Adrian Pisla

Bio: Adrian Pisla is an academic researcher from Technical University of Cluj-Napoca. The author has contributed to research in topics: Kinematics & Parallel manipulator. The author has an hindex of 8, co-authored 62 publications receiving 206 citations.

Systematic Design of a Parallel Robotic System for Lower Limb Rehabilitation

Abstract: This paper presents the design of an innovative robotic system for lower limb post-stroke rehabilitation of bed confined patients during the acute stage of the treatment. To establish the particularities of each targeted joint motion, experimental measurements are performed on healthy subjects. The acquired data is used to determine the operational workspace, namely the limits of the anatomic joints motion for the lower limb. Based on the prescribed operational workspace, an innovative parallel robotic architecture is designed for achieving the rehabilitation of the lower limb. A detailed kinematic modelling and analysis is carried out to demonstrate the robot capability to safely achieve the required motions. The design of the robotic rehabilitation device is discussed in detail alongside with numerical simulations for validating its performance while performing medically relevant rehabilitation motions.

Kinematics and Design of a 5-DOF Parallel Robot Used in Minimally Invasive Surgery

Abstract: Robotic assisted surgery is a continuously developing field, as robots have proved their utility in the operating rooms. Some of their advantages could be summed as follows: increased precision, the possibility of reaching positions and places that could prove difficulty in reaching using classical instruments, the replacement of medical personnel in the operating room, allowing for more space and cost saving etc. Until now, the vast majority of robots used in surgery, had serial structures. A new parallel hybrid architecture is proposed in this paper, the kinematics of this new structure is determined, the singularities are discussed and the design of the robot is presented.

Risk-Based Assessment Engineering of a Parallel Robot Used in Post-Stroke Upper Limb Rehabilitation

Abstract: Recently, robotic-assisted stroke rehabilitation became an important research topic due to its capability to provide complex solutions to perform the customized rehabilitation motion with enhanced resources than the traditional rehabilitation. Involving robotic devices in the rehabilitation process would increase the number of possible rehabilitated patients, but placing the patient inside the workspace of the robot causes a series of risks that needs to be identified, analyzed and avoided. The goal of this work is to provide a reliable solution for an upper limb rehabilitation robotic structure designed as a result of a risk assessment process. The proposed approach implies a hazard identification process in terms of severity and probability, a failure mode and effects analysis to identify the possible malfunctions in the system and an AHP (Analytic Hierarchy Process) to prioritize the technical characteristics of the robotic structure. The results of the risk assessment process and of the AHP provide the base of the final design of the robotic structure, while another solution, in terms of minimizing the risk for the patient injury, is obtained using an external measuring system.

Ranges of motion as basis for robot-assisted poststroke

Abstract: 1Kinga A. Major, 2,3 Zoltán Z. Major, 4Giuseppe Carbone, 5Adrian Pîslă, 5Calin Vaida, 5Bogdan Gherman, 5Doina L. Pîslă 1 Cluj County Emergency Clinical Hospital, IInd ICU, Neurosurgery Clinic, Cluj-Napoca, Romania; 2 “Iuliu Hațieganu” University of Medicine and Pharmacy, Cluj-Napoca, Romania; 3 Municipal Clinical Hospital Cluj-Napoca, Neurology Department, Romania; 4 Laboratory of Robotics and Mechatronics, DiCEM, University of Cassino and South Latium, Italy; 5 Research Center for Industrial Robots Simulation and Testing, CESTER, Technical University of Cluj-Napoca, Romania All authors had equal contribution

RAISE - An Innovative Parallel Robotic System for Lower Limb Rehabilitation

Abstract: Robotic rehabilitation is a developing field of research which could become a necessity in the next decades due to the natural shifting of the population age. The aim of the paper is to present an innovative robotic device for the rehabilitation of the lower limb of patients in the acute post stroke phase. The parallel robot has a modular construction enabling the mobility of each major joint: hip, knee and ankle. Furthermore, the robotic system kinematics is presented and the singularities are derived, to validate the proposed system for its intended medical task, considering the upper limb motion requirements for the rehabilitation exercises.

Digital Twin based synchronised control and simulation of the industrial robotic cell using Virtual Reality

Abstract: During the years common understanding of the possibilities and perspectives of Virtual Reality (VR) usage has been changed. It is thought that VR is mainly used in entertainment purposes, but it is being used already for many years in different industries, and now with easier access to the hardware it became a helpful and accessible tool that could be used and developed in any field of human activities. In manufacturing, immersive technologies are mainly used nowadays for the visualisation of processes and products combining those visuals into the factory Digital Twin (DT) which is possible to view from the inside look. This feature is already being used in several manufacturing simulation tools, which enable to view onto industrial line / robotic cells via Virtual Reality glasses. However, the potential of using simulations with VR in manufacturing is not fully uncovered. The main aim of this, industrial robotics targeted research is to enable besides simulation also universal control algorithms through Virtual Reality experience, produced by game engine Unity3D, which can be easily modified for a wide range of industrial equipment. The primary outcome of this work is the development of the synchro-nisation model of real and virtual industrial robots and experimental testing the developed model in Virtual Reality and shop floor labs

Humanly Extended Automation or the Future of Work Seen through Amazon Patents

Abstract: Amazon’s projects for future automation contribute to anxieties about the marginalization of living labor in warehousing. Yet, a systematic analysis of patents owned by Amazon suggests that workers...

An active hybrid parallel robot for minimally invasive surgery

Abstract: During the last years, there has been an increase in research in the field of medical robots. This trend motivated the development of a new robotics field called ''robotic-assisted minimally invasive surgery''. The paper presents the kinematic and dynamic behavior of a parallel hybrid surgical robot PARASURG-9M. The robot consists of two subsystems: a surgical robotic arm, PARASURG 5M with five motors, and an active robotized surgical instrument PARASIM with four motors. The methodology for the robot kinematics is presented and the algorithm for robot workspace generation is described. PARASURG-9M inverse dynamic simulation is performed using MSC Adams and finally some numerical and simulation results of the developed experimental model with its system control are also described.

Development of inverse dynamic model for a surgical hybrid parallel robot with equivalent lumped masses

Abstract: Robotic-assisted surgery is a continuously developing field, as robots have demonstrated clear benefits in the operating room. This paper presents the inverse dynamic model (in the case of using the laparoscope as a surgical instrument) and some characteristics of a 5-DOF hybrid parallel robot designed for minimally invasive surgery. The new inverse dynamic model is obtained using the virtual work method on the basis of dynamically equivalent lumped masses. The simulation and numerical results have been obtained for the experimental model of the developed PARASURG-5M robot, showing that the analytical inverse dynamic model could be used in the control of the robot. Finally, a comparison between the simulation data obtained in Matlab (IDM) with the simulation data through a Multi-body Simulation software (MBS), namely Adams (MBS) has been performed.