Science.gov

Sample records for active robotic training

  1. Robotics Training.

    ERIC Educational Resources Information Center

    Ettlie, John E.; And Others

    1988-01-01

    Discusses the need for training and education in new skill areas. Points out that the right people often do not get the right training. Too often engineers and skilled workers are trained to the exclusion of supervisors and operators. (JOW)

  2. Competencies Identification for Robotics Training.

    ERIC Educational Resources Information Center

    Tang, Le D.

    A study focused on the task of identifying competencies for robotics training. The level of robotics training was limited to that of robot technicians. Study objectives were to obtain a list of occupational competencies; to rank their order of importance; and to compare opinions from robot manufacturers, robot users, and robotics educators…

  3. A robotic system to train activities of daily living in a virtual environment.

    PubMed

    Guidali, Marco; Duschau-Wicke, Alexander; Broggi, Simon; Klamroth-Marganska, Verena; Nef, Tobias; Riener, Robert

    2011-10-01

    In the past decade, several arm rehabilitation robots have been developed to assist neurological patients during therapy. Early devices were limited in their number of degrees of freedom and range of motion, whereas newer robots such as the ARMin robot can support the entire arm. Often, these devices are combined with virtual environments to integrate motivating game-like scenarios. Several studies have shown a positive effect of game-playing on therapy outcome by increasing motivation. In addition, we assume that practicing highly functional movements can further enhance therapy outcome by facilitating the transfer of motor abilities acquired in therapy to daily life. Therefore, we present a rehabilitation system that enables the training of activities of daily living (ADL) with the support of an assistive robot. Important ADL tasks have been identified and implemented in a virtual environment. A patient-cooperative control strategy with adaptable freedom in timing and space was developed to assist the patient during the task. The technical feasibility and usability of the system was evaluated with seven healthy subjects and three chronic stroke patients.

  4. A pilot study on the feasibility of robot-aided leg motor training to facilitate active participation.

    PubMed

    Krishnan, Chandramouli; Ranganathan, Rajiv; Dhaher, Yasin Y; Rymer, William Z

    2013-01-01

    Robot-aided gait therapy offers a promising approach towards improving gait function in individuals with neurological disorders such as stroke or spinal cord injury. However, incorporation of appropriate control strategies is essential for actively engaging the patient in the therapeutic process. Although several control algorithms (such as assist-as-needed and error augmentation) have been proposed to improve active patient participation, we hypothesize that the therapeutic benefits of these control algorithms can be greatly enhanced if combined with a motor learning task to facilitate neural reorganization and motor recovery. Here, we describe an active robotic training approach (patient-cooperative robotic gait training combined with a motor learning task) using the Lokomat and pilot-tested whether this approach can enhance active patient participation during training. Six neurologically intact adults and three chronic stroke survivors participated in this pilot feasibility study. Participants walked in a Lokomat while simultaneously performing a foot target-tracking task that necessitated greater hip and knee flexion during the swing phase of the gait. We computed the changes in tracking error as a measure of motor performance and changes in muscle activation as a measure of active subject participation. Repeated practice of the motor-learning task resulted in significant reductions in target-tracking error in all subjects. Muscle activation was also significantly higher during active robotic training compared to simply walking in the robot. The data from stroke participants also showed a trend similar to neurologically intact participants. These findings provide a proof-of-concept demonstration that combining robotic gait training with a motor learning task enhances active participation.

  5. A Sit-to-Stand Training Robot and Its Performance Evaluation: Dynamic Analysis in Lower Limb Rehabilitation Activities

    NASA Astrophysics Data System (ADS)

    Cao, Enguo; Inoue, Yoshio; Liu, Tao; Shibata, Kyoko

    In many countries in which the phenomenon of population aging is being experienced, motor function recovery activities have aroused much interest. In this paper, a sit-to-stand rehabilitation robot utilizing a double-rope system was developed, and the performance of the robot was evaluated by analyzing the dynamic parameters of human lower limbs. For the robot control program, an impedance control method with a training game was developed to increase the effectiveness and frequency of rehabilitation activities, and a calculation method was developed for evaluating the joint moments of hip, knee, and ankle. Test experiments were designed, and four subjects were requested to stand up from a chair with assistance from the rehabilitation robot. In the experiments, body segment rotational angles, trunk movement trajectories, rope tensile forces, ground reaction forces (GRF) and centers of pressure (COP) were measured by sensors, and the moments of ankle, knee and hip joint were real-time calculated using the sensor-measured data. The experiment results showed that the sit-to-stand rehabilitation robot with impedance control method could maintain the comfortable training postures of users, decrease the moments of limb joints, and enhance training effectiveness. Furthermore, the game control method could encourage collaboration between the brain and limbs, and allow for an increase in the frequency and intensity of rehabilitation activities.

  6. Robotic Microsurgical Training and Evaluation

    PubMed Central

    Selber, Jesse C.; Alrasheed, Taiba

    2014-01-01

    Robotic surgery has expanded rapidly over the past two decades and is in widespread use among the surgical subspecialties. Clinical applications in plastic surgery have emerged gradually over the last few years. One of the promising applications is robotic-assisted microvascular anastomosis. Here the authors first describe a process by which an assessment instrument they developed called the Structured Assessment of Robotic Microsurgical Skills (SARMS) was validated. The instrument combines the previously validated Structured Assessment of Microsurgical Skills (SAMS) with other skill domains in robotic surgery. Interrater reliability for the SARMS instrument was excellent for all skill areas among four expert, blinded evaluators. They then present a process by which the learning curve for robotic-assisted microvascular anastomoses was measured and plotted. Ten study participants performed five robotic microanastomoses each that were recorded, deidentified and scored. Trends in SARMS scores were plotted. All skill areas and overall performance improved significantly for each participant over the five microanastomotic sessions, and operative time decreased for all participants. The results showed an initial steep ascent in technical skill acquisition followed by more gradual improvement, and a steady decrease in operative times for the cohort. Participants at all levels of training, ranging from minimal microsurgical experience to expert microsurgeons gained proficiency over the course of five robotic sessions. PMID:24872773

  7. [Robot-aided training in rehabilitation].

    PubMed

    Hachisuka, Kenji

    2010-02-01

    Recently, new training techniques that involve the use of robots have been used in the rehabilitation of patients with hemiplegia and paraplegia. Robots used for training the arm include the MIT-MANUS, Arm Trainer, mirror-image motion enabler (MIME) robot, and the assisted rehabilitation and measurement (ARM) Guide. Robots that are used for lower-limb training are the Rehabot, Gait Trainer, Lokomat, LOPES Exoskeleton Robot, and Gait Assist Robot. Robot-aided therapy has enabled the functional training of the arm and the lower limbs in an effective, easy, and comfortable manner. Therefore, with this type of therapy, the patients can repeatedly undergo sufficient and accurate training for a prolonged period. However, evidence of the benefits of robot-aided training has not yet been established.

  8. Robotics Programs: Automation Training in Disguise.

    ERIC Educational Resources Information Center

    Rehg, James A.

    1985-01-01

    Questions and answers from the book "Guidelines for Robotics Program Development" are presented, addressing some of the major issues confronted by the person setting the direction for a robotics training program. (CT)

  9. Robotic laparoscopic surgery: cost and training.

    PubMed

    Amodeo, A; Linares Quevedo, A; Joseph, J V; Belgrano, E; Patel, H R H

    2009-06-01

    The advantages of minimally invasive surgery are well accepted. Shorter hospital stays, decreased postoperative pain, rapid return to preoperative activity, decreased postoperative ileus, and preserved immune function are among the benefits of the laparoscopic approach. However, the instruments of laparoscopy afford surgeons limited precision and poor ergonomics, and their use is associated with a significant learning curve and the amount of time and energy necessary to develop and maintain such advanced laparoscopic skills is not insignificant. The robotic surgery allows all laparoscopists to perform advanced laparoscopic procedures with greater ease. The potential advantages of surgical robotic systems include making advanced laparoscopic surgical procedures accessible to surgeons who do not have advanced video endoscopic training and broadening the scope of surgical procedures that can be performed using the laparoscopic method. The wristed instruments, x10 magnifications, tremor filtering, scaling of movements and three-dimensional view allow the urologist to perform the intricate dissection and anastomosis with high precision. The robot is not, however, without significant disadvantages as compared with traditional laparoscopy. These include greater expense and consumption of operating room resources such as space and the availability of skilled technical staff, complete elimination of tactile feedback, and more limited options for trocar placement. The current cost of the da Vinci system is $ 1.2 million and annual maintenance is $ 138000. Many studies suggest that depreciation and maintenance costs can be minimised if the number of robotic cases is increased. The high cost of purchasing and maintaining the instruments of the robotic system is one of its many disadvantages. The availability of the robotic systems to only a limited number of centres reduces surgical training opportunities. Hospital administrators and surgeons must define the reasons for

  10. Robotic laparoscopic surgery: cost and training.

    PubMed

    Amodeo, A; Linares Quevedo, A; Joseph, J V; Belgrano, E; Patel, H R H

    2009-06-01

    The advantages of minimally invasive surgery are well accepted. Shorter hospital stays, decreased postoperative pain, rapid return to preoperative activity, decreased postoperative ileus, and preserved immune function are among the benefits of the laparoscopic approach. However, the instruments of laparoscopy afford surgeons limited precision and poor ergonomics, and their use is associated with a significant learning curve and the amount of time and energy necessary to develop and maintain such advanced laparoscopic skills is not insignificant. The robotic surgery allows all laparoscopists to perform advanced laparoscopic procedures with greater ease. The potential advantages of surgical robotic systems include making advanced laparoscopic surgical procedures accessible to surgeons who do not have advanced video endoscopic training and broadening the scope of surgical procedures that can be performed using the laparoscopic method. The wristed instruments, x10 magnifications, tremor filtering, scaling of movements and three-dimensional view allow the urologist to perform the intricate dissection and anastomosis with high precision. The robot is not, however, without significant disadvantages as compared with traditional laparoscopy. These include greater expense and consumption of operating room resources such as space and the availability of skilled technical staff, complete elimination of tactile feedback, and more limited options for trocar placement. The current cost of the da Vinci system is $ 1.2 million and annual maintenance is $ 138000. Many studies suggest that depreciation and maintenance costs can be minimised if the number of robotic cases is increased. The high cost of purchasing and maintaining the instruments of the robotic system is one of its many disadvantages. The availability of the robotic systems to only a limited number of centres reduces surgical training opportunities. Hospital administrators and surgeons must define the reasons for

  11. Robotics Technician Training at Macomb Community College.

    ERIC Educational Resources Information Center

    Lynch, Edward J.

    Approved in 1979, the robotics technician training program at Macomb County Community College (MCC) in Warren (Michigan) provides students with training in hydraulics and electronics as well as with hands-on training in the area of robotics. Furthermore, the program faculty includes individuals with work experience in electronics, fluid power, and…

  12. Robotic Surgical Training in an Academic Institution

    PubMed Central

    Chitwood, W. Randolph; Nifong, L. Wiley; Chapman, William H. H.; Felger, Jason E.; Bailey, B. Marcus; Ballint, Tara; Mendleson, Kim G.; Kim, Victor B.; Young, James A.; Albrecht, Robert A.

    2001-01-01

    Objective To detail robotic procedure development and clinical applications for mitral valve, biliary, and gastric reflux operations, and to implement a multispecialty robotic surgery training curriculum for both surgeons and surgical teams. Summary Background Data Remote, accurate telemanipulation of intracavitary instruments by general and cardiac surgeons is now possible. Complex technologic advancements in surgical robotics require well-designed training programs. Moreover, efficient robotic surgical procedures must be developed methodically and safely implemented clinically. Methods Advanced training on robotic systems provides surgeon confidence when operating in tiny intracavitary spaces. Three-dimensional vision and articulated instrument control are essential. The authors’ two da Vinci robotic systems have been dedicated to procedure development, clinical surgery, and training of surgical specialists. Their center has been the first United States site to train surgeons formally in clinical robotics. Results Established surgeons and residents have been trained using a defined robotic surgical educational curriculum. Also, 30 multispecialty teams have been trained in robotic mechanics and electronics. Initially, robotic procedures were developed experimentally and are described. In the past year the authors have performed 52 robotic-assisted clinical operations: 18 mitral valve repairs, 20 cholecystectomies, and 14 Nissen fundoplications. These respective operations required 108, 28, and 73 minutes of robotic telemanipulation to complete. Procedure times for the last half of the abdominal operations decreased significantly, as did the knot-tying time in mitral operations. There have been no deaths and few complications. One mitral patient had postoperative bleeding. Conclusion Robotic surgery can be performed safely with excellent results. The authors have developed an effective curriculum for training teams in robotic surgery. After training, surgeons

  13. Robotic surgical training.

    PubMed

    Ben-Or, Sharon; Nifong, L Wiley; Chitwood, W Randolph

    2013-01-01

    In July 2000, the da Vinci Surgical System (Intuitive Surgical, Inc) received Food and Drug Administration approval for intracardiac applications, and the first mitral valve repair was done at the East Carolina Heart Institute in May 2000. The system is now approved and used in many surgical specialties. With this disruptive technology and accepted use, surgeons and hospitals are seeking the most efficacious training pathway leading to safe use and responsible credentialing.One of the most important issues related to safe use is assembling the appropriate team of professionals involved with patient care. Moreover, proper patient selection and setting obtainable goals are also important.Creation and maintenance of a successful program are discussed in the article focusing on realistic goals. This begins with a partnership between surgeon leaders, hospital administrators, and industry support. Through this partnership, an appropriate training pathway and clinical pathway for success can be outlined. A timeline can then be created with periods of data analysis and adjustments as necessary. A successful program is attainable by following this pathway and attending to every detail along the journey. PMID:23528718

  14. Robotic surgical training.

    PubMed

    Ben-Or, Sharon; Nifong, L Wiley; Chitwood, W Randolph

    2013-01-01

    In July 2000, the da Vinci Surgical System (Intuitive Surgical, Inc) received Food and Drug Administration approval for intracardiac applications, and the first mitral valve repair was done at the East Carolina Heart Institute in May 2000. The system is now approved and used in many surgical specialties. With this disruptive technology and accepted use, surgeons and hospitals are seeking the most efficacious training pathway leading to safe use and responsible credentialing.One of the most important issues related to safe use is assembling the appropriate team of professionals involved with patient care. Moreover, proper patient selection and setting obtainable goals are also important.Creation and maintenance of a successful program are discussed in the article focusing on realistic goals. This begins with a partnership between surgeon leaders, hospital administrators, and industry support. Through this partnership, an appropriate training pathway and clinical pathway for success can be outlined. A timeline can then be created with periods of data analysis and adjustments as necessary. A successful program is attainable by following this pathway and attending to every detail along the journey.

