This paper presents a novel strategy aiming to acquire an accurate and walking-speed-adaptive estimation of the gait phase through noncontact capacitive sensing adaptive oscillators (AOs). The system is designed with two cuffs that can measure leg muscle shape changes during walking. be dressed above clothes free human skin from contacting electrodes. In order track capacitance signals, estimator based on AO dynamic due its ability synchronizing quasi-periodic signals. After implementation...

Real-time recognition of locomotion-related activities is a fundamental skill that controller lower limb wearable robots should possess. Subject-specific training and reliance on electromyographic interfaces are the main limitations existing approaches. This study presents novel methodology for real-time locomotion mode in robotics. A hybrid classifier can distinguish among seven activities. First, time-based approach classifies between static dynamical states based gait kinematics data....

An emerging approach to design locomotion assistive devices deals with reproducing desirable biological principles of human locomotion. In this paper, we present a bio-inspired controller for based on the concept motor primitives. The weighted combination artificial primitives results in set virtual muscle stimulations. These stimulations then activate musculoskeletal model producing reference torque profiles different tasks (i.e. walking, ascending and descending stairs). paper reports...

Bioinspiration in robotics deals with applying biological principles to the design of better performing devices. In this article, we propose a novel bioinspired framework using motor primitives for locomotion assistance through wearable cooperative exoskeleton. particular, use assisting different modes (i.e., ground-level walking at several cadences and ascending descending stairs) is explored by means two strategies. first strategy, identified are combined weights directly produce desired...

Complex environments pose great challenges for autonomous mobile robot navigation. In this study, we address the problem of navigation in 3D with staircases and slopes. An integrated system safe complex is presented both perception capabilities are incorporated into modular reusable framework. Firstly, to distinguish slope from staircase environment, builds a OctoMap environment novel Simultaneously Localization Mapping (SLAM) framework using information wheel odometry, 2D laser scanner, an...

This paper introduces a novel control strategy for multi-joint lower-limb exoskeleton during ground-level walking assistive tasks. It is aimed to define physiologically consistent assistance the human movements without engaging complex sensory apparatus, hence providing simple and comfortable human-robot interface. The system two-block structure: one based on adaptive oscillators (AOs) dedicated hip joint control, other finite-state machine utilized managing functions of knee ankle joints....

Powered lower-limb orthoses and prostheses are attracting an increasing amount of attention in assisting daily living activities. To safely naturally collaborate with human users, the key technology relies on intelligent controller to accurately decode users' movement intention. In this work, we proposed innovative locomotion recognition system based depth images. Composed a feature extraction subsystem finite-state-machine subsystem, approach is capable capturing both limb movements...

In this article, a novel informative path planning (IPP) framework is proposed for efficient robotic object search. We innovatively reformulate the search into an IPP problem, which takes account of knowledge possible target locations. To model distribution knowledge, semantic information focused environment utilized to obtain probabilities finding at Then, probability modeled by Gaussian mixture (GMM) generate map. Based on map, sampling-based method minimize cost. It worth noting that...

Abstract Aims Robot-assisted total hip arthroplasty (rTHA) boasts superior accuracy in implant placement, but there is a lack of effective assessment perioperative management the context enhanced recovery after surgery (ERAS). This study aimed to compare effectiveness and safety rTHA versus conventional (cTHA) ERAS-managed patients. Methods In this prospective trial, 60 eligible patients aged between 18 80 years were randomly divided into two groups undergo either or cTHA. The primary...

Many neurological disorders are characterized by the focal and anatomically definable lesions within brain parenchyma. Traditional treatment may introduce major trauma in neurosurgery conventional medical devices can only trace straight trajectories. To overcome these problems, a design optimization method for patient-specific concentric tube robot (CTR) satisfying constraints of anatomy, surgical tasks follow-the-leader (FTL) deployment is proposed this paper. CTR tentacle like continuum...

This paper presents a realtime locomotion mode recognition method for an active pelvis orthosis. Five modes, including sitting, standing still, level-ground walking, ascending stairs, and descending are taken into consideration. The is performed with information measured by the onboard hip angle sensors pressure insoles. These five modes firstly divided static dynamic two kinds classified monitoring variation of relative angles legs within pre-defined period. Static states further sitting...

In this paper we present a novel EMG-based assistive control strategy for lower-limb exoskeletons. An active pelvis orthosis (APO) generates torque profiles the hip flexion motion assistance, according to Gastrocnemius Medialis EMG signal. The has been tested on one healthy subject: experimental results show that user is able reduce his muscular activation when assistance switched with respect free walking condition.

This article aimed to explore the efficacy of robotic arm-assisted total hip arthroplasty (THA) in improving preoperative planning and intraoperative decision-making.In this single-center, prospective, randomized clinical controlled trial, 60 patients were randomly divided into two groups: conventional THA (cTHA) (rTHA). The rTHA underwent procedures using a robot-assisted surgical system, which generated three-dimensional models determine most appropriate prosthesis size position. standard...

Wireless Capsule Endoscopy (WCE) is an imaging technology that enables close examination of the interior entire small intestine. A major problem associated with this new a large number images need to be manually examined by clinicians. It therefore useful automatically reduce frames direct interpretation clinician. In paper technique based on shot detection method presented for automatic key-frame selection in WCE videos. The intestine zone containing relevant features are extracted from...

In this paper, we present a fuzzy-logic-based hybrid locomotion mode classification method for an active pelvis orthosis. Locomotion information measured by the onboard hip joint angle sensors and pressure insoles is used to classify five modes, including two static modes (sitting, standing still), three dynamic (level-ground walking, ascending stairs, descending stairs). The proposed classifies these kinds of first monitoring variation relative between legs within specific period. Static...

This paper introduces a touch screen technology based on infrared optical. has apparent advantages in the large-size applications, which is simple, low cost, high feasibility. In system, detection of ambient light and adaptive control IR LED can effectively enhance adaptability complex environment via MCU. image processing, foreground background are segmented by Otsu's method with coefficient. Integral projection adopted to recognize contact area. The result shows that performance system...

Assistive technology forecasts better autonomy for people with lifelong disabilities and the elderly facing motor decline. As population of developed countries is becoming greyer, there thus a high probability observing significant increase in demand assistive locomotion devices. Designing controller such devices not trivial, requires both to set up compliant framework manage cross adaptation between device its user (the so-called interface). Taking inspiration from neuromechanical...

The new improved method is based on the magnetic field generating by excitation sources and two sensors sensing. are three orthogonal coils create variable field. can receive information of they fixed with an included angle (a constant value less than 90 degree) in order to minimize size sensor. set sensing determine needed equations which contain 6-D parameters(x, y, z, ψ, θ, ϕ) position orientation information. Then, a suitable nonlinear algorithm selected solve these equations. simulation...

This paper presents two cases of exoskeletal platform, embedding a properly-designed element working both as power-transmission and torque-sensing unit. belongs to the Series-Elastic-Actuator (SEA) category, it provides mechanical stiffness in-series with active motor, measurement torque by means its deflection. allows presented exoskeletons realize an intrinsically safe (as for compliance) controllable (both in position torque) interaction user. The respectively deal upper-limb post-stroke...