IEEE International Conference on Biomedical Robotics and Biomechatronics 

About: IEEE International Conference on Biomedical Robotics and Biomechatronics is an academic conference. The conference publishes majorly in the area(s): Robot & Gait (human). Over the lifetime, 1698 publications have been published by the conference receiving 22259 citations.

Robot assisted gait training with active leg exoskeleton (ALEX)

Abstract: Gait training of stroke survivors can help in retraining their muscles and improving their gait pattern. Robot assisted gait training (RAGT) was developed for stroke survivors using ALEX and force-field controller, which use assist-as-needed paradigm for rehabilitation. In this paradigm undesirable gait motion is resisted and assistance is provided towards the desirable motion. The force-field controller achieves this paradigm by applying forces at the foot of the subject. Two stroke survivors participated in a 15-day gait training study each with ALEX. The results show that by the end of the training the gait pattern of the patients was improved towards healthy subjects gait pattern. Improvement is seen as increase in the size of the patientspsila gait pattern, increase in knee and ankle joint excursions and increase in their walking speed on the treadmill.

New steady-hand Eye Robot with micro-force sensing for vitreoretinal surgery

Abstract: In retinal microsurgery, surgeons are required to perform micron scale maneuvers while safely applying forces to the retinal tissue that are below sensory perception. Real-time characterization and precise manipulation of this delicate tissue has thus far been hindered by human limits on tool control and the lack of a surgically compatible endpoint sensing instrument. Here we present the design of a new generation, cooperatively controlled microsurgery robot with a remote center-of-motion (RCM) mechanism and an integrated custom micro-force sensing surgical hook. Utilizing the forces measured by the end effector, we correct for tool deflections and implement a micro-force guided cooperative control algorithm to actively guide the operator. Preliminary experiments have been carried out to test our new control methods on raw chicken egg inner shell membranes and to capture useful dynamic characteristics associated with delicate tissue manipulations.

Integrated control for pHRI: Collision avoidance, detection, reaction and collaboration

Abstract: We present an integrated control framework for safe physical Human-Robot Interaction (pHRI) based on a hierarchy of consistent behaviors. Safe human robot coexistence is achieved with a layered approach for coping with undesired collisions and intended contacts. A collision avoidance algorithm based on depth information of the HRI scene is used in the first place. Since collision avoidance cannot be guaranteed, it is supported by a physical collision detection/reaction method based on a residual signal which needs only joint position measures. On top of this layer, safe human-robot collaboration tasks can be realized. Collaboration phases are activated and ended by human gestures or voice commands. Intentional physical interaction is enabled and exchanged forces are estimated by integrating the residual with an estimation of the contact point obtained from depth sensing. During the collaboration, only the human parts that are designated as collaborative are allowed to touch the robot while, consistently to the lower layers, all other contacts are considered undesired collisions. Preliminary experimental results with a KUKA LWR-IV and a Kinect sensor are presented.

Building the Ninapro database: A resource for the biorobotics community

Abstract: This paper is about (self-powered) advanced hand prosthetics and their control via surface electromyography (sEMG). We hereby introduce to the biorobotics community the first version of the Ninapro database, containing kinematic and sEMG data from the upper limbs of 27 intact subjects while performing 52 finger, hand and wrist movements of interest. The setup and experimental protocol are distilled from existing literature and thoroughly described; the data are then analysed and the results are discussed. In particular, it is clear that standard analysis techniques are no longer enough when so many subjects and movements are taken into account. The database is publicly available to download in standard ASCII format. The database is an ongoing work lasting several years, which is planned to contain data from more than 100 intact subjects and 50 trans-radial amputees; characteristics of the amputations, phantom limbs and prosthesis usage will be stored. We therefore hope that it will constitute a standard, widely accepted benchmark for all novel myoelectric hand prosthesis control methods, as well as a fundamental tool to deliver insight into the needs of trans-radial amputees.

SPARKy 3: Design of an active robotic ankle prosthesis with two actuated degrees of freedom using regenerative kinetics

Abstract: The goal of modern prosthetics is to replicate the function of the replaced limb or organ in the most capable and discreet fashion possible. However, even the most advanced, commercial, transtibial prostheses available today only passively adjust the position of the ankle during the swing phase of gait and return a portion of the userpsilas own gravitational input. To greatly improve the quality of life of a transtibial amputee, new technologies and approaches must be used to create a cutting-edge robotic ankle prosthesis which can perform on par with, if not outperform, the equivalent able-bodied human ankle. Initial attempts by us and others have had great success in providing the natural gait power and motion through all ranges of walking speeds. A new design is presented which governs both the coronal and sagittal angles and moments of the ankle joint to potentially provide unprecedented levels of athleticism and agility among transtibial amputees.