  15. Mechanochemically Active Soft Robots.

    PubMed

    Gossweiler, Gregory R; Brown, Cameron L; Hewage, Gihan B; Sapiro-Gheiler, Eitan; Trautman, William J; Welshofer, Garrett W; Craig, Stephen L

    2015-10-14

    The functions of soft robotics are intimately tied to their form-channels and voids defined by an elastomeric superstructure that reversibly stores and releases mechanical energy to change shape, grip objects, and achieve complex motions. Here, we demonstrate that covalent polymer mechanochemistry provides a viable mechanism to convert the same mechanical potential energy used for actuation in soft robots into a mechanochromic, covalent chemical response. A bis-alkene functionalized spiropyran (SP) mechanophore is cured into a molded poly(dimethylsiloxane) (PDMS) soft robot walker and gripper. The stresses and strains necessary for SP activation are compatible with soft robot function. The color change associated with actuation suggests opportunities for not only new color changing or camouflaging strategies, but also the possibility for simultaneous activation of latent chemistry (e.g., release of small molecules, change in mechanical properties, activation of catalysts, etc.) in soft robots. In addition, mechanochromic stress mapping in a functional robotic device might provide a useful design and optimization tool, revealing spatial and temporal force evolution within the robot in a way that might be coupled to autonomous feedback loops that allow the robot to regulate its own activity. The demonstration motivates the simultaneous development of new combinations of mechanophores, materials, and soft, active devices for enhanced functionality.

  16. Mechanochemically Active Soft Robots.

    PubMed

    Gossweiler, Gregory R; Brown, Cameron L; Hewage, Gihan B; Sapiro-Gheiler, Eitan; Trautman, William J; Welshofer, Garrett W; Craig, Stephen L

    2015-10-14

    The functions of soft robotics are intimately tied to their form-channels and voids defined by an elastomeric superstructure that reversibly stores and releases mechanical energy to change shape, grip objects, and achieve complex motions. Here, we demonstrate that covalent polymer mechanochemistry provides a viable mechanism to convert the same mechanical potential energy used for actuation in soft robots into a mechanochromic, covalent chemical response. A bis-alkene functionalized spiropyran (SP) mechanophore is cured into a molded poly(dimethylsiloxane) (PDMS) soft robot walker and gripper. The stresses and strains necessary for SP activation are compatible with soft robot function. The color change associated with actuation suggests opportunities for not only new color changing or camouflaging strategies, but also the possibility for simultaneous activation of latent chemistry (e.g., release of small molecules, change in mechanical properties, activation of catalysts, etc.) in soft robots. In addition, mechanochromic stress mapping in a functional robotic device might provide a useful design and optimization tool, revealing spatial and temporal force evolution within the robot in a way that might be coupled to autonomous feedback loops that allow the robot to regulate its own activity. The demonstration motivates the simultaneous development of new combinations of mechanophores, materials, and soft, active devices for enhanced functionality. PMID:26390078

  17. Trunk robot rehabilitation training with active stepping reorganizes and enriches trunk motor cortex representations in spinal transected rats.

    PubMed

    Oza, Chintan S; Giszter, Simon F

    2015-05-01

    Trunk motor control is crucial for postural stability and propulsion after low thoracic spinal cord injury (SCI) in animals and humans. Robotic rehabilitation aimed at trunk shows promise in SCI animal models and patients. However, little is known about the effect of SCI and robot rehabilitation of trunk on cortical motor representations. We previously showed reorganization of trunk motor cortex after adult SCI. Non-stepping training also exacerbated some SCI-driven plastic changes. Here we examine effects of robot rehabilitation that promotes recovery of hindlimb weight support functions on trunk motor cortex representations. Adult rats spinal transected as neonates (NTX rats) at the T9/10 level significantly improve function with our robot rehabilitation paradigm, whereas treadmill-only trained do not. We used intracortical microstimulation to map motor cortex in two NTX groups: (1) treadmill trained (control group); and (2) robot-assisted treadmill trained (improved function group). We found significant robot rehabilitation-driven changes in motor cortex: (1) caudal trunk motor areas expanded; (2) trunk coactivation at cortex sites increased; (3) richness of trunk cortex motor representations, as examined by cumulative entropy and mutual information for different trunk representations, increased; (4) trunk motor representations in the cortex moved toward more normal topography; and (5) trunk and forelimb motor representations that SCI-driven plasticity and compensations had caused to overlap were segregated. We conclude that effective robot rehabilitation training induces significant reorganization of trunk motor cortex and partially reverses some plastic changes that may be adaptive in non-stepping paraplegia after SCI.

  18. Trunk Robot Rehabilitation Training with Active Stepping Reorganizes and Enriches Trunk Motor Cortex Representations in Spinal Transected Rats

    PubMed Central

    Oza, Chintan S.

    2015-01-01

    Trunk motor control is crucial for postural stability and propulsion after low thoracic spinal cord injury (SCI) in animals and humans. Robotic rehabilitation aimed at trunk shows promise in SCI animal models and patients. However, little is known about the effect of SCI and robot rehabilitation of trunk on cortical motor representations. We previously showed reorganization of trunk motor cortex after adult SCI. Non-stepping training also exacerbated some SCI-driven plastic changes. Here we examine effects of robot rehabilitation that promotes recovery of hindlimb weight support functions on trunk motor cortex representations. Adult rats spinal transected as neonates (NTX rats) at the T9/10 level significantly improve function with our robot rehabilitation paradigm, whereas treadmill-only trained do not. We used intracortical microstimulation to map motor cortex in two NTX groups: (1) treadmill trained (control group); and (2) robot-assisted treadmill trained (improved function group). We found significant robot rehabilitation-driven changes in motor cortex: (1) caudal trunk motor areas expanded; (2) trunk coactivation at cortex sites increased; (3) richness of trunk cortex motor representations, as examined by cumulative entropy and mutual information for different trunk representations, increased; (4) trunk motor representations in the cortex moved toward more normal topography; and (5) trunk and forelimb motor representations that SCI-driven plasticity and compensations had caused to overlap were segregated. We conclude that effective robot rehabilitation training induces significant reorganization of trunk motor cortex and partially reverses some plastic changes that may be adaptive in non-stepping paraplegia after SCI. PMID:25948267

  19. Effects of 4-Week Intensive Active-Resistive Training with an EMG-Based Exoskeleton Robot on Muscle Strength in Older People: A Pilot Study.

    PubMed

    Son, Jongsang; Ryu, Jeseong; Ahn, Soonjae; Kim, Eun Joo; Lee, Jung Ah; Kim, Youngho

    2016-01-01

    This study aims to investigate the idea that an active-resistive training with an EMG-based exoskeleton robot could be beneficial to muscle strength and antagonist muscle cocontraction control after 4-week intensive elbow flexion/extension training. Three older people over 65 years participated the training for an hour per session and completed total 20 sessions during four weeks. Outcome measures were chosen as the maximum joint torque and cocontraction ratio between the biceps/triceps brachii muscles at pre-/post-training. The Wilcoxon signed-ranks test was performed to evaluate paired difference for the outcome measures. As a result, there was no significant difference in the maximum flexion or extension torque at pre- and post-training. However, the cocontraction ratio of the triceps brachii muscle as the antagonist was significantly decreased by 9.8% after the 4-week intensive training. The active-resistive training with the exoskeleton robot in the older people yielded a promising result, showing significant changes in the antagonist muscle cocontraction. PMID:27006942

  20. Effects of 4-Week Intensive Active-Resistive Training with an EMG-Based Exoskeleton Robot on Muscle Strength in Older People: A Pilot Study

    PubMed Central

    Son, Jongsang; Ryu, Jeseong; Ahn, Soonjae; Kim, Eun Joo; Lee, Jung Ah; Kim, Youngho

    2016-01-01

    This study aims to investigate the idea that an active-resistive training with an EMG-based exoskeleton robot could be beneficial to muscle strength and antagonist muscle cocontraction control after 4-week intensive elbow flexion/extension training. Three older people over 65 years participated the training for an hour per session and completed total 20 sessions during four weeks. Outcome measures were chosen as the maximum joint torque and cocontraction ratio between the biceps/triceps brachii muscles at pre-/post-training. The Wilcoxon signed-ranks test was performed to evaluate paired difference for the outcome measures. As a result, there was no significant difference in the maximum flexion or extension torque at pre- and post-training. However, the cocontraction ratio of the triceps brachii muscle as the antagonist was significantly decreased by 9.8% after the 4-week intensive training. The active-resistive training with the exoskeleton robot in the older people yielded a promising result, showing significant changes in the antagonist muscle cocontraction. PMID:27006942

  1. Effects of 4-Week Intensive Active-Resistive Training with an EMG-Based Exoskeleton Robot on Muscle Strength in Older People: A Pilot Study.

    PubMed

    Son, Jongsang; Ryu, Jeseong; Ahn, Soonjae; Kim, Eun Joo; Lee, Jung Ah; Kim, Youngho

    2016-01-01

    This study aims to investigate the idea that an active-resistive training with an EMG-based exoskeleton robot could be beneficial to muscle strength and antagonist muscle cocontraction control after 4-week intensive elbow flexion/extension training. Three older people over 65 years participated the training for an hour per session and completed total 20 sessions during four weeks. Outcome measures were chosen as the maximum joint torque and cocontraction ratio between the biceps/triceps brachii muscles at pre-/post-training. The Wilcoxon signed-ranks test was performed to evaluate paired difference for the outcome measures. As a result, there was no significant difference in the maximum flexion or extension torque at pre- and post-training. However, the cocontraction ratio of the triceps brachii muscle as the antagonist was significantly decreased by 9.8% after the 4-week intensive training. The active-resistive training with the exoskeleton robot in the older people yielded a promising result, showing significant changes in the antagonist muscle cocontraction.

  2. From training to robot behavior: towards custom scenarios for robotics in training programs for ASD.

    PubMed

    Gillesen, J C C; Barakova, E I; Huskens, B E B M; Feijs, L M G

    2011-01-01

    Successful results have been booked with using robotics in therapy interventions for autism spectrum disorders (ASD). However, to make the best use of robots, the behavior of the robot needs to be tailored to the learning objectives and personal characteristics of each unique individual with ASD. Currently training practices include adaptation of the training programs to the condition of each individual client, based on the particular learning goals or the mood of the client. To include robots in such training will imply that the trainers are enabled to control a robot through an intuitive interface. For this purpose we use a visual programming environment called TiViPE as an interface between robot and trainer, where scenarios for specific learning objectives can easily be put together as if they were graphical LEGO-like building blocks. This programming platform is linked to the NAO robot from Aldebaran Robotics. A process flow for converting trainers' scenarios was developed to make sure the gist of the original scenarios was kept intact. We give an example of how a scenario is processed, and implemented into the clinical setting, and how detailed parts of a scenario can be developed. PMID:22275585

  3. From training to robot behavior: towards custom scenarios for robotics in training programs for ASD.

    PubMed

    Gillesen, J C C; Barakova, E I; Huskens, B E B M; Feijs, L M G

    2011-01-01

    Successful results have been booked with using robotics in therapy interventions for autism spectrum disorders (ASD). However, to make the best use of robots, the behavior of the robot needs to be tailored to the learning objectives and personal characteristics of each unique individual with ASD. Currently training practices include adaptation of the training programs to the condition of each individual client, based on the particular learning goals or the mood of the client. To include robots in such training will imply that the trainers are enabled to control a robot through an intuitive interface. For this purpose we use a visual programming environment called TiViPE as an interface between robot and trainer, where scenarios for specific learning objectives can easily be put together as if they were graphical LEGO-like building blocks. This programming platform is linked to the NAO robot from Aldebaran Robotics. A process flow for converting trainers' scenarios was developed to make sure the gist of the original scenarios was kept intact. We give an example of how a scenario is processed, and implemented into the clinical setting, and how detailed parts of a scenario can be developed.

  4. Minimally assistive robot training for proprioception enhancement.

    PubMed

    Casadio, Maura; Morasso, Pietro; Sanguineti, Vittorio; Giannoni, Psiche

    2009-04-01

    In stroke survivors, motor impairment is frequently associated with degraded proprioceptive and/or somatosensory functions. Here we address the question of how to use robots to improve proprioception in these patients. We used an 'assist-as-needed' protocol, in which robot assistance was kept to a minimum and was continuously adjusted during exercise. To specifically train proprioceptive functions, we alternated blocks of trials with and without vision. A total of nine chronic stroke survivors participated in the study, which consisted of a total of ten 1-h exercise sessions. We used a linear mixed-effects statistical model to account for the effects of exercise, vision and the degree of assistance on the overall performance, and to capture both the systematic effects and the individual variations. Although there was not always a complete recovery of autonomous movements, all subjects exhibited an increased amount of voluntary control. Moreover, training with closed eyes appeared to be beneficial for patients with abnormal proprioception. Our results indicate that training by alternating vision and no-vision blocks may improve the ability to use proprioception as well as the ability to integrate it with vision. We suggest that the approach may be useful in the more general case of motor skill acquisition, in which enhancing proprioception may improve the ability to physically interact with the external world. PMID:19139867

  5. Minimally assistive robot training for proprioception enhancement.

    PubMed

    Casadio, Maura; Morasso, Pietro; Sanguineti, Vittorio; Giannoni, Psiche

    2009-04-01

    In stroke survivors, motor impairment is frequently associated with degraded proprioceptive and/or somatosensory functions. Here we address the question of how to use robots to improve proprioception in these patients. We used an 'assist-as-needed' protocol, in which robot assistance was kept to a minimum and was continuously adjusted during exercise. To specifically train proprioceptive functions, we alternated blocks of trials with and without vision. A total of nine chronic stroke survivors participated in the study, which consisted of a total of ten 1-h exercise sessions. We used a linear mixed-effects statistical model to account for the effects of exercise, vision and the degree of assistance on the overall performance, and to capture both the systematic effects and the individual variations. Although there was not always a complete recovery of autonomous movements, all subjects exhibited an increased amount of voluntary control. Moreover, training with closed eyes appeared to be beneficial for patients with abnormal proprioception. Our results indicate that training by alternating vision and no-vision blocks may improve the ability to use proprioception as well as the ability to integrate it with vision. We suggest that the approach may be useful in the more general case of motor skill acquisition, in which enhancing proprioception may improve the ability to physically interact with the external world.

  6. Design and Development Issues for Educational Robotics Training Camps

    ERIC Educational Resources Information Center

    Ucgul, Memet; Cagiltay, Kursat

    2014-01-01

    The aim of this study is to explore critical design issues for educational robotics training camps and to describe how these factors should be implemented in the development of such camps. For this purpose, two robotics training camps were organized for elementary school students. The first camp had 30 children attendees, and the second had 22. As…

  7. Incorporating resident/fellow training into a robotic surgery program.

    PubMed

    Vetter, Monica Hagan; Green, Isabel; Martino, Martin; Fowler, Jeffrey; Salani, Ritu

    2015-12-01

    With the rapid uptake of the robotic approach in gynecologic surgery, a thorough understanding of the technology, including its uses and limitations, is critical to maximize patient outcomes and safety. This review discusses the role of training modalities and development of curricula for robotic surgery. Furthermore, methods for incorporating the entire surgical team and the process of credentialing/maintaining privileges are described.

