Author: Vittorio Lippi
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
Abstract: The high complexity of the human posture and movement control system represents challenges for diagnosis, therapy, and rehabilitation of neurological patients. We envisage that engineering-inspired, model-based approaches will help to deal with the high complexity of the human posture control system. Since the methods of system identification and parameter estimation are limited to systems with only a few DoF, our laboratory proposes a heuristic approach that step-by-step increases complexity when creating a hypothetical human-derived control systems in humanoid robots. This system is then compared with the human control in the same test bed, a posture control laboratory. The human-derived control builds upon the identified disturbance estimation and compensation (DEC) mechanism, whose main principle is to support execution of commanded poses or movements by compensating for external or self-produced disturbances such as gravity effects. In previous robotic implementation, up to 3 interconnected DEC control modules were used in modular control architectures separately for the sagittal plane or the frontal body plane and successfully passed balancing and movement tests. In this study we hypothesized that conflict-free movement coordination between the robot's sagittal and frontal body planes emerges simply from the physical embodiment, not necessarily requiring a full body control. Experiments were performed in the 14 DoF robot Lucy Posturob (i) demonstrating that the mechanical coupling from the robot's body suffices to coordinate the controls in the two planes when the robot produces movements and balancing responses in the intermediate plane, (ii) providing quantitative characterization of the interaction dynamics between body planes including frequency response functions (FRFs), as they are used in human postural control analysis, and (iii) witnessing postural and control stability when all DoFs are challenged together with the emergence of inter-segmental coordination in squatting movements. These findings represent an important step toward controlling in the robot in future more complex sensorimotor functions such as walking
Author: Andrzej Bartoszewicz
Publisher: Springer Nature
ISBN: 3030509362
Category : Technology & Engineering
Languages : en
Pages : 1560
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Book Description
This book presents the proceedings of the 20th Polish Control Conference. A triennial event that was first held in 1958, the conference successfully combines its long tradition with a modern approach to shed light on problems in control engineering, automation, robotics and a wide range of applications in these disciplines. The book presents new theoretical results concerning the steering of dynamical systems, as well as industrial case studies and worked solutions to real-world problems in contemporary engineering. It particularly focuses on the modelling, identification, analysis and design of automation systems; however, it also addresses the evaluation of their performance, efficiency and reliability. Other topics include fault-tolerant control in robotics, automated manufacturing, mechatronics and industrial systems. Moreover, it discusses data processing and transfer issues, covering a variety of methodologies, including model predictive, robust and adaptive techniques, as well as algebraic and geometric methods, and fractional order calculus approaches. The book also examines essential application areas, such as transportation and autonomous intelligent vehicle systems, robotic arms, mobile manipulators, cyber-physical systems, electric drives and both surface and underwater marine vessels. Lastly, it explores biological and medical applications of the control-theory-inspired methods.
Author: Massimo Sartori
Publisher: Frontiers Media SA
ISBN: 2889459462
Category :
Languages : en
Pages : 302
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Book Description
The term "neuromechanics" defines an integrative approach that combines the neuromuscular control and the biomechanical aspects of physical behavior in humans and animals. Crucial to this approach is a detailed description and modeling of the interaction between the nervous system and the controlled biomechanical plant. Only then do we have the broader context within which to understand evolution, movement mechanics, neural control, energetics, disability and rehabilitation. In addition to enabling new basic science directions, understanding the interrelations between movement neural and mechanical function should also be leveraged for the development of personalized wearable technologies to augment or restore the motor capabilities of healthy or impaired individuals. Similarly, this understanding will empower us to revisit current approaches to the design and control of robotic and humanoid systems to produce truly versatile human-like physical behavior and adaptation in real-world environments. This Research Topic is therefore poised at an opportune moment to promote understanding of apparently disparate topics into a coherent focus.
Author: Maria Chiara Carrozza
Publisher: Springer
ISBN: 3030018873
Category : Technology & Engineering
Languages : en
Pages : 545
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Book Description
The book reports on advanced topics in the areas of wearable robotics research and practice. It focuses on new technologies, including neural interfaces, soft wearable robots, sensors and actuators technologies, and discusses important regulatory challenges, as well as clinical and ethical issues. Based on the 4th International Symposium on Wearable Robotics, WeRob2018, held October 16-20, 2018, in Pisa, Italy, the book addresses a large audience of academics and professionals working in government, industry, and medical centers, and end-users alike. It provides them with specialized information and with a source of inspiration for new ideas and collaborations. It discusses exemplary case studies highlighting practical challenges related to the implementation of wearable robots in a number of fields. One of the focus is on clinical applications, which was encouraged by the colocation of WeRob2018 with the International Conference on Neurorehabilitation, INCR2018. Additional topics include space applications and assistive technologies in the industry. The book merges together the engineering, medical, ethical and political perspectives, thus offering a multidisciplinary, timely snapshot of the field of wearable technologies.
Author: Juan C. Moreno
Publisher: Springer Nature
ISBN: 3030695476
Category : Technology & Engineering
Languages : en
Pages : 675
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Book Description
This book reports on advanced topics in the areas of wearable robotics research and practice. It focuses on new technologies, including neural interfaces, soft wearable robots, sensors and actuators technologies, discussing industrially and medically-relevant issues, as well as legal and ethical aspects. It covers exemplary case studies highlighting challenges related to the implementation of wearable robots for different purposes, and describing advanced solutions. Based on the 5th International Symposium on Wearable Robotics, WeRob2020, and on WearRacon Europe 2020, which were both held online on October 13-16, 2020, the book addresses a large audience of academics and professionals working in for the government, in the industry, and in medical centers, as well as end-users alike. By merging together engineering, medical, ethical and industrial perspectives, it offers a multidisciplinary, timely snapshot of the field of wearable technologies.
Author: Diego Torricelli
Publisher: Frontiers Media SA
ISBN: 2889632709
Category :
Languages : en
Pages : 217
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Book Description
Author: Péter Galambos
Publisher: Springer Nature
ISBN: 3031196503
Category : Computers
Languages : en
Pages : 241
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Book Description
This volume constitutes the papers of two workshops which were held in conjunctionwith the First International Conference on Robotics, Computer Vision and Intelligent Systems,ROBOVIS 2020, Virtual Event, in November 4-6, 2020 and Second International Conference on Robotics, Computer Vision and Intelligent Systems,ROBOVIS 2021, Virtual Event, in October 25-27, 2021. The 11 revised full papers presented in this book were carefully reviewed and selectedfrom 53 submissions.
Author: Dario Farina
Publisher: John Wiley & Sons
ISBN: 1118628632
Category : Science
Languages : en
Pages : 661
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Book Description
Neural engineering is a discipline that uses engineering techniques to understand, repair, replace, enhance, or treat diseases of neural systems. Currently, no book other than this one covers this broad range of topics within motor rehabilitation technology. With a focus on cutting edge technology, it describes state-of-the-art methods within this field, from brain-computer interfaces to spinal and cortical plasticity. Touching on electrode design, signal processing, the neurophysiology of movement, robotics, and much more, this innovative volume collects the latest information for a wide range of readers working in biomedical engineering.
Author: Ravi Balasubramanian
Publisher: Springer
ISBN: 3319030175
Category : Technology & Engineering
Languages : en
Pages : 573
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Book Description
“The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.
Author: Vincenzo Parenti-Castelli
Publisher: Springer
ISBN: 3319337149
Category : Technology & Engineering
Languages : en
Pages : 436
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Book Description
This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2016, the 21th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2016 is the 21st event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community.
