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A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for the lower limbs

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 1, Pages 61-70 doi: 10.1007/s11465-011-0206-2

Abstract:

The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by the necessity of improving the ergonomics of physical Human-Robot Interaction and by the chance of exploiting the intrinsic dynamical properties of the robotic structure so to improve its performances. Under these aspects, this new class of robotic solutions is potentially advantageous over the one of anthropomorphic robotic orthoses. However, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complex to be solved uniquely by relying on conventional synthesis methods, due to the large number of open design parameters. A systematic approach can be useful for this purpose, since it allows to obtain the complete list of independent kinematic solutions with desired properties. In this perspective, this paper presents a method, which allows to generalize the problem of kinematic synthesis of a non-anthropomorphic wearable robot for the assistance of a specified set of contiguous body segments. The methodology also includes two novel tests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots: the HR-isomorphism and the HR-degeneracy tests. This method has been implemented to derive the atlas of independent kinematic solutions suitable to be used for the kinematic design of a planar wearable robot for the lower limbs.

Keywords： assistive robotics non-anthropomorphic wearable robots topology kinematic synthesis HR-isomorphism test

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Surgical robotics: A look-back of latest advancement and bio-inspired ways to tackle existing challenges

Yang LIU, Jing LIU

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 4, Pages 376-384 doi: 10.1007/s11465-012-0352-1

Abstract: article is dedicated to present a review on existing challenges and latest developments in surgical roboticsEvolutions of surgical robotics and future trends were analyzed.

Keywords： minimally invasive surgery surgical robotics haptic feedback miniaturization bio-inspiration bionics

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Introduction to the special issue on the “IFToMM International Symposium on Robotics and Mechatronics

I-Ming CHEN, Feng GAO

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2, Pages 99-99 doi: 10.1007/s11465-012-0319-2

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Development Strategies for Artificial Intelligence and Robotics in Medicine

Han Xiaoguang, Zhu Xiaolong, Jiang Yuzhen, He Da, Liu Wenyong,Duan Xingguang, Tian Wei

Strategic Study of CAE 2023, Volume 25, Issue 5, Pages 43-54 doi: 10.15302/J-SSCAE-2023.07.031

Abstract: The application of artificial intelligence (AI) and robotics in the human medical and health fieldBased on the understanding of the challenges faced in the development of AI and robotics in medicinefuture key directions: advancing toward differentiated, miniaturized, and intelligent surgical robotics; emphasizing patient-centered rehabilitation and nursing robotics; achieving multi-tasking and high These measures are expected to foster high-quality development of AI and robotics in medicine in

Keywords： smart healthcare artificial intelligence surgical robotics rehabilitation and nursing robotics assisted

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Robotics: From Automation to Intelligent Systems

Eduardo Nebot

Engineering 2018, Volume 4, Issue 4, Pages 446-448 doi: 10.1016/j.eng.2018.07.018

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Stiffness analysis and experimental validation of robotic systems

Giuseppe CARBONE

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 2, Pages 182-196 doi: 10.1007/s11465-011-0221-3

Abstract:

Stiffness can be considered of primary importance in order to guarantee the successful use of any robotic system for a given task. Therefore, this paper proposes procedures for carrying out both numerical and experimental estimations of stiffness performance for multibody robotic systems. The proposed numerical procedure is based on models with lumped parameters for deriving the Cartesian stiffness matrix. Stiffness performance indices are also proposed for comparing stiffness performance. Then, an experimental procedure for the evaluation stiffness performance is proposed as based on a new measuring system named as Milli-CATRASYS (Milli Cassino Tracking System) and on a trilateration technique. Cases of study are reported to show the soundness and engineering feasibility of both the proposed numerical formulation for stiffness analysis and experimental validation of stiffness performance.

Keywords： robotics stiffness performance numerical and experimental estimations

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Learning from biological attachment devices: applications of bioinspired reversible adhesive methods in robotics

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0699-x

Abstract: of reversible biological adhesive methods and the bioinspired attachment devices that can be used in roboticsFinally, the current challenges and opportunities in bioinspired attachment research in robotics are

Keywords： adhesion bioinspired attachment biomimetic gripper climbing robot

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Comparison of indices for stiffness performance evaluation

Giuseppe CARBONE, Marco CECCARELLI,

Frontiers of Mechanical Engineering 2010, Volume 5, Issue 3, Pages 270-278 doi: 10.1007/s11465-010-0023-z

Abstract: This paper addresses the problem of a numerical evaluation of the stiffness performance for multibody robotic systems. An overview is presented with basic formulation concerning indices that are proposed in literature. New indices are also outlined. Stiffness indices are computed and compared for a case study. Results are used for comparing the effectiveness of the stiffness indices. The main goal is to propose a performance index describing synthetically the elastostatic response of a multibody robotic system and also for design purposes.