  8. Controlling patient participation during robot-assisted gait training

    PubMed Central

    2011-01-01

    Background The overall goal of this paper was to investigate approaches to controlling active participation in stroke patients during robot-assisted gait therapy. Although active physical participation during gait rehabilitation after stroke was shown to improve therapy outcome, some patients can behave passively during rehabilitation, not maximally benefiting from the gait training. Up to now, there has not been an effective method for forcing patient activity to the desired level that would most benefit stroke patients with a broad variety of cognitive and biomechanical impairments. Methods Patient activity was quantified in two ways: by heart rate (HR), a physiological parameter that reflected physical effort during body weight supported treadmill training, and by a weighted sum of the interaction torques (WIT) between robot and patient, recorded from hip and knee joints of both legs. We recorded data in three experiments, each with five stroke patients, and controlled HR and WIT to a desired temporal profile. Depending on the patient's cognitive capabilities, two different approaches were taken: either by allowing voluntary patient effort via visual instructions or by forcing the patient to vary physical effort by adapting the treadmill speed. Results We successfully controlled patient activity quantified by WIT and by HR to a desired level. The setup was thereby individually adaptable to the specific cognitive and biomechanical needs of each patient. Conclusion Based on the three successful approaches to controlling patient participation, we propose a metric which enables clinicians to select the best strategy for each patient, according to the patient's physical and cognitive capabilities. Our framework will enable therapists to challenge the patient to more activity by automatically controlling the patient effort to a desired level. We expect that the increase in activity will lead to improved rehabilitation outcome. PMID:21429200

  9. Incorporating resident/fellow training into a robotic surgery program.

    PubMed

    Vetter, Monica Hagan; Green, Isabel; Martino, Martin; Fowler, Jeffrey; Salani, Ritu

    2015-12-01

    With the rapid uptake of the robotic approach in gynecologic surgery, a thorough understanding of the technology, including its uses and limitations, is critical to maximize patient outcomes and safety. This review discusses the role of training modalities and development of curricula for robotic surgery. Furthermore, methods for incorporating the entire surgical team and the process of credentialing/maintaining privileges are described. PMID:26289120

  10. Rapid plasticity of motor corticospinal system with robotic reach training.

    PubMed

    Kantak, S S; Jones-Lush, L M; Narayanan, P; Judkins, T N; Wittenberg, G F

    2013-09-01

    Goal-directed reaching is important for the activities of daily living. Populations of neurons in the primary motor cortex that project to spinal motor circuits are known to represent the kinematics of reaching movements. We investigated whether repetitive practice of goal-directed reaching movements induces use-dependent plasticity of those kinematic characteristics, in a manner similar to finger movements, as had been shown previously. Transcranial magnetic stimulation (TMS) was used to evoke upper extremity movements while the forearm was resting in a robotic cradle. Plasticity was measured by the change in kinematics of these evoked movements following goal-directed reaching practice. Baseline direction of TMS-evoked arm movements was determined for each subject. Subjects then practiced three blocks of 160 goal-directed reaching movements in a direction opposite to the baseline direction (14 cm reach 180° from baseline direction) against a 75-Nm spring field. Changes in TMS-evoked whole arm movements were assessed after each practice block and after 5 min following the end of practice. Direction and the position of the point of peak velocity of TMS-evoked movements were significantly altered following training and at a 5-min interval following training, while amplitude did not show significant changes. This was accompanied by changes in the motor-evoked potentials (MEPs) of the shoulder and elbow agonist muscles that partly explained the change in direction, mainly by increase in agonist MEP, without significant changes in antagonists. These findings demonstrate that the arm representation accessible by motor cortical stimulation under goes rapid plasticity induced by goal-directed robotic reach training in healthy subjects. PMID:23669007

  11. Automation, robotics, and inflight training for manned Mars missions

    NASA Technical Reports Server (NTRS)

    Holt, Alan C.

    1986-01-01

    The automation, robotics, and inflight training requirements of manned Mars missions will be supported by similar capabilities developed for the space station program. Evolutionary space station onboard training facilities will allow the crewmembers to minimize the amount of training received on the ground by providing extensive onboard access to system and experiment malfunction procedures, maintenance procedures, repair procedures, and associated video sequences. Considerable on-the-job training will also be conducted for space station management, mobile remote manipulator operations, proximity operations with the Orbital Maneuvering Vehicle (and later the Orbit Transfer Vehicle), and telerobotics and mobile robots. A similar approach could be used for manned Mars mission training with significant additions such as high fidelity image generation and simulation systems such as holographic projection systems for Mars landing, ascent, and rendezvous training. In addition, a substantial increase in the use of automation and robotics for hazardous and tedious tasks would be expected for Mars mission. Mobile robots may be used to assist in the assembly, test and checkout of the Mars spacecraft, in the handling of nuclear components and hazardous chemical propellent transfer operations, in major spacecraft repair tasks which might be needed (repair of a micrometeroid penetration, for example), in the construction of a Mars base, and for routine maintenance of the base when unmanned.

  12. Towards more effective robotic gait training for stroke rehabilitation: a review

    PubMed Central

    2012-01-01

    Background Stroke is the most common cause of disability in the developed world and can severely degrade walking function. Robot-driven gait therapy can provide assistance to patients during training and offers a number of advantages over other forms of therapy. These potential benefits do not, however, seem to have been fully realised as of yet in clinical practice. Objectives This review determines ways in which robot-driven gait technology could be improved in order to achieve better outcomes in gait rehabilitation. Methods The literature on gait impairments caused by stroke is reviewed, followed by research detailing the different pathways to recovery. The outcomes of clinical trials investigating robot-driven gait therapy are then examined. Finally, an analysis of the literature focused on the technical features of the robot-based devices is presented. This review thus combines both clinical and technical aspects in order to determine the routes by which robot-driven gait therapy could be further developed. Conclusions Active subject participation in robot-driven gait therapy is vital to many of the potential recovery pathways and is therefore an important feature of gait training. Higher levels of subject participation and challenge could be promoted through designs with a high emphasis on robotic transparency and sufficient degrees of freedom to allow other aspects of gait such as balance to be incorporated. PMID:22953989

  13. Coordinated upper limb training assisted with an electromyography (EMG)-driven hand robot after stroke.

    PubMed

    Hu, X L; Tong, K Y; Wei, X J; Rong, W; Susanto, E A; Ho, S K

    2013-01-01

    An electromyography (EMG)-driven hand robot had been developed for post-stroke rehabilitation training. The effectiveness of the hand robot assisted whole upper limb training on muscular coordination was investigated on persons with chronic stroke (n=10) in this work. All subjects attended a 20-session training (3-5 times/week) by using the hand robot to practice object grasp/release and arm transportation tasks. Improvements were found in the muscle co-ordination between the antagonist muscle pair (flexor digitorum and extensor digitorum) as measured by muscle co-contractions in EMG signals; and also in the reduction of excessive muscle activities in the biceps brachii. Reduced spasticity in the fingers was also observed as measured by the Modified Ashworth Score.

  14. An interactive Virtual Reality simulation system for robot control and operator training

    SciTech Connect

    Miner, N.E.; Stansfield, S.A.

    1993-11-01

    Robotic systems are often very complex and difficult to operate, especially as multiple robots are integrated to accomplish difficult tasks. In addition, training the operators of these complex robotic systems is time-consuming and costly. In this paper, a virtual reality based robotic control system is presented. The virtual reality system provides a means by which operators can operate, and be trained to operate, complex robotic systems in an intuitive, cost-effective way. Operator interaction with the robotic system is at a high, task-oriented, level. Continuous state monitoring prevents illegal robot actions and provides interactive feedback to the operator and real-time training for novice users.

  15. Positive effects of robotic exoskeleton training of upper limb reaching movements after stroke

    PubMed Central

    2012-01-01

    This study, conducted in a group of nine chronic patients with right-side hemiparesis after stroke, investigated the effects of a robotic-assisted rehabilitation training with an upper limb robotic exoskeleton for the restoration of motor function in spatial reaching movements. The robotic assisted rehabilitation training was administered for a period of 6 weeks including reaching and spatial antigravity movements. To assess the carry-over of the observed improvements in movement during training into improved function, a kinesiologic assessment of the effects of the training was performed by means of motion and dynamic electromyographic analysis of reaching movements performed before and after training. The same kinesiologic measurements were performed in a healthy control group of seven volunteers, to determine a benchmark for the experimental observations in the patients’ group. Moreover degree of functional impairment at the enrolment and discharge was measured by clinical evaluation with upper limb Fugl-Meyer Assessment scale (FMA, 0–66 points), Modified Ashworth scale (MA, 0–60 pts) and active ranges of motion. The robot aided training induced, independently by time of stroke, statistical significant improvements of kinesiologic (movement time, smoothness of motion) and clinical (4.6 ± 4.2 increase in FMA, 3.2 ± 2.1 decrease in MA) parameters, as a result of the increased active ranges of motion and improved co-contraction index for shoulder extension/flexion. Kinesiologic parameters correlated significantly with clinical assessment values, and their changes after the training were affected by the direction of motion (inward vs. outward movement) and position of target to be reached (ipsilateral, central and contralateral peripersonal space). These changes can be explained as a result of the motor recovery induced by the robotic training, in terms of regained ability to execute single joint movements and of improved interjoint coordination of

  16. Active control of robot manipulator compliance

    NASA Technical Reports Server (NTRS)

    Nguyen, C. C.; Pooran, F. J.

    1986-01-01

    Work performed at Catholic University on the research grant entitled Active Control of Robot Manipulator Compliance, supported by NASA/Goddard space Flight Center during the period of May 15th, 1986 to November 15th, 1986 is described. The modelling of the two-degree-of-freedom robot is first presented. Then the complete system including the robot and the hybrid controller is simulated on an IBM-XT Personal Computer. Simulation results showed that proper adjustments of controller gains enable the robot to perform successful operations. Further research should focus on developing a guideline for the controller gain design to achieve system stability.

  17. Feasibility and effects of patient-cooperative robot-aided gait training applied in a 4-week pilot trial

    PubMed Central

    2012-01-01

    Background Functional training is becoming the state-of-the-art therapy approach for rehabilitation of individuals after stroke and spinal cord injury. Robot-aided treadmill training reduces personnel effort, especially when treating severely affected patients. Improving rehabilitation robots towards more patient-cooperative behavior may further increase the effects of robot-aided training. This pilot study aims at investigating the feasibility of applying patient-cooperative robot-aided gait rehabilitation to stroke and incomplete spinal cord injury during a therapy period of four weeks. Short-term effects within one training session as well as the effects of the training on walking function are evaluated. Methods Two individuals with chronic incomplete spinal cord injury and two with chronic stroke trained with the Lokomat gait rehabilitation robot which was operated in a new, patient-cooperative mode for a period of four weeks with four training sessions of 45 min per week. At baseline, after two and after four weeks, walking function was assessed with the ten meter walking test. Additionally, muscle activity of the major leg muscles, heart rate and the Borg scale were measured under different walking conditions including a non-cooperative position control mode to investigate the short-term effects of patient-cooperative versus non-cooperative robot-aided gait training. Results Patient-cooperative robot-aided gait training was tolerated well by all subjects and performed without difficulties. The subjects trained more actively and with more physiological muscle activity than in a non-cooperative position-control mode. One subject showed a significant and relevant increase of gait speed after the therapy, the three remaining subjects did not show significant changes. Conclusions Patient-cooperative robot-aided gait training is feasible in clinical practice and overcomes the main points of criticism against robot-aided gait training: It enables patients to train

  18. The immediate intervention effects of robotic training in patients after anterior cruciate ligament reconstruction.

    PubMed

    Hu, Chunying; Huang, Qiuchen; Yu, Lili; Ye, Miao

    2016-07-01

    [Purpose] The purpose of this study was to examine the immediate effects of robot-assisted therapy on functional activity level after anterior cruciate ligament reconstruction. [Subjects and Methods] Participants included 10 patients (8 males and 2 females) following anterior cruciate ligament reconstruction. The subjects participated in robot-assisted therapy and treadmill exercise on different days. The Timed Up-and-Go test, Functional Reach Test, surface electromyography of the vastus lateralis and vastus medialis, and maximal extensor strength of isokinetic movement of the knee joint were evaluated in both groups before and after the experiment. [Results] The results for the Timed Up-and-Go Test and the 10-Meter Walk Test improved in the robot-assisted rehabilitation group. Surface electromyography of the vastus medialis muscle showed significant increases in maximum and average discharge after the intervention. [Conclusion] The results suggest that walking ability and muscle strength can be improved by robotic training. PMID:27512258

  19. The immediate intervention effects of robotic training in patients after anterior cruciate ligament reconstruction

    PubMed Central

    Hu, Chunying; Huang, Qiuchen; Yu, Lili; Ye, Miao

    2016-01-01

    [Purpose] The purpose of this study was to examine the immediate effects of robot-assisted therapy on functional activity level after anterior cruciate ligament reconstruction. [Subjects and Methods] Participants included 10 patients (8 males and 2 females) following anterior cruciate ligament reconstruction. The subjects participated in robot-assisted therapy and treadmill exercise on different days. The Timed Up-and-Go test, Functional Reach Test, surface electromyography of the vastus lateralis and vastus medialis, and maximal extensor strength of isokinetic movement of the knee joint were evaluated in both groups before and after the experiment. [Results] The results for the Timed Up-and-Go Test and the 10-Meter Walk Test improved in the robot-assisted rehabilitation group. Surface electromyography of the vastus medialis muscle showed significant increases in maximum and average discharge after the intervention. [Conclusion] The results suggest that walking ability and muscle strength can be improved by robotic training. PMID:27512258

  20. The immediate intervention effects of robotic training in patients after anterior cruciate ligament reconstruction.

    PubMed

    Hu, Chunying; Huang, Qiuchen; Yu, Lili; Ye, Miao

    2016-07-01

    [Purpose] The purpose of this study was to examine the immediate effects of robot-assisted therapy on functional activity level after anterior cruciate ligament reconstruction. [Subjects and Methods] Participants included 10 patients (8 males and 2 females) following anterior cruciate ligament reconstruction. The subjects participated in robot-assisted therapy and treadmill exercise on different days. The Timed Up-and-Go test, Functional Reach Test, surface electromyography of the vastus lateralis and vastus medialis, and maximal extensor strength of isokinetic movement of the knee joint were evaluated in both groups before and after the experiment. [Results] The results for the Timed Up-and-Go Test and the 10-Meter Walk Test improved in the robot-assisted rehabilitation group. Surface electromyography of the vastus medialis muscle showed significant increases in maximum and average discharge after the intervention. [Conclusion] The results suggest that walking ability and muscle strength can be improved by robotic training.

