An articulated assistive robot for intuitive hands-on-payload manipulation

This paper presents an intelligent assistive robot designed to help operators in lifting and moving large payloads through direct physical contact (hands-on-payload mode). The mechanical design of the robot is first presented. Although its kinematics are similar to that of a cable-suspended system, the proposed mechanism is based on articulated linkages, thereby allowing the payload to be offset from the rail support on which it is suspended. A dynamic model of the robot is then developed. It is shown that a simplified dynamic model can be obtained using geometric assumptions. Based on the simplified dynamic model, a controller is then presented that handles the physical human-robot interaction and that provides the operator with an intuitive direct control of the payload. Experimental validation on a full-scale prototype is presented in order to demonstrate the effectiveness of the proposed robot and controller

A time-domain vibration observer and controller for physical human-robot interaction

This paper presents a time-domain vibration observer and controller for physical Human-Robot Interaction (pHRI). The proposed observer/controller aims at reducing or eliminating vibrations that may occur in stiff interactions. The vibration observer algorithm first detects minima and maxima of a given signal with robustness in regards to noise. Based on these extrema, a vibration index is computed and then used by an adaptive controller to adjust the control gains in order to reduce vibrations. The controller is activated only when the amplitude of the vibrations exceeds a given threshold and thus it does not influence the performance in normal operation. Also, the observer does not require a model and can analyze a wide time frame with only a few computations. Finally, the algorithm is implemented on two different prototypes that use an admittance controller

Reducing the environmental impact of surgery on a global scale: systematic review and co-prioritization with healthcare workers in 132 countries

Abstract Background Healthcare cannot achieve net-zero carbon without addressing operating theatres. The aim of this study was to prioritize feasible interventions to reduce the environmental impact of operating theatres. Methods This study adopted a four-phase Delphi consensus co-prioritization methodology. In phase 1, a systematic review of published interventions and global consultation of perioperative healthcare professionals were used to longlist interventions. In phase 2, iterative thematic analysis consolidated comparable interventions into a shortlist. In phase 3, the shortlist was co-prioritized based on patient and clinician views on acceptability, feasibility, and safety. In phase 4, ranked lists of interventions were presented by their relevance to high-income countries and low–middle-income countries. Results In phase 1, 43 interventions were identified, which had low uptake in practice according to 3042 professionals globally. In phase 2, a shortlist of 15 intervention domains was generated. In phase 3, interventions were deemed acceptable for more than 90 per cent of patients except for reducing general anaesthesia (84 per cent) and re-sterilization of ‘single-use’ consumables (86 per cent). In phase 4, the top three shortlisted interventions for high-income countries were: introducing recycling; reducing use of anaesthetic gases; and appropriate clinical waste processing. In phase 4, the top three shortlisted interventions for low–middle-income countries were: introducing reusable surgical devices; reducing use of consumables; and reducing the use of general anaesthesia. Conclusion This is a step toward environmentally sustainable operating environments with actionable interventions applicable to both high– and low–middle–income countries