on insects • Optical systems: UV, LEDs, lasers, fiber optics • Machine vision • Power dissipation • Liquid level in fuel tanks • Parabolic solar tracker • Force sensors • Control for a twin roto