  1. Design of rehabilitation robot hand for fingers CPM training

    NASA Astrophysics Data System (ADS)

    Zhou, Hongfu; Chan, T. W.; Tong, K. Y.; Kwong, K. K.; Yao, Xifan

    2008-10-01

    This paper presents a low-cost prototype for rehabilitation robot aide patient do hands CPM (continuous passive motion) training. The design of the prototype is based on the principle of Rutgers Master II glove, but it is better in performance for more improvement made. In the design, it uses linear motors to replace pneumatic actuators to make the product more portable and mobile. It increases finger training range to 180 degree for the full range training of hand finger holding and extension. Also the prototype can not only be wearing on palm and fore arm do training for face to face with finger move together, but also be put in the opposite hand glove wear direction for hand rehabilitation training. During the research, Solidworks is used as the tool for mechanical design and movement simulation. It proved through experiment that the prototype made in the research is appropriate for hand do CPM training.

  2. Robot hands and extravehicular activity

    NASA Technical Reports Server (NTRS)

    Marcus, Beth

    1987-01-01

    Extravehicular activity (EVA) is crucial to the success of both current and future space operations. As space operations have evolved in complexity so has the demand placed on the EVA crewman. In addition, some NASA requirements for human capabilities at remote or hazardous sites were identified. One of the keys to performing useful EVA tasks is the ability to manipulate objects accurately, quickly and without early or excessive fatigue. The current suit employs a glove which enables the crewman to perform grasping tasks, use tools, turn switches, and perform other tasks for short periods of time. However, the glove's bulk and resistance to motion ultimately causes fatigue. Due to this limitation it may not be possible to meet the productivity requirements that will be placed on the EVA crewman of the future with the current or developmental Extravehicular Mobility Unit (EMU) hardware. In addition, this hardware will not meet the requirements for remote or hazardous operations. In an effort to develop ways for improving crew productivity, a contract was awarded to develop a prototype anthromorphic robotic hand (ARH) for use with an extravehicular space suit. The first step in this program was to perform a a design study which investigated the basic technology required for the development of an ARH to enhance crew performance and productivity. The design study phase of the contract and some additional development work is summarized.

  3. Effects of robot-assisted gait training on the balance and gait of chronic stroke patients: focus on dependent ambulators.

    PubMed

    Cho, Duk Youn; Park, Si-Woon; Lee, Min Jin; Park, Dae Sung; Kim, Eun Joo

    2015-10-01

    [Purpose] The purpose of this study was to confirm the effect of robot-assisted gait training on the balance and gait ability of stroke patients who were dependent ambulators. [Subjects and Methods] Twenty stroke patients participated in this study. The participants were allocated to either group 1, which received robot-assisted gait training for 4 weeks followed by conventional physical therapy for 4 weeks, or group 2, which received the same treatments in the reverse order. Robot-assisted gait training was conducted for 30 min, 3 times a week for 4 weeks. The Berg Balance Scale, Modified Functional Reach Test, Functional Ambulation Category, Modified Ashworth Scale, Fugl-Meyer Assessment, Motricity Index, and Modified Barthel Index were assessed before and after treatment. To confirm the characteristics of patients who showed a significant increase in Berg Balance Scale after robot-assisted gait training as compared with physical therapy, subgroup analysis was conducted. [Results] Only lateral reaching and the Functional Ambulation Category were significantly increased following robot-assisted gait training. Subscale analyses identified 3 patient subgroups that responded well to robot-assisted gait training: a subgroup with hemiplegia, a subgroup in which the guidance force needed to be decreased to needed to be decreased to ≤45%, and a subgroup in which weight bearing was decreased to ≤21%. [Conclusion] The present study showed that robot-assisted gait training is not only effective in improving balance and gait performance but also improves trunk balance and motor skills required by high-severity stroke patients to perform activities daily living. Moreover, subscale analyses identified subgroups that responded well to robot-assisted gait training.

  4. Effects of robot-assisted gait training on the balance and gait of chronic stroke patients: focus on dependent ambulators

    PubMed Central

    Cho, Duk Youn; Park, Si-Woon; Lee, Min Jin; Park, Dae Sung; Kim, Eun Joo

    2015-01-01

    [Purpose] The purpose of this study was to confirm the effect of robot-assisted gait training on the balance and gait ability of stroke patients who were dependent ambulators. [Subjects and Methods] Twenty stroke patients participated in this study. The participants were allocated to either group 1, which received robot-assisted gait training for 4 weeks followed by conventional physical therapy for 4 weeks, or group 2, which received the same treatments in the reverse order. Robot-assisted gait training was conducted for 30 min, 3 times a week for 4 weeks. The Berg Balance Scale, Modified Functional Reach Test, Functional Ambulation Category, Modified Ashworth Scale, Fugl-Meyer Assessment, Motricity Index, and Modified Barthel Index were assessed before and after treatment. To confirm the characteristics of patients who showed a significant increase in Berg Balance Scale after robot-assisted gait training as compared with physical therapy, subgroup analysis was conducted. [Results] Only lateral reaching and the Functional Ambulation Category were significantly increased following robot-assisted gait training. Subscale analyses identified 3 patient subgroups that responded well to robot-assisted gait training: a subgroup with hemiplegia, a subgroup in which the guidance force needed to be decreased to needed to be decreased to ≤45%, and a subgroup in which weight bearing was decreased to ≤21%. [Conclusion] The present study showed that robot-assisted gait training is not only effective in improving balance and gait performance but also improves trunk balance and motor skills required by high-severity stroke patients to perform activities daily living. Moreover, subscale analyses identified subgroups that responded well to robot-assisted gait training. PMID:26644642

  5. Robot Guided 'Pen Skill' Training in Children with Motor Difficulties.

    PubMed

    Shire, Katy A; Hill, Liam J B; Snapp-Childs, Winona; Bingham, Geoffrey P; Kountouriotis, Georgios K; Barber, Sally; Mon-Williams, Mark

    2016-01-01

    Motor deficits are linked to a range of negative physical, social and academic consequences. Haptic robotic interventions, based on the principles of sensorimotor learning, have been shown previously to help children with motor problems learn new movements. We therefore examined whether the training benefits of a robotic system would generalise to a standardised test of 'pen-skills', assessed using objective kinematic measures [via the Clinical Kinematic Assessment Tool, CKAT]. A counterbalanced, cross-over design was used in a group of 51 children (37 male, aged 5-11 years) with manual control difficulties. Improved performance on a novel task using the robotic device could be attributed to the intervention but there was no evidence of generalisation to any of the CKAT tasks. The robotic system appears to have the potential to support motor learning, with the technology affording numerous advantages. However, the training regime may need to target particular manual skills (e.g. letter formation) in order to obtain clinically significant improvements in specific skills such as handwriting.

  6. Robot Guided 'Pen Skill' Training in Children with Motor Difficulties.

    PubMed

    Shire, Katy A; Hill, Liam J B; Snapp-Childs, Winona; Bingham, Geoffrey P; Kountouriotis, Georgios K; Barber, Sally; Mon-Williams, Mark

    2016-01-01

    Motor deficits are linked to a range of negative physical, social and academic consequences. Haptic robotic interventions, based on the principles of sensorimotor learning, have been shown previously to help children with motor problems learn new movements. We therefore examined whether the training benefits of a robotic system would generalise to a standardised test of 'pen-skills', assessed using objective kinematic measures [via the Clinical Kinematic Assessment Tool, CKAT]. A counterbalanced, cross-over design was used in a group of 51 children (37 male, aged 5-11 years) with manual control difficulties. Improved performance on a novel task using the robotic device could be attributed to the intervention but there was no evidence of generalisation to any of the CKAT tasks. The robotic system appears to have the potential to support motor learning, with the technology affording numerous advantages. However, the training regime may need to target particular manual skills (e.g. letter formation) in order to obtain clinically significant improvements in specific skills such as handwriting. PMID:26967993

  7. BCI-based user training in surgical robotics.

    PubMed

    Olivieri, Emidio; Barresi, Giacinto; Mattos, Leonardo S

    2015-08-01

    Human error is a critical risk in surgery, so an important aim of surgical robotic systems is to improve the performance and the safety of surgical operations. Such systems can be potentially enhanced by a brain-computer interface (BCI) able to monitor the user's mental focus and use this information to improve the level of safety of the procedures. In order to evaluate such potential usage of BCIs, this paper describes a novel framework for training the user to regulate his/her own mental state while performing surgery-like tasks using a robotic system. This self-regulation is based on augmented reality (AR) feedback representing the BCI-monitored mental state, which helps the user's effort in maintaining a high level of mental focus during the task. A comparison between a BCI-based training and a training without a BCI highlighted a reduction of post-training trial times as a result of the enhanced training setup, without any loss in performance or in user experience. Such finding allows the identification of further improvements and novel potential applications of this training and interaction paradigm.

  8. Locomotion training of legged robots using hybrid machine learning techniques

    NASA Technical Reports Server (NTRS)

    Simon, William E.; Doerschuk, Peggy I.; Zhang, Wen-Ran; Li, Andrew L.

    1995-01-01

    In this study artificial neural networks and fuzzy logic are used to control the jumping behavior of a three-link uniped robot. The biped locomotion control problem is an increment of the uniped locomotion control. Study of legged locomotion dynamics indicates that a hierarchical controller is required to control the behavior of a legged robot. A structured control strategy is suggested which includes navigator, motion planner, biped coordinator and uniped controllers. A three-link uniped robot simulation is developed to be used as the plant. Neurocontrollers were trained both online and offline. In the case of on-line training, a reinforcement learning technique was used to train the neurocontroller to make the robot jump to a specified height. After several hundred iterations of training, the plant output achieved an accuracy of 7.4%. However, when jump distance and body angular momentum were also included in the control objectives, training time became impractically long. In the case of off-line training, a three-layered backpropagation (BP) network was first used with three inputs, three outputs and 15 to 40 hidden nodes. Pre-generated data were presented to the network with a learning rate as low as 0.003 in order to reach convergence. The low learning rate required for convergence resulted in a very slow training process which took weeks to learn 460 examples. After training, performance of the neurocontroller was rather poor. Consequently, the BP network was replaced by a Cerebeller Model Articulation Controller (CMAC) network. Subsequent experiments described in this document show that the CMAC network is more suitable to the solution of uniped locomotion control problems in terms of both learning efficiency and performance. A new approach is introduced in this report, viz., a self-organizing multiagent cerebeller model for fuzzy-neural control of uniped locomotion is suggested to improve training efficiency. This is currently being evaluated for a possible

  9. Taking a lesson from patients' recovery strategies to optimize training during robot-aided rehabilitation.

    PubMed

    Colombo, Roberto; Sterpi, Irma; Mazzone, Alessandra; Delconte, Carmen; Pisano, Fabrizio

    2012-05-01

    In robot-assisted neurorehabilitation, matching the task difficulty level to the patient's needs and abilities, both initially and as the relearning process progresses, can enhance the effectiveness of training and improve patients' motivation and outcome. This study presents a Progressive Task Regulation algorithm implemented in a robot for upper limb rehabilitation. It evaluates the patient's performance during training through the computation of robot-measured parameters, and automatically changes the features of the reaching movements, adapting the difficulty level of the motor task to the patient's abilities. In particular, it can select different types of assistance (time-triggered, activity-triggered, and negative assistance) and implement varied therapy practice to promote generalization processes. The algorithm was tuned by assessing the performance data obtained in 22 chronic stroke patients who underwent robotic rehabilitation, in which the difficulty level of the task was manually adjusted by the therapist. Thus, we could verify the patient's recovery strategies and implement task transition rules to match both the patient's and therapist's behavior. In addition, the algorithm was tested in a sample of five chronic stroke patients. The findings show good agreement with the therapist decisions so indicating that it could be useful for the implementation of training protocols allowing individualized and gradual treatment of upper limb disabilities in patients after stroke. The application of this algorithm during robot-assisted therapy should allow an easier management of the different motor tasks administered during training, thereby facilitating the therapist's activity in the treatment of different pathologic conditions of the neuromuscular system.

  10. Sports Training Support Method by Self-Coaching with Humanoid Robot

    NASA Astrophysics Data System (ADS)

    Toyama, S.; Ikeda, F.; Yasaka, T.

    2016-09-01

    This paper proposes a new training support method called self-coaching with humanoid robots. In the proposed method, two small size inexpensive humanoid robots are used because of their availability. One robot called target robot reproduces motion of a target player and another robot called reference robot reproduces motion of an expert player. The target player can recognize a target technique from the reference robot and his/her inadequate skill from the target robot. Modifying the motion of the target robot as self-coaching, the target player could get advanced cognition. Some experimental results show some possibility as the new training method and some issues of the self-coaching interface program as a future work.

  11. Long-term interventions effects of robotic training on patients after anterior cruciate ligament reconstruction

    PubMed Central

    Hu, Chunying; Huang, Qiuchen; Yu, Lili; Zhou, Yue; Gu, Rui; Ye, Miao; Ge, Meng; Xu, Yanfeng; Liu, Jianfeng

    2016-01-01

    [Purpose] The aim of this study was to examine the long-term interventions effects of robot-assisted therapy rehabilitation on functional activity levels after anterior cruciate ligament reconstruction. [Subjects and Methods] The subjects were 8 patients (6 males and 2 females) who received anterior cruciate ligament reconstruction. The subjects participated in robot-assisted therapy lasting for one month. The Timed Up-and-Go test, 10-Meter Walk test, Functional Reach Test, surface electromyography of the vastus lateralis and vastus medialis, and extensor strength of isokinetic movement of the knee joint were evaluated before and after the intervention. [Results] The average value of the of vastus medialis EMG, Functional Reach Test, and the maximum and average extensor strength of the knee joint isokinetic movement increased significantly, and the time of the 10-Meter Walk test decreased significantly. [Conclusion] These results suggest that walking ability and muscle strength can be improved by robotic walking training as a long-term intervention.

  12. Long-term interventions effects of robotic training on patients after anterior cruciate ligament reconstruction.

    PubMed

    Hu, Chunying; Huang, Qiuchen; Yu, Lili; Zhou, Yue; Gu, Rui; Ye, Miao; Ge, Meng; Xu, Yanfeng; Liu, Jianfeng

    2016-08-01

    [Purpose] The aim of this study was to examine the long-term interventions effects of robot-assisted therapy rehabilitation on functional activity levels after anterior cruciate ligament reconstruction. [Subjects and Methods] The subjects were 8 patients (6 males and 2 females) who received anterior cruciate ligament reconstruction. The subjects participated in robot-assisted therapy lasting for one month. The Timed Up-and-Go test, 10-Meter Walk test, Functional Reach Test, surface electromyography of the vastus lateralis and vastus medialis, and extensor strength of isokinetic movement of the knee joint were evaluated before and after the intervention. [Results] The average value of the of vastus medialis EMG, Functional Reach Test, and the maximum and average extensor strength of the knee joint isokinetic movement increased significantly, and the time of the 10-Meter Walk test decreased significantly. [Conclusion] These results suggest that walking ability and muscle strength can be improved by robotic walking training as a long-term intervention.

  13. Do robotic and non-robotic arm movement training drive motor recovery after stroke by a common neural mechanism? Experimental evidence and a computational model.

    PubMed

    Reinkensmeyer, David J; Maier, Marc A; Guigon, Emmanuel; Chan, Vicky; Akoner, O; Wolbrecht, Eric T; Cramer, Steven C; Bobrow, James E

    2009-01-01

    Different dose-matched, upper extremity rehabilitation training techniques, including robotic and non-robotic techniques, can result in similar improvement in movement ability after stroke, suggesting they may elicit a common drive for recovery. Here we report experimental results that support the hypothesis of a common drive, and develop a computational model of a putative neural mechanism for the common drive. We compared weekly motor control recovery during robotic and unassisted movement training techniques after chronic stroke (n = 27), as assessed with quantitative measures of strength, speed, and coordination. The results showed that recovery in both groups followed an exponential time course with a time constant of about 4-5 weeks. Despite the greater range and speed of movement practiced by the robot group, motor recovery was very similar between the groups. The premise of the computational model is that improvements in motor control are caused by improvements in the ability to activate spared portions of the damaged corticospinal system, as learned by a biologically plausible search algorithm. Robot-assisted and unassisted training would in theory equally drive this search process.

  14. Assist-as-Needed Robot-Aided Gait Training Improves Walking Function in Individuals Following Stroke.

    PubMed

    Srivastava, Shraddha; Kao, Pei-Chun; Kim, Seok Hun; Stegall, Paul; Zanotto, Damiano; Higginson, Jill S; Agrawal, Sunil K; Scholz, John P

    2015-11-01

    A novel robot-aided assist-as-needed gait training paradigm has been developed recently. This paradigm encourages subjects' active participation during training. Previous pilot studies demonstrated that assist-as-needed robot-aided gait training (RAGT) improves treadmill walking performance post-stroke. However, it is not known if there is an over-ground transfer of the training effects from RAGT on treadmill or long-term retention of the effects. The purpose of the current study was to examine the effects of assist-as-needed RAGT on over-ground walking pattern post-stroke. Nine stroke subjects received RAGT with visual feedback of each subject's instantaneous ankle malleolus position relative to a target template for 15 40-minute sessions. Clinical evaluations and gait analyses were performed before, immediately after, and 6 months post-training. Stroke subjects demonstrated significant improvements and some long-term retention of the improvements in their self-selected over-ground walking speed, Dynamic Gait Index, Timed Up and Go, peak knee flexion angle during swing phase and total hip joint excursion over the whole gait cycle for their affected leg . These preliminary results demonstrate that subjects improved their over-ground walking pattern and some clinical gait measures post-training suggesting that assist-as-needed RAGT including visual feedback may be an effective approach to improve over-ground walking pattern post-stroke.

  15. Robot-assisted movement training for the stroke-impaired arm: Does it matter what the robot does?

    PubMed

    Kahn, Leonard E; Lum, Peter S; Rymer, W Zev; Reinkensmeyer, David J

    2006-01-01

    Robot-assisted movement training improves arm movement ability following acute and chronic stroke. Such training involves two interacting processes: the patient trying to move and the robot applying forces to the patient's arm. A fundamental principle of motor learning is that movement practice improves motor function; the role of applied robotic forces in improving motor function is still unclear. This article reviews our work addressing this question. Our pilot study using the Assisted Rehabilitation and Measurement (ARM) Guide, a linear robotic trainer, found that mechanically assisted reaching improved motor recovery similar to unassisted reaching practice. This finding is inconclusive because of the small sample size (n = 19), but suggest that future studies should carefully control the amount of voluntary movement practice delivered to justify the use of robotic forces. We are optimistic that robotic forces will ultimately show additional therapeutic benefits when coupled with movement practice. We justify this optimism here by comparing results from the ARM Guide and the Mirror Image Movement Enabler robotic trainer. This comparison suggests that requiring a patient to generate specific patterns of force before allowing movement is more effective than mechanically completing movements for the patient. We describe the engineering implementation of this "guided-force training" algorithm.

  16. Improved walking ability with wearable robot-assisted training in patients suffering chronic stroke.

    PubMed

    Li, Lifang; Ding, Li; Chen, Na; Mao, Yurong; Huang, Dongfeng; Li, Le

    2015-01-01

    Wearable robotic devices provide safe and intensive rehabilitation, enabling repeated motions for motor function recovery in stroke patients. The aim of this small case series was to demonstrate the training effects of a three-week robotic leg orthosis, and to investigate possible mechanisms of the sensory-motor alterations and improvements by using gait analysis and EMG. Three survivors of chronic strokes participated in robot-assisted gait therapy for three weeks. EMG signals from the rectus femoris (RF), tibialis anterior (TA), biceps femoris (BF), and medial gastrocnemius (MG), as well as kinetics and kinematics data of the lower limb, were recorded before and after the training. The normalized root mean squared (RMS) values of the muscles, the joint moments, joint angles, and the results of two clinical scales (Berg Balance scale, BBS, and the lower extremity subscale of Fugl-Meyer assessment, LE-FMA) were used for analysis. All participants experienced improved balance and functional performances and increased BBS and LE-FMA scores. The EMG results showed there was an increase of the normalized RMS values of the MG and BF on the affected side. Additionally, EMG activities of the agonist and antagonist pair (i.e. RF and BF) appeared to return to similar levels after training. The peak moment of hip flexor, knee extensor, and plantar flexor, which all contributed to push-off power, were found to have increased after training. In summary, the three-week training period using the wearable RLO improved the three participants' gait performance by regaining push-off power and improved muscle activation and walking speed. PMID:26406020

  17. Improved walking ability with wearable robot-assisted training in patients suffering chronic stroke.

    PubMed

    Li, Lifang; Ding, Li; Chen, Na; Mao, Yurong; Huang, Dongfeng; Li, Le

    2015-01-01

    Wearable robotic devices provide safe and intensive rehabilitation, enabling repeated motions for motor function recovery in stroke patients. The aim of this small case series was to demonstrate the training effects of a three-week robotic leg orthosis, and to investigate possible mechanisms of the sensory-motor alterations and improvements by using gait analysis and EMG. Three survivors of chronic strokes participated in robot-assisted gait therapy for three weeks. EMG signals from the rectus femoris (RF), tibialis anterior (TA), biceps femoris (BF), and medial gastrocnemius (MG), as well as kinetics and kinematics data of the lower limb, were recorded before and after the training. The normalized root mean squared (RMS) values of the muscles, the joint moments, joint angles, and the results of two clinical scales (Berg Balance scale, BBS, and the lower extremity subscale of Fugl-Meyer assessment, LE-FMA) were used for analysis. All participants experienced improved balance and functional performances and increased BBS and LE-FMA scores. The EMG results showed there was an increase of the normalized RMS values of the MG and BF on the affected side. Additionally, EMG activities of the agonist and antagonist pair (i.e. RF and BF) appeared to return to similar levels after training. The peak moment of hip flexor, knee extensor, and plantar flexor, which all contributed to push-off power, were found to have increased after training. In summary, the three-week training period using the wearable RLO improved the three participants' gait performance by regaining push-off power and improved muscle activation and walking speed.

  18. A Behavior-Based Approach for Educational Robotics Activities

    ERIC Educational Resources Information Center

    De Cristoforis, P.; Pedre, S.; Nitsche, M.; Fischer, T.; Pessacg, F.; Di Pietro, C.

    2013-01-01

    Educational robotics proposes the use of robots as a teaching resource that enables inexperienced students to approach topics in fields unrelated to robotics. In recent years, these activities have grown substantially in elementary and secondary school classrooms and also in outreach experiences to interest students in science, technology,…

  19. Anticipating Human Activities Using Object Affordances for Reactive Robotic Response.

    PubMed

    Koppula, Hema S; Saxena, Ashutosh

    2016-01-01

    An important aspect of human perception is anticipation, which we use extensively in our day-to-day activities when interacting with other humans as well as with our surroundings. Anticipating which activities will a human do next (and how) can enable an assistive robot to plan ahead for reactive responses. Furthermore, anticipation can even improve the detection accuracy of past activities. The challenge, however, is two-fold: We need to capture the rich context for modeling the activities and object affordances, and we need to anticipate the distribution over a large space of future human activities. In this work, we represent each possible future using an anticipatory temporal conditional random field (ATCRF) that models the rich spatial-temporal relations through object affordances. We then consider each ATCRF as a particle and represent the distribution over the potential futures using a set of particles. In extensive evaluation on CAD-120 human activity RGB-D dataset, we first show that anticipation improves the state-of-the-art detection results. We then show that for new subjects (not seen in the training set), we obtain an activity anticipation accuracy (defined as whether one of top three predictions actually happened) of 84.1, 74.4 and 62.2 percent for an anticipation time of 1, 3 and 10 seconds respectively. Finally, we also show a robot using our algorithm for performing a few reactive responses.

  20. Anticipating Human Activities Using Object Affordances for Reactive Robotic Response.

    PubMed

    Koppula, Hema S; Saxena, Ashutosh

    2016-01-01

    An important aspect of human perception is anticipation, which we use extensively in our day-to-day activities when interacting with other humans as well as with our surroundings. Anticipating which activities will a human do next (and how) can enable an assistive robot to plan ahead for reactive responses. Furthermore, anticipation can even improve the detection accuracy of past activities. The challenge, however, is two-fold: We need to capture the rich context for modeling the activities and object affordances, and we need to anticipate the distribution over a large space of future human activities. In this work, we represent each possible future using an anticipatory temporal conditional random field (ATCRF) that models the rich spatial-temporal relations through object affordances. We then consider each ATCRF as a particle and represent the distribution over the potential futures using a set of particles. In extensive evaluation on CAD-120 human activity RGB-D dataset, we first show that anticipation improves the state-of-the-art detection results. We then show that for new subjects (not seen in the training set), we obtain an activity anticipation accuracy (defined as whether one of top three predictions actually happened) of 84.1, 74.4 and 62.2 percent for an anticipation time of 1, 3 and 10 seconds respectively. Finally, we also show a robot using our algorithm for performing a few reactive responses. PMID:26656575

  1. Training modalities in robot-mediated upper limb rehabilitation in stroke: a framework for classification based on a systematic review.

    PubMed

    Basteris, Angelo; Nijenhuis, Sharon M; Stienen, Arno H A; Buurke, Jaap H; Prange, Gerdienke B; Amirabdollahian, Farshid

    2014-01-01

    Robot-mediated post-stroke therapy for the upper-extremity dates back to the 1990s. Since then, a number of robotic devices have become commercially available. There is clear evidence that robotic interventions improve upper limb motor scores and strength, but these improvements are often not transferred to performance of activities of daily living. We wish to better understand why. Our systematic review of 74 papers focuses on the targeted stage of recovery, the part of the limb trained, the different modalities used, and the effectiveness of each. The review shows that most of the studies so far focus on training of the proximal arm for chronic stroke patients. About the training modalities, studies typically refer to active, active-assisted and passive interaction. Robot-therapy in active assisted mode was associated with consistent improvements in arm function. More specifically, the use of HRI features stressing active contribution by the patient, such as EMG-modulated forces or a pushing force in combination with spring-damper guidance, may be beneficial.Our work also highlights that current literature frequently lacks information regarding the mechanism about the physical human-robot interaction (HRI). It is often unclear how the different modalities are implemented by different research groups (using different robots and platforms). In order to have a better and more reliable evidence of usefulness for these technologies, it is recommended that the HRI is better described and documented so that work of various teams can be considered in the same group and categories, allowing to infer for more suitable approaches. We propose a framework for categorisation of HRI modalities and features that will allow comparing their therapeutic benefits.

  2. Troubleshooting of an Electromechanical System (Westinghouse PLC Controlling a Pneumatic Robot). High-Technology Training Module.

    ERIC Educational Resources Information Center

    Tucker, James D.

    This training module on the troubleshooting of an electromechanical system, The Westinghouse Programmable Logic Controller (PLC) controlling a pneumatic robot, is used for a troubleshooting unit in an electromechanical systems/robotics and automation systems course. In this unit, students locate and repair a defect in a PLC-operated machine. The…

  3. Minimally Invasive Mitral Valve Surgery III: Training and Robotic-Assisted Approaches.

    PubMed

    Lehr, Eric J; Guy, T Sloane; Smith, Robert L; Grossi, Eugene A; Shemin, Richard J; Rodriguez, Evelio; Ailawadi, Gorav; Agnihotri, Arvind K; Fayers, Trevor M; Hargrove, W Clark; Hummel, Brian W; Khan, Junaid H; Malaisrie, S Chris; Mehall, John R; Murphy, Douglas A; Ryan, William H; Salemi, Arash; Segurola, Romualdo J; Smith, J Michael; Wolfe, J Alan; Weldner, Paul W; Barnhart, Glenn R; Goldman, Scott M; Lewis, Clifton T P

    2016-01-01

    Minimally invasive mitral valve operations are increasingly common in the United States, but robotic-assisted approaches have not been widely adopted for a variety of reasons. This expert opinion reviews the state of the art and defines best practices, training, and techniques for developing a successful robotics program. PMID:27662478

  4. The Robots Are Coming! Training Tomorrow's High-Tech Workers.

    ERIC Educational Resources Information Center

    Zemke, Ron

    1983-01-01

    The United States, running second to Japan in the robot race, is employing 19 percent of the world's robots. This article presents six classes of robots that were defined by the Japanese trade association. All are multifunctional, equipped with a memory device, capable of rotation, and able to replace human workers. (SSH)

  5. The effects of post-stroke upper-limb training with an electromyography (EMG)-driven hand robot.

    PubMed

    Hu, X L; Tong, K Y; Wei, X J; Rong, W; Susanto, E A; Ho, S K

    2013-10-01

    Loss of hand function and finger dexterity are main disabilities in the upper limb after stroke. An electromyography (EMG)-driven hand robot had been developed for post-stroke rehabilitation training. The effectiveness of the hand robot assisted whole upper limb training was investigated on persons with chronic stroke (n=10) in this work. All subjects attended a 20-session training (3-5times/week) by using the hand robot to practice object grasp/release and arm transportation tasks. Significant motor improvements were observed in the Fugl-Meyer hand/wrist and shoulder/elbow scores (p<0.05), and also in the Action Research Arm Test and Wolf Motor Function Test (p<0.05). Significant reduction in spasticity of the fingers as was measured by the Modified Ashworth Score (p<0.05). The training improved the muscle co-ordination between the antagonist muscle pair (flexor digitorum (FD) and extensor digitorum (ED)), associated with a significant reduction in the ED EMG level (p<0.05) and a significant decrease of ED and FD co-contraction during the training (p<0.05); the excessive muscle activities in the biceps brachii were also reduced significantly after the training (p<0.05).