Keywords： robotics stiffness performance indices

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An execution control method for the Aerostack aerial robotics framework None

Martin MOLINA, Alberto CAMPORREDONDO, Hriday BAVLE, Alejandro RODRIGUEZ-RAMOS, Pascual CAMPOY

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 1, Pages 60-75 doi: 10.1631/FITEE.1800552

Abstract: general method for execution control, which is a part of the Aerostack software framework for aerial robotics

Keywords： Aerial robotics Control architecture Behavior-based control Executive system

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Robotics in Industry—Their Role in Intelligent Manufacturing

Chia-Peng Day

Engineering 2018, Volume 4, Issue 4, Pages 440-445 doi: 10.1016/j.eng.2018.07.012

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Static balancing of planar articulated robots

Giuseppe QUAGLIA,Zhe YIN

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 4, Pages 326-343 doi: 10.1007/s11465-015-0355-9

Abstract:

Static balancing for a manipulator’s weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on robotic dynamics. Full design details for the balancing system using springs are presented from two aspects: One is the optimization for the position of the balancing system; the other is the design of the spring parameters. As examples, two feasible balancing devices are proposed, based on different robotic structures: The first solution consists of linkages and springs; the other consists of pulleys, cross mechanisms and (hydro-) pneumatic springs. Then the two solutions are compared. Pneumatic, hydro-pneumatic and mechanical springs are discussed and their parameters are decided according to the requirements of torque compensation. Numerical results show that with the proper design using the methodology presented in this paper, an articulated robot can be statically balanced perfectly in all configurations. This paper therefore provides a design method of the balancing system for other similar structures.

Keywords： robotics static balancing pneumatic spring mechanical spring torque compensation

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Task planning in robotics: an empirical comparison of PDDL-and ASP-based systems Special Feature on Intelligent Robats

Yu-qian JIANG, Shi-qi ZHANG, Piyush KHANDELWAL, Peter STONE

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 3, Pages 363-373 doi: 10.1631/FITEE.1800514

Abstract: Off-the-shelf task planners can be used by intelligent robotics practitioners to solve a variety of planning

Keywords： Task planning Robotics Planning domain description language (PDDL) Answer set programming (ASP)

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Artificial intelligence in gastroenterology: where are we heading?

Joseph JY Sung, Nicholas CH Poon

Frontiers of Medicine 2020, Volume 14, Issue 4, Pages 511-517 doi: 10.1007/s11684-020-0742-4

Abstract: Artificial intelligence (AI) is coming to medicine in a big wave. From making diagnosis in various medical conditions, following the latest advancements in scientific literature, suggesting appropriate therapies, to predicting prognosis and outcome of diseases and conditions, AI is offering unprecedented possibilities to improve care for patients. Gastroenterology is a field that AI can make a significant impact. This is partly because the diagnosis of gastrointestinal conditions relies a lot on image-based investigations and procedures (endoscopy and radiology). AI-assisted image analysis can make accurate assessment and provide more information than conventional analysis. AI integration of genomic, epigenetic, and metagenomic data may offer new classifications of gastrointestinal cancers and suggest optimal personalized treatments. In managing relapsing and remitting diseases such as inflammatory bowel disease, irritable bowel syndrome, and peptic ulcer bleeding, convoluted neural network may formulate models to predict disease outcome, enhancing treatment efficacy. AI and surgical robots can also assist surgeons in conducting gastrointestinal operations. While the advancement and new opportunities are exciting, the responsibility and liability issues of AI-assisted diagnosis and management need much deliberations.

Keywords： artificial intelligence endoscopy robotics gastrointestinal diseases

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DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking Article

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Engineering 2015, Volume 1, Issue 1, Pages 36-45 doi: 10.15302/J-ENG-2015006

Abstract: Advanced Research Projects Agency (DARPA) Grand Challenge programs with particular focus on the 2012 RoboticsWe also present our team performance in the trials of the Robotics Challenge.

Keywords： humanoid robot DARPA robotics challenge (DRC) rough-terrain walking Ski-Type gait

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Application of artificial intelligence in surgery

Xiao-Yun Zhou, Yao Guo, Mali Shen, Guang-Zhong Yang

Frontiers of Medicine 2020, Volume 14, Issue 4, Pages 417-430 doi: 10.1007/s11684-020-0770-0

Abstract: Artificial intelligence (AI) is gradually changing the practice of surgery with technological advancements in imaging, navigation, and robotic intervention. In this article, we review the recent successful and influential applications of AI in surgery from preoperative planning and intraoperative guidance to its integration into surgical robots. We conclude this review by summarizing the current state, emerging trends, and major challenges in the future development of AI in surgery.

Keywords： artificial intelligence surgical autonomy medical robotics deep learning