6,757 research outputs found

    Design of a Rise Support to be integrated in the HOBBIT Robot

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    The purpose of the thesis work is to analyze the possibility to integrate a sit-to-stand functionality into the HOBBIT service robot for elderly people while keeping the stability of the robot. A prototype with a knee support and a handle was used in combination with a motion capture system to capture joints angles and forces during the sit-to-stand movement. A skeletal model was created using the OpenSim software where data and a CAD model of the robot were imported and analyzed. Matlab was used to calculate the stability of the robot and optimize the positions of the knee support and handle. Finally, the prototype was tested with four elderly people. The forces necessary to rise up did not compromise the stability of the robot and the users found the prototype useful, comfortable and necessary

    Human-centered Electric Prosthetic (HELP) Hand

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    Through a partnership with Indian non-profit Bhagwan Mahaveer Viklang Sahayata Samiti, we designed a functional, robust, and and low cost electrically powered prosthetic hand that communicates with unilateral, transradial, urban Indian amputees through a biointerface. The device uses compliant tendon actuation, a small linear servo, and a wearable garment outfitted with flex sensors to produce a device that, once placed inside a prosthetic glove, is anthropomorphic in both look and feel. The prosthesis was developed such that future groups can design for manufacturing and distribution in India

    Robotic Platforms for Assistance to People with Disabilities

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    People with congenital and/or acquired disabilities constitute a great number of dependents today. Robotic platforms to help people with disabilities are being developed with the aim of providing both rehabilitation treatment and assistance to improve their quality of life. A high demand for robotic platforms that provide assistance during rehabilitation is expected because of the health status of the world due to the COVID-19 pandemic. The pandemic has resulted in countries facing major challenges to ensure the health and autonomy of their disabled population. Robotic platforms are necessary to ensure assistance and rehabilitation for disabled people in the current global situation. The capacity of robotic platforms in this area must be continuously improved to benefit the healthcare sector in terms of chronic disease prevention, assistance, and autonomy. For this reason, research about human–robot interaction in these robotic assistance environments must grow and advance because this topic demands sensitive and intelligent robotic platforms that are equipped with complex sensory systems, high handling functionalities, safe control strategies, and intelligent computer vision algorithms. This Special Issue has published eight papers covering recent advances in the field of robotic platforms to assist disabled people in daily or clinical environments. The papers address innovative solutions in this field, including affordable assistive robotics devices, new techniques in computer vision for intelligent and safe human–robot interaction, and advances in mobile manipulators for assistive tasks

    Design and Voluntary Motion Intention Estimation of a Novel Wearable Full-Body Flexible Exoskeleton Robot

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    Development of Kinectᵀᴿ applications for assembly simulation and ergonomic analysis

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    Marker-less motion capture technology has been harnessed for several years to track human movements for developing various applications. Recently, with the launch of Microsoft Kinect, researchers have been keenly interested in developing applications using this device. Since Kinect is very inexpensive (only $110 at the time of writing this thesis), it is a low-cost and a promising substitute for the comparatively expensive marker-based motion capture systems. Though it is principally designed for home entertainment, numerous applications can be developed with the capabilities of Kinect. The skeleton data of a human being tracked by a single Kinect device is enough to simulate the human movements, in some cases. However, it is highly desirable to develop a multiple Kinect system to enhance the tracking volume and to address an issue of occlusions. This thesis presents a novel approach for addressing the issue of interference of infrared light patterns while using multiple Kinect devices for human motion capture without lowering the frame rate. This research also presents a software solution to obtain skeleton data from multiple Kinect devices using Kinect for Windows SDK. It also discusses the development of an application involving auto scaling of a human model in digital human modeling software by Siemens Jack and human motion simulation using skeleton tracking data from Kinect to assist the industries with a flexible tool for ergonomic analysis. Further, the capability of this application for obtaining assembly simulations of fastening operations on an aircraft fuselage is also presented. --Abstract, page iii
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