  6. Robotics

    NASA Technical Reports Server (NTRS)

    Ambrose, Robert O.

    2007-01-01

    Lunar robotic functions include: 1. Transport of crew and payloads on the surface of the moon; 2. Offloading payloads from a lunar lander; 3. Handling the deployment of surface systems; with 4. Human commanding of these functions from inside a lunar vehicle, habitat, or extravehicular (space walk), with Earth-based supervision. The systems that will perform these functions may not look like robots from science fiction. In fact, robotic functions may be automated trucks, cranes and winches. Use of this equipment prior to the crew s arrival or in the potentially long periods without crews on the surface, will require that these systems be computer controlled machines. The public release of NASA's Exploration plans at the 2nd Space Exploration Conference (Houston, December 2006) included a lunar outpost with as many as four unique mobility chassis designs. The sequence of lander offloading tasks involved as many as ten payloads, each with a unique set of geometry, mass and interface requirements. This plan was refined during a second phase study concluded in August 2007. Among the many improvements to the exploration plan were a reduction in the number of unique mobility chassis designs and a reduction in unique payload specifications. As the lunar surface system payloads have matured, so have the mobility and offloading functional requirements. While the architecture work continues, the community can expect to see functional requirements in the areas of surface mobility, surface handling, and human-systems interaction as follows: Surface Mobility 1. Transport crew on the lunar surface, accelerating construction tasks, expanding the crew s sphere of influence for scientific exploration, and providing a rapid return to an ascent module in an emergency. The crew transport can be with an un-pressurized rover, a small pressurized rover, or a larger mobile habitat. 2. Transport Extra-Vehicular Activity (EVA) equipment and construction payloads. 3. Transport habitats and

  7. Long-term interventions effects of robotic training on patients after anterior cruciate ligament reconstruction.

    PubMed

    Hu, Chunying; Huang, Qiuchen; Yu, Lili; Zhou, Yue; Gu, Rui; Ye, Miao; Ge, Meng; Xu, Yanfeng; Liu, Jianfeng

    2016-08-01

    [Purpose] The aim of this study was to examine the long-term interventions effects of robot-assisted therapy rehabilitation on functional activity levels after anterior cruciate ligament reconstruction. [Subjects and Methods] The subjects were 8 patients (6 males and 2 females) who received anterior cruciate ligament reconstruction. The subjects participated in robot-assisted therapy lasting for one month. The Timed Up-and-Go test, 10-Meter Walk test, Functional Reach Test, surface electromyography of the vastus lateralis and vastus medialis, and extensor strength of isokinetic movement of the knee joint were evaluated before and after the intervention. [Results] The average value of the of vastus medialis EMG, Functional Reach Test, and the maximum and average extensor strength of the knee joint isokinetic movement increased significantly, and the time of the 10-Meter Walk test decreased significantly. [Conclusion] These results suggest that walking ability and muscle strength can be improved by robotic walking training as a long-term intervention. PMID:27630396

  8. Long-term interventions effects of robotic training on patients after anterior cruciate ligament reconstruction

    PubMed Central

    Hu, Chunying; Huang, Qiuchen; Yu, Lili; Zhou, Yue; Gu, Rui; Ye, Miao; Ge, Meng; Xu, Yanfeng; Liu, Jianfeng

    2016-01-01

    [Purpose] The aim of this study was to examine the long-term interventions effects of robot-assisted therapy rehabilitation on functional activity levels after anterior cruciate ligament reconstruction. [Subjects and Methods] The subjects were 8 patients (6 males and 2 females) who received anterior cruciate ligament reconstruction. The subjects participated in robot-assisted therapy lasting for one month. The Timed Up-and-Go test, 10-Meter Walk test, Functional Reach Test, surface electromyography of the vastus lateralis and vastus medialis, and extensor strength of isokinetic movement of the knee joint were evaluated before and after the intervention. [Results] The average value of the of vastus medialis EMG, Functional Reach Test, and the maximum and average extensor strength of the knee joint isokinetic movement increased significantly, and the time of the 10-Meter Walk test decreased significantly. [Conclusion] These results suggest that walking ability and muscle strength can be improved by robotic walking training as a long-term intervention. PMID:27630396

  9. Effects of Robot-assisted Gait Training Combined with Functional Electrical Stimulation on Recovery of Locomotor Mobility in Chronic Stroke Patients: A Randomized Controlled Trial.

    PubMed

    Bae, Young-Hyeon; Ko, Young Jun; Chang, Won Hyuk; Lee, Ju Hyeok; Lee, Kyeong Bong; Park, Yoo Jung; Ha, Hyun Geun; Kim, Yun-Hee

    2014-12-01

    [Purpose] The purpose of the present study was to investigate the effects of robot-assisted gait training combined with functional electrical stimulation on locomotor recovery in patients with chronic stroke. [Subjects] The 20 subjects were randomly assigned into either an experimental group (n = 10) that received a combination of robot-assisted gait training and functional electrical stimulation on the ankle dorsiflexor of the affected side or a control group (n = 10) that received robot-assisted gait training only. [Methods] Both groups received the respective therapies for 30 min/day, 3 days/week for 5 weeks. The outcome was measured using the Modified Motor Assessment Scale (MMAS), Timed Up-and-Go Test (TUG), Berg Balance Scale (BBS), and gait parameters through gait analysis (Vicon 370 motion analysis system, Oxford Metrics Ltd., Oxford, UK). All the variables were measured before and after training. [Results] Step length and maximal knee extension were significantly greater than those before training in the experimental group only. Maximal Knee flexion showed a significant difference between the experimental and control groups. The MMAS, BBS, and TUG scores improved significantly after training compared with before training in both groups. [Conclusion] We suggest that the combination of robot-assisted gait training and functional electrical stimulation encourages patients to actively participate in training because it facilitates locomotor recovery without the risk of adverse effects.

  10. Mobile robotics activities in DOE laboratories

    NASA Astrophysics Data System (ADS)

    Lujan, Ron; Harbour, Jerry; Feddema, John; Bailey, Sharon; Barhen, Jacob; Reister, David

    2005-05-01

    This paper will briefly outline major activities in Department of Energy (DOE) Laboratories focused on mobile platforms, both Unmanned Ground Vehicles (UGV"s) as well as Unmanned Air Vehicles (UAV's). The activities will be discussed in the context of the science and technology construct used by the DOE Technology Roadmap for Robotics and Intelligent Machines (RIM)1 published in 1998; namely, Perception, Reasoning, Action, and Integration. The activities to be discussed span from research and development to deployment in field operations. The activities support customers in other agencies. The discussion of "perception" will include hyperspectral sensors, complex patterns discrimination, multisensor fusion and advances in LADAR technologies, including real-world perception. "Reasoning" activities to be covered include cooperative controls, distributed systems, ad-hoc networks, platform-centric intelligence, and adaptable communications. The paper will discuss "action" activities such as advanced mobility and various air and ground platforms. In the RIM construct, "integration" includes the Human-Machine Integration. Accordingly the paper will discuss adjustable autonomy and the collaboration of operator(s) with distributed UGV's and UAV's. Integration also refers to the applications of these technologies into systems to perform operations such as perimeter surveillance, large-area monitoring and reconnaissance. Unique facilities and test beds for advanced mobile systems will be described. Given that this paper is an overview, rather than delve into specific detail in these activities, other more exhaustive references and sources will be cited extensively.

  11. Mobile Robotics Activities in DOE Laboratories

    SciTech Connect

    Ron Lujan; Jerry Harbour; John T. Feddema; Sharon Bailey; Jacob Barhen; David Reister

    2005-03-01

    This paper will briefly outline major activities in Department of Energy (DOE) Laboratories focused on mobile platforms, both Unmanned Ground Vehicles (UGV’s) as well as Unmanned Air Vehicles (UAV’s). The activities will be discussed in the context of the science and technology construct used by the DOE Technology Roadmap for Robotics and Intelligent Machines (RIM)1 published in 1998; namely, Perception, Reasoning, Action, and Integration. The activities to be discussed span from research and development to deployment in field operations. The activities support customers in other agencies. The discussion of "perception" will include hyperspectral sensors, complex patterns discrimination, multisensor fusion and advances in LADAR technologies, including real-world perception. "Reasoning" activities to be covered include cooperative controls, distributed systems, ad-hoc networks, platform-centric intelligence, and adaptable communications. The paper will discuss "action" activities such as advanced mobility and various air and ground platforms. In the RIM construct, "integration" includes the Human-Machine Integration. Accordingly the paper will discuss adjustable autonomy and the collaboration of operator(s) with distributed UGV’s and UAV’s. Integration also refers to the applications of these technologies into systems to perform operations such as perimeter surveillance, large-area monitoring and reconnaissance. Unique facilities and test beds for advanced mobile systems will be described. Given that this paper is an overview, rather than delve into specific detail in these activities, other more exhaustive references and sources will be cited extensively.

  12. Robot training of upper limb in multiple sclerosis: comparing protocols with or without manipulative task components.

    PubMed

    Carpinella, Ilaria; Cattaneo, Davide; Bertoni, Rita; Ferrarin, Maurizio

    2012-05-01

    In this pilot study, we compared two protocols for robot-based rehabilitation of upper limb in multiple sclerosis (MS): a protocol involving reaching tasks (RT) requiring arm transport only and a protocol requiring both objects' reaching and manipulation (RMT). Twenty-two MS subjects were assigned to RT or RMT group. Both protocols consisted of eight sessions. During RT training, subjects moved the handle of a planar robotic manipulandum toward circular targets displayed on a screen. RMT protocol required patients to reach and manipulate real objects, by moving the robotic arm equipped with a handle which left the hand free for distal tasks. In both trainings, the robot generated resistive and perturbing forces. Subjects were evaluated with clinical and instrumental tests. The results confirmed that MS patients maintained the ability to adapt to the robot-generated forces and that the rate of motor learning increased across sessions. Robot-therapy significantly reduced arm tremor and improved arm kinematics and functional ability. Compared to RT, RMT protocol induced a significantly larger improvement in movements involving grasp (improvement in Grasp ARAT sub-score: RMT 77.4%, RT 29.5%, p=0.035) but not precision grip. Future studies are needed to evaluate if longer trainings and the use of robotic handles would significantly improve also fine manipulation.

  13. Robots integrated with virtual reality simulations for customized motor training in a person with upper extremity hemiparesis: a case report

    PubMed Central

    Fluet, Gerard G.; Merians, Alma S.; Qiu, Qinyin; Lafond, Ian; Saleh, Soha; Ruano, Viviana; Delmonico, Andrea R.; Adamovich, Sergei V.

    2014-01-01

    Background and Purpose A majority of studies examining repetitive task practice facilitated by robots for the treatment of upper extremity paresis utilize standardized protocols applied to large groups. Others utilize interventions tailored to patients but don't describe the clinical decision making process utilized to develop and modify interventions. This case report will describe a robot-based intervention customized to match the goals and clinical presentation of a gentleman with upper extremity hemiparesis secondary to stroke. Methods PM is an 85 year-old man with left hemiparesis secondary to an intracerebral hemorrhage five years prior to examination. Outcomes were measured before and after a one month period of home therapy and after a one month robotic intervention. The intervention was designed to address specific impairments identified during his PT examination. When necessary, activities were modified based on the patient's response to his first week of treatment. Outcomes PM trained twelve sessions using six virtually simulated activities. Modifications to original configurations of these activities resulted in performance improvements in five of these activities. PM demonstrated a 35 second improvement in Jebsen Test of Hand Function time and a 44 second improvement in Wolf Motor Function Test time subsequent to the robotic training intervention. Reaching kinematics, 24 hour activity measurement and the Hand and Activities of Daily Living scales of the Stroke Impact Scale all improved as well. Discussion A customized program of robotically facilitated rehabilitation resulted in large short-term improvements in several measurements of upper extremity function in a patient with chronic hemiparesis. PMID:22592063

  14. Robot-Assisted Task-Specific Training in Cerebral Palsy

    ERIC Educational Resources Information Center

    Krebs, Hermano I.; Ladenheim, Barbara; Hippolyte, Christopher; Monterroso, Linda; Mast, Joelle

    2009-01-01

    Our goal was to examine the feasibility of applying therapeutic robotics to children and adults with severe to moderate impairment due to cerebral palsy (CP). Pilot results demonstrated significant gains for both groups. These results suggest that robot-mediated therapy may be an effective tool to ameliorate the debilitating effects of CP and…

  15. Implementing a robotics curriculum at an academic general surgery training program: our initial experience.

    PubMed

    Winder, Joshua S; Juza, Ryan M; Sasaki, Jennifer; Rogers, Ann M; Pauli, Eric M; Haluck, Randy S; Estes, Stephanie J; Lyn-Sue, Jerome R

    2016-09-01

    The robotic surgical platform is being utilized by a growing number of hospitals across the country, including academic medical centers. Training programs are tasked with teaching their residents how to utilize this technology. To this end, we have developed and implemented a robotic surgical curriculum, and share our initial experience here. Our curriculum was implemented for all General Surgical residents for the academic year 2014-2015. The curriculum consisted of online training, readings, bedside training, console simulation, participating in ten cases as bedside first assistant, and operating at the console. 20 surgical residents were included. Residents were provided the curriculum and notified the department upon completion. Bedside assistance and operative console training were completed in the operating room through a mix of biliary, foregut, and colorectal cases. During the fiscal years of 2014 and 2015, there were 164 and 263 robot-assisted surgeries performed within the General Surgery Department, respectively. All 20 residents completed the online and bedside instruction portions of the curriculum. Of the 20 residents trained, 13/20 (65 %) sat at the Surgeon console during at least one case. Utilizing this curriculum, we have trained and incorporated residents into robot-assisted cases in an efficient manner. A successful curriculum must be based on didactic learning, reading, bedside training, simulation, and training in the operating room. Each program must examine their caseload and resident class to ensure proper exposure to this platform. PMID:26994774

  16. Surgeon activity in robotic versus abdominal gynecologic surgery.

    PubMed

    Collins, Sarah A; O'Sullivan, David M; Tulikangas, Paul K

    2012-12-01

    One proposed advantage of robotic surgery is improved ergonomics and decreased surgeon fatigue. The objective of this study is to quantify and compare the physical activity of surgeons during robotic and abdominal surgery using accelerometers. Eight gynecologic surgeons who perform both abdominal and robotic surgery were the subjects of this study. Each wore an accelerometer on the hip during one procedure performed abdominally and during a similar procedure performed robotically. Activity parameters analyzed were average activity counts (AAC) and percentage of time spent in sedentary, light, moderate, and vigorous activity. The paired t-test was used to evaluate differences between robotic and abdominal procedures. AAC was similar between the robotic and abdominal approaches (mean ± SD: 83.9 ± 50.9 versus 79.1 ± 37.8 counts/min, respectively, P = 0.820). The majority of activity spent in robotic and abdominal surgery was sedentary (79.0% ± 5.9% versus 80.9% ± 8.6%, respectively; P = 0.625) followed by light activity (14.7% ± 3.9% versus 12.8% ± 6.1%, respectively; P = 0.541) and then by moderate activity (6.3% ± 3.4% versus 6.3% ± 2.8%, respectively; P = 0.981). None of the activity for either surgical approach qualified as vigorous. There were no differences in activity parameters by surgical approach. Accelerometer data demonstrate that surgeon activity expenditure is similar in robotic and abdominal surgery. Future studies comparing measures of physical activity and strain between surgical approaches are needed to determine whether the robot's improved ergonomics translates to improved surgeon experience. PMID:27628474

  17. Robotics.

    ERIC Educational Resources Information Center

    Waddell, Steve; Doty, Keith L.

    1999-01-01

    "Why Teach Robotics?" (Waddell) suggests that the United States lags behind Europe and Japan in use of robotics in industry and teaching. "Creating a Course in Mobile Robotics" (Doty) outlines course elements of the Intelligent Machines Design Lab. (SK)

  18. `An observational report of intensive robotic and manual gait training in sub-acute stroke

    PubMed Central

    2012-01-01

    Background The use of automated electromechanical devices for gait training in neurological patients is increasing, yet the functional outcomes of well-defined training programs using these devices and the characteristics of patients that would most benefit are seldom reported in the literature. In an observational study of functional outcomes, we aimed to provide a benchmark for expected change in gait function in early stroke patients, from an intensive inpatient rehabilitation program including both robotic and manual gait training. Methods We followed 103 sub-acute stroke patients who met the clinical inclusion criteria for Body Weight Supported Robotic Gait Training (BWSRGT). Patients completed an intensive 8-week gait-training program comprising robotic gait training (weeks 0-4) followed by manual gait training (weeks 4-8). A change in clinical function was determined by the following assessments taken at 0, 4 and 8 weeks (baseline, mid-point and end-point respectively): Functional Ambulatory Categories (FAC), 10 m Walking Test (10 MWT), and Tinetti Gait and Balance Scales. Results Over half of the patients made a clinically meaningful improvement on the Tinetti Gait Scale (> 3 points) and Tinetti Balance Scale (> 5 points), while over 80% of the patients increased at least 1 point on the FAC scale (0-5) and improved walking speed by more than 0.2 m/s. Patients responded positively in gait function regardless of variables gender, age, aetiology (hemorrhagic/ischemic), and affected hemisphere. The most robust and significant change was observed for patients in the FAC categories two and three. The therapy was well tolerated and no patients withdrew for factors related to the type or intensity of training. Conclusions Eight-weeks of intensive rehabilitation including robotic and manual gait training was well tolerated by early stroke patients, and was associated with significant gains in function. Patients with mid-level gait dysfunction showed the most robust

  19. Conflicting results of robot-assisted versus usual gait training during postacute rehabilitation of stroke patients: a randomized clinical trial.

    PubMed

    Taveggia, Giovanni; Borboni, Alberto; Mulé, Chiara; Villafañe, Jorge H; Negrini, Stefano

    2016-03-01

    Robot gait training has the potential to increase the effectiveness of walking therapy. Clinical outcomes after robotic training are often not superior to conventional therapy. We evaluated the effectiveness of a robot training compared with a usual gait training physiotherapy during a standardized rehabilitation protocol in inpatient participants with poststroke hemiparesis. This was a randomized double-blind clinical trial in a postacute physical and rehabilitation medicine hospital. Twenty-eight patients, 39.3% women (72±6 years), with hemiparesis (<6 months after stroke) receiving a conventional treatment according to the Bobath approach were assigned randomly to an experimental or a control intervention of robot gait training to improve walking (five sessions a week for 5 weeks). Outcome measures included the 6-min walk test, the 10 m walk test, Functional Independence Measure, SF-36 physical functioning and the Tinetti scale. Outcomes were collected at baseline, immediately following the intervention period and 3 months following the end of the intervention. The experimental group showed a significant increase in functional independence and gait speed (10 m walk test) at the end of the treatment and follow-up, higher than the minimal detectable change. The control group showed a significant increase in the gait endurance (6-min walk test) at the follow-up, higher than the minimal detectable change. Both treatments were effective in the improvement of gait performances, although the statistical analysis of functional independence showed a significant improvement in the experimental group, indicating possible advantages during generic activities of daily living compared with overground treatment.

  20. Conflicting results of robot-assisted versus usual gait training during postacute rehabilitation of stroke patients: a randomized clinical trial

    PubMed Central

    Taveggia, Giovanni; Borboni, Alberto; Mulé, Chiara; Negrini, Stefano

    2016-01-01

    Robot gait training has the potential to increase the effectiveness of walking therapy. Clinical outcomes after robotic training are often not superior to conventional therapy. We evaluated the effectiveness of a robot training compared with a usual gait training physiotherapy during a standardized rehabilitation protocol in inpatient participants with poststroke hemiparesis. This was a randomized double-blind clinical trial in a postacute physical and rehabilitation medicine hospital. Twenty-eight patients, 39.3% women (72±6 years), with hemiparesis (<6 months after stroke) receiving a conventional treatment according to the Bobath approach were assigned randomly to an experimental or a control intervention of robot gait training to improve walking (five sessions a week for 5 weeks). Outcome measures included the 6-min walk test, the 10 m walk test, Functional Independence Measure, SF-36 physical functioning and the Tinetti scale. Outcomes were collected at baseline, immediately following the intervention period and 3 months following the end of the intervention. The experimental group showed a significant increase in functional independence and gait speed (10 m walk test) at the end of the treatment and follow-up, higher than the minimal detectable change. The control group showed a significant increase in the gait endurance (6-min walk test) at the follow-up, higher than the minimal detectable change. Both treatments were effective in the improvement of gait performances, although the statistical analysis of functional independence showed a significant improvement in the experimental group, indicating possible advantages during generic activities of daily living compared with overground treatment. PMID:26512928

  1. Conflicting results of robot-assisted versus usual gait training during postacute rehabilitation of stroke patients: a randomized clinical trial.

    PubMed

    Taveggia, Giovanni; Borboni, Alberto; Mulé, Chiara; Villafañe, Jorge H; Negrini, Stefano

    2016-03-01

    Robot gait training has the potential to increase the effectiveness of walking therapy. Clinical outcomes after robotic training are often not superior to conventional therapy. We evaluated the effectiveness of a robot training compared with a usual gait training physiotherapy during a standardized rehabilitation protocol in inpatient participants with poststroke hemiparesis. This was a randomized double-blind clinical trial in a postacute physical and rehabilitation medicine hospital. Twenty-eight patients, 39.3% women (72±6 years), with hemiparesis (<6 months after stroke) receiving a conventional treatment according to the Bobath approach were assigned randomly to an experimental or a control intervention of robot gait training to improve walking (five sessions a week for 5 weeks). Outcome measures included the 6-min walk test, the 10 m walk test, Functional Independence Measure, SF-36 physical functioning and the Tinetti scale. Outcomes were collected at baseline, immediately following the intervention period and 3 months following the end of the intervention. The experimental group showed a significant increase in functional independence and gait speed (10 m walk test) at the end of the treatment and follow-up, higher than the minimal detectable change. The control group showed a significant increase in the gait endurance (6-min walk test) at the follow-up, higher than the minimal detectable change. Both treatments were effective in the improvement of gait performances, although the statistical analysis of functional independence showed a significant improvement in the experimental group, indicating possible advantages during generic activities of daily living compared with overground treatment. PMID:26512928

  2. Timing of motor cortical stimulation during planar robotic training differentially impacts neuroplasticity in older adults

    PubMed Central

    Massie, Crystal L.; Kantak, Shailesh S.; Narayanan, Priya; Wittenberg, George F.

    2014-01-01

    Objective The objective was to determine how stimulation timing applied during reaching influenced neuroplasticity related to practice. Older adult participants were studied to increase relevance for stroke rehabilitation and aging. Methods Sixteen participants completed 3 sessions of a reaching intervention with 480 planar robotic movement trials. Sub-threshold, single-pulse transcranial magnetic stimulations (TMS) were delivered during the late reaction time (LRT) period, when muscle activity exceeded a threshold (EMG-triggered), or randomly. Assessments included motor evoked potentials (MEP), amplitude, and direction of supra-threshold TMS-evoked movements and were calculated as change scores from baseline. Results The direction of TMS-evoked movements significantly changed after reaching practice (p < 0.05), but was not significantly different between conditions. Movement amplitude changes were significantly different between conditions (p < 0.05), with significant increases following the LRT and random conditions. MEP for elbow extensors and flexors, and the shoulder muscle that opposed the practice movement were significantly different between conditions with positive changes following LRT, negative changes following EMG-triggered, and no changes following the random condition. Motor performance including movement time and peak velocity significantly improved following the training but did not differ between conditions. Conclusions The responsiveness of the motor cortex to stimulation was affected positively by stimulation during the late motor response period and negatively during the early movement period, when stimulation was combined with robotic reach practice. Significance The sensitivity of the activated motor cortex to additional stimulation is highly dynamic. PMID:25283712

  3. Autonomous Motion Learning for Intra-Vehicular Activity Space Robot

    NASA Astrophysics Data System (ADS)

    Watanabe, Yutaka; Yairi, Takehisa; Machida, Kazuo

    Space robots will be needed in the future space missions. So far, many types of space robots have been developed, but in particular, Intra-Vehicular Activity (IVA) space robots that support human activities should be developed to reduce human-risks in space. In this paper, we study the motion learning method of an IVA space robot with the multi-link mechanism. The advantage point is that this space robot moves using reaction force of the multi-link mechanism and contact forces from the wall as space walking of an astronaut, not to use a propulsion. The control approach is determined based on a reinforcement learning with the actor-critic algorithm. We demonstrate to clear effectiveness of this approach using a 5-link space robot model by simulation. First, we simulate that a space robot learn the motion control including contact phase in two dimensional case. Next, we simulate that a space robot learn the motion control changing base attitude in three dimensional case.

  4. Retraining of interjoint arm coordination after stroke using robot-assisted time-independent functional training.

    PubMed

    Brokaw, Elizabeth B; Murray, Theresa; Nef, Tobias; Lum, Peter S

    2011-01-01

    We have developed a haptic-based approach for retraining of interjoint coordination following stroke called time-independent functional training (TIFT) and implemented this mode in the ARMin III robotic exoskeleton. The ARMin III robot was developed by Drs. Robert Riener and Tobias Nef at the Swiss Federal Institute of Technology Zurich (Eidgenossische Technische Hochschule Zurich, or ETH Zurich), in Zurich, Switzerland. In the TIFT mode, the robot maintains arm movements within the proper kinematic trajectory via haptic walls at each joint. These arm movements focus training of interjoint coordination with highly intuitive real-time feedback of performance; arm movements advance within the trajectory only if their movement coordination is correct. In initial testing, 37 nondisabled subjects received a single session of learning of a complex pattern. Subjects were randomized to TIFT or visual demonstration or moved along with the robot as it moved though the pattern (time-dependent [TD] training). We examined visual demonstration to separate the effects of action observation on motor learning from the effects of the two haptic guidance methods. During these training trials, TIFT subjects reduced error and interaction forces between the robot and arm, while TD subject performance did not change. All groups showed significant learning of the trajectory during unassisted recall trials, but we observed no difference in learning between groups, possibly because this learning task is dominated by vision. Further testing in stroke populations is warranted.

  5. Movement analysis of upper limb during resistance training using general purpose robot arm "PA10"

    NASA Astrophysics Data System (ADS)

    Morita, Yoshifumi; Yamamoto, Takashi; Suzuki, Takahiro; Hirose, Akinori; Ukai, Hiroyuki; Matsui, Nobuyuki

    2005-12-01

    In this paper we perform movement analysis of an upper limb during resistance training. We selected sanding training, which is one type of resistance training for upper limbs widely performed in occupational therapy. Our final aims in the future are to quantitatively evaluate the therapeutic effect of upper limb motor function during training and to develop a new rehabilitation training support system. For these purposes, first of all we perform movement analysis using a conventional training tool. By measuring upper limb motion during the sanding training we perform feature abstraction. Next we perform movement analysis using the simulated sanding training system. This system is constructed using the general purpose robot arm "PA10". This system enables us to measure the force/torque exerted by subjects and to easily change the load of resistance. The control algorithm is based on impedance control. We found these features of the upper limb motion during the sanding training.

  6. [Training in tele-surgery and robotic surgery: six years experience].

    PubMed

    Rodríguez, Evelio; Wiley Nifong, L; Chitwood, W Randolph

    2007-05-01

    Over the last 20 years there has been a move in all surgical specialties towards less invasive surgical procedures. The most recent step is robotic surgery or better described as surgical telemanipulation technology which has slowly been adapted worldwide for many reasons including: cost, learning curve, available technology, and applicability to the different surgical specialties. Nonetheless, its use continues to grow in all surgical fields. Our center has been a pioneer in the use and training of robotic surgical techniques. In this manuscript, we describe the organization and experience of our training program.

  7. Private Training Providers: Their Characteristics and Training Activities. Support Document

    ERIC Educational Resources Information Center

    Harris, Roger; Simons, Michele; McCarthy, Carmel

    2006-01-01

    This document was produced by the authors based on their research for the report, "Private Training Providers: Their Characteristics and Training Activities," [ED495181] and is an added resource for further information. That study examined the nature of the training activity of private registered training organisations (RTOs) offered to Australian…

  8. Review of control strategies for robotic movement training after neurologic injury

    PubMed Central

    Marchal-Crespo, Laura; Reinkensmeyer, David J

    2009-01-01

    There is increasing interest in using robotic devices to assist in movement training following neurologic injuries such as stroke and spinal cord injury. This paper reviews control strategies for robotic therapy devices. Several categories of strategies have been proposed, including, assistive, challenge-based, haptic simulation, and coaching. The greatest amount of work has been done on developing assistive strategies, and thus the majority of this review summarizes techniques for implementing assistive strategies, including impedance-, counterbalance-, and EMG- based controllers, as well as adaptive controllers that modify control parameters based on ongoing participant performance. Clinical evidence regarding the relative effectiveness of different types of robotic therapy controllers is limited, but there is initial evidence that some control strategies are more effective than others. It is also now apparent there may be mechanisms by which some robotic control approaches might actually decrease the recovery possible with comparable, non-robotic forms of training. In future research, there is a need for head-to-head comparison of control algorithms in randomized, controlled clinical trials, and for improved models of human motor recovery to provide a more rational framework for designing robotic therapy control strategies. PMID:19531254

  9. Active vision and receptive field development in evolutionary robots.

    PubMed

    Floreano, Dario; Suzuki, Mototaka; Mattiussi, Dario

    2005-01-01

    In this paper, we describe the artificial evolution of adaptive neural controllers for an outdoor mobile robot equipped with a mobile camera. The robot can dynamically select the gazing direction by moving the body and/or the camera. The neural control system, which maps visual information to motor commands, is evolved online by means of a genetic algorithm, but the synaptic connections (receptive fields) from visual photoreceptors to internal neurons can also be modified by Hebbian plasticity while the robot moves in the environment. We show that robots evolved in physics-based simulations with Hebbian visual plasticity display more robust adaptive behavior when transferred to real outdoor environments as compared to robots evolved without visual plasticity. We also show that the formation of visual receptive fields is significantly and consistently affected by active vision as compared to the formation of receptive fields with grid sample images in the environment of the robot. Finally, we show that the interplay between active vision and receptive field formation amounts to the selection and exploitation of a small and constant subset of visual features available to the robot.

  10. LOPES II--Design and Evaluation of an Admittance Controlled Gait Training Robot With Shadow-Leg Approach.

    PubMed

    Meuleman, Jos; van Asseldonk, Edwin; van Oort, Gijs; Rietman, Hans; van der Kooij, Herman

    2016-03-01

    Robotic gait training is gaining ground in rehabilitation. Room for improvement lies in reducing donning and doffing time, making training more task specific and facilitating active balance control, and by allowing movement in more degrees of freedom. Our goal was to design and evaluate a robot that incorporates these improvements. LOPES II uses an end-effector approach with parallel actuation and a minimum amount of clamps. LOPES II has eight powered degrees of freedom (hip flexion/extension, hip abduction/adduction, knee flexion/extension, pelvis forward/aft and pelvis mediolateral). All other degrees of freedom can be left free and pelvis frontal- and transversal rotation can be constrained. Furthermore arm swing is unhindered. The end-effector approach eliminates the need for exact alignment, which results in a donning time of 10-14 min for first-time training and 5-8 min for recurring training. LOPES II is admittance controlled, which allows for the control over the complete spectrum from low to high impedance. When the powered degrees of freedom are set to minimal impedance, walking in the device resembles free walking, which is an important requisite to allow task-specific training. We demonstrated that LOPES II can provide sufficient support to let severely affected patients walk and that we can provide selective support to impaired aspects of gait of mildly affected patients.

  11. Evaluation of a laparoscopic training program with or without robotic assistance.

    PubMed

    Letouzey, V; Huberlant, S; Faillie, J L; Prudhomme, M; Mares, P; de Tayrac, R

    2014-10-01

    The aim of the present study was to evaluate the value of a box trainer simulator in laparoscopy training. A further aim was to determine if robotic-assisted approaches further improved the young residents' skills in laparoscopic surgery. The study was a prospective randomized study. Twelve residents in obstetrics & gynecology completed four laparoscopy-related procedures of varying complexity using a box trainer simulator. Participants were randomized into two groups; robotic-assisted laparoscopy (LRA) and traditional laparoscopy (TL). All subjects were assessed with a time and technical score, which are quantitative and qualitative approaches (respectively). All residents completed the training and a satisfaction questionnaire, which confirmed that the training was well regarded. Regardless of the workshop type, there was a clear time and technical improvement for the difficult tasks. The improvement of time score was most apparent for simple tasks in LRA and for more complex tasks in TL. After training, we did not find a significant difference for the technical score between Novices and Experts in TL and LRA. These findings suggest that training in laparoscopy surgery is useful, reproducible and well accepted by both novice and more advanced trainees. Furthermore, gynecological endoscopy center consider including robotic-assisted approaches in their surgical training program.

  12. Adaptive training algorithm for robot-assisted upper-arm rehabilitation, applicable to individualised and therapeutic human-robot interaction

    PubMed Central

    2013-01-01

    Background Rehabilitation robotics is progressing towards developing robots that can be used as advanced tools to augment the role of a therapist. These robots are capable of not only offering more frequent and more accessible therapies but also providing new insights into treatment effectiveness based on their ability to measure interaction parameters. A requirement for having more advanced therapies is to identify how robots can 'adapt’ to each individual’s needs at different stages of recovery. Hence, our research focused on developing an adaptive interface for the GENTLE/A rehabilitation system. The interface was based on a lead-lag performance model utilising the interaction between the human and the robot. The goal of the present study was to test the adaptability of the GENTLE/A system to the performance of the user. Methods Point-to-point movements were executed using the HapticMaster (HM) robotic arm, the main component of the GENTLE/A rehabilitation system. The points were displayed as balls on the screen and some of the points also had a real object, providing a test-bed for the human-robot interaction (HRI) experiment. The HM was operated in various modes to test the adaptability of the GENTLE/A system based on the leading/lagging performance of the user. Thirty-two healthy participants took part in the experiment comprising of a training phase followed by the actual-performance phase. Results The leading or lagging role of the participant could be used successfully to adjust the duration required by that participant to execute point-to-point movements, in various modes of robot operation and under various conditions. The adaptability of the GENTLE/A system was clearly evident from the durations recorded. The regression results showed that the participants required lower execution times with the help from a real object when compared to just a virtual object. The 'reaching away’ movements were longer to execute when compared to the 'returning

  13. Effect of cadence regulation on muscle activation patterns during robot assisted gait: a dynamic simulation study.

    PubMed

    Hussain, Shahid; Xie, Sheng Q; Jamwal, Prashant K

    2013-03-01

    Cadence or stride frequency is an important parameter being controlled in gait training of neurologically impaired subjects. The aim of this study was to examine the effects of cadence variation on muscle activation patterns during robot assisted unimpaired gait using dynamic simulations. A twodimensional (2-D) musculoskeletal model of human gait was developed considering eight major muscle groups along with existing ground contact force (GCF) model. A 2-D model of a robotic orthosis was also developed which provides actuation to the hip, knee and ankle joints in the sagittal plane to guide subjects limbs on reference trajectories. A custom inverse dynamics algorithm was used along with a quadratic minimization algorithm to obtain a feasible set of muscle activation patterns. Predicted patterns of muscle activations during slow, natural and fast cadence were compared and the mean muscle activations were found to be increasing with an increase in cadence. The proposed dynamic simulation provide important insight into the muscle activation variations with change in cadence during robot assisted gait and provide the basis for investigating the influence of cadence regulation on neuromuscular parameters of interest during robot assisted gait.

  14. Active object programming for military autonomous mobile robot software prototyping

    NASA Astrophysics Data System (ADS)

    Cozien, Roger F.

    2001-10-01

    While designing mobile robots, we do think that the prototyping phase is really critical. Good and clever choices have to be made. Indeed, we may not easily upgrade such robots, and most of all, when the robot is on its own, any change in both the software and the physical body is going to be very difficult, if not impossible. Thus, a great effort has to be made when prototyping the robot. Furthermore, I think that the kind of programming is very important. If your programming model is not expressive enough, you may experience a great deal of difficulties to add all the features you want, in order to give your robot reactiveness and decision making autonomy. Moreover, designing, and prototyping the on-board software of a reactive robot brings other difficulties. A reactive robot does not include any matter of rapidity. A reactive system is a system able to respond to a huge panel of situations of which it does not have the schedule. In other words, for instance, the robot does not know when a particular situation may occur, and overall, what it would be doing at this time, and what would be its internal state. This kind of robot must be able to take a decision and to act even if they do not have all the contextual information. To do so, we use a computer language named oRis featuring object and active object oriented programming, but also parallel and dynamic code, (the code can be changed during its own execution). This last point has been made possible because oRis is fully interpreted. However oRis may call fully compiled code, but also Prolog and Java code. An oRis program may be distributed on several computers using TCP/IP network connections. The main issue in this paper is to show how active objet oriented programming, as a modern extension of object oriented programming, may help us in designing autonomous mobile robots. Based on a fully parallel software programming, an active object code allows us to give many features to a robot, and to easily solve

  15. Active objects programming for military autonomous mobile robots software prototyping

    NASA Astrophysics Data System (ADS)

    Cozien, Roger F.

    2001-09-01

    While designing mobile robots, we do think that the prototyping phase is really critical. Good and clever choices have to be made. Indeed, we may not easily upgrade such robots, and most of all, when the robot is on its own, any change in both the software and the physical body is going to be very difficult, if not impossible. Thus, a great effort has to be made when prototyping the robot. Furthermore, I think that the kind of programming is very important. If your programming model is not expressive enough, you may experience a great deal of difficulties to add all the features you want, in order to give your robot reactiveness and decision making autonomy. Moreover, designing, and prototyping the on-board software of a reactive robot brings other difficulties. A reactive robot does not include any matter of rapidity. A reactive system is a system able to respond to a huge pannel of situations of which it does not have the schedule. In other words, for instance, the robot does not know when a particular situation may occur, and overall, what it would be doing at this time, and what would be its internal state. This kind of robot must be able to take a decision and to act even if they do not have all the contextual information. To do so, we use a computer language named oRis featuring object and active object oriented programming, but also parallel and dynamic code, (the code can be changed during its own execution). This last point has been made possible because oRis is fully interpreted. However oRis may call fully compiled code, but also Prolog and Java code. An oRis program may be distributed on several computers using TCP/IP network connections. The main issue in this paper is to show how active objet oriented programming, as a modern extension of object oriented programming, may help us in designing autonomous mobile robots. Based on a fully parallel software programming, an active object code allows us to give many features to a robot, and to easily solve

  16. Adaptive locomotor training on an end-effector gait robot: evaluation of the ground reaction forces in different training conditions.

    PubMed

    Tomelleri, Christopher; Waldner, Andreas; Werner, Cordula; Hesse, Stefan

    2011-01-01

    The main goal of robotic gait rehabilitation is the restoration of independent gait. To achieve this goal different and specific patterns have to be practiced intensively in order to stimulate the learning process of the central nervous system. The gait robot G-EO Systems was designed to allow the repetitive practice of floor walking, stair climbing and stair descending. A novel control strategy allows training in adaptive mode. The force interactions between the foot and the ground were analyzed on 8 healthy volunteers in three different conditions: real floor walking on a treadmill, floor walking on the gait robot in passive mode, floor walking on the gait robot in adaptive mode. The ground reaction forces were measured by a Computer Dyno Graphy (CDG) analysis system. The results show different intensities of the ground reaction force across all of the three conditions. The intensities of force interactions during the adaptive training mode are comparable to the real walking on the treadmill. Slight deviations still occur in regard to the timing pattern of the forces. The adaptive control strategy comes closer to the physiological swing phase than the passive mode and seems to be a promising option for the treatment of gait disorders. Clinical trials will validate the efficacy of this new option in locomotor therapy on the patients.

  17. Pre-Apprenticeship Training Activity

    ERIC Educational Resources Information Center

    Foley, Paul; Blomberg, Davinia

    2011-01-01

    Pre-apprenticeships are becoming an increasingly important component of the Australian vocational education and training (VET) system. The purpose of this report is to investigate the level of pre-apprenticeship activity occurring in Australia and to examine the characteristics of pre-apprenticeship courses and the students undertaking those…

  18. Ankle Training With a Robotic Device Improves Hemiparetic Gait After a Stroke

    PubMed Central

    Forrester, Larry W.; Roy, Anindo; Krebs, Hermano Igo; Macko, Richard F.

    2013-01-01

    Background Task-oriented therapies such as treadmill exercise can improve gait velocity after stroke, but slow velocities and abnormal gait patterns often persist, suggesting a need for additional strategies to improve walking. Objectives To determine the effects of a 6-week visually guided, impedance controlled, ankle robotics intervention on paretic ankle motor control and gait function in chronic stroke. Methods This was a single-arm pilot study with a convenience sample of 8 stroke survivors with chronic hemiparetic gait, trained and tested in a laboratory. Subjects trained in dorsiflexion–plantarflexion by playing video games with the robot during three 1-hour training sessions weekly, totaling 560 repetitions per session. Assessments included paretic ankle ranges of motion, strength, motor control, and overground gait function. Results Improved paretic ankle motor control was seen as increased target success, along with faster and smoother movements. Walking velocity also increased significantly, whereas durations of paretic single support increased and double support decreased. Conclusions Robotic feedback training improved paretic ankle motor control with improvements in floor walking. Increased walking speeds were comparable with reports from other task-oriented, locomotor training approaches used in stroke, suggesting that a focus on ankle motor control may provide a valuable adjunct to locomotor therapies. PMID:21115945

  19. Robot-assisted gait training versus treadmill training in patients with Parkinson's disease: a kinematic evaluation with gait profile score.

    PubMed

    Galli, M; Cimolin, V; De Pandis, M F; Le Pera, D; Sova, I; Albertini, G; Stocchi, F; Franceschini, M

    2016-01-01

    The purpose of this study was to quantitatively compare the effects, on walking performance, of end-effector robotic rehabilitation locomotor training versus intensive training with a treadmill in Parkinson's disease (PD). Fifty patients with PD were randomly divided into two groups: 25 were assigned to the robot-assisted therapy group (RG) and 25 to the intensive treadmill therapy group (IG). They were evaluated with clinical examination and 3D quantitative gait analysis [gait profile score (GPS) and its constituent gait variable scores (GVSs) were calculated from gait analysis data] at the beginning (T0) and at the end (T1) of the treatment. In the RG no differences were found in the GPS, but there were significant improvements in some GVSs (Pelvic Obl and Hip Ab-Add). The IG showed no statistically significant changes in either GPS or GVSs. The end-effector robotic rehabilitation locomotor training improved gait kinematics and seems to be effective for rehabilitation in patients with mild PD. PMID:27678210

  20. The reliability of evaluation of hip muscle strength in rehabilitation robot walking training.

    PubMed

    Huang, Qiuchen; Zhou, Yue; Yu, Lili; Gu, Rui; Cui, Yao; Hu, Chunying

    2015-10-01

    [Purpose] The primary purpose of this study was to evaluate the intraclass correlation coefficient in obtaining the torque of the hip muscle strength during a robot-assisted rehabilitation treatment. [Subjects] Twenty-four patients (15 males, 9 females) with spinal cord injury participated in the study. [Methods] The subjects were asked to walk during robot-assisted rehabilitation, and the torque of the muscle strength which was measured at hip joint flexion angles of -15, -10, -5, 0, 5, 10, 15, 20, 25, and 30 degrees. [Results] The intraclass correlation coefficient of the torque of the hip muscle strength measured by the rehabilitation training robot was excellent. [Conclusion] Our results show that measurement of torque can be used as an objective assessment of treatment with RAT. PMID:26644646

  1. Cortical response to psycho-physiological changes in auto-adaptive robot assisted gait training.

    PubMed

    Jelinek, Herbert F; August, Katherine G; Imam, Md Hasan; Khandoker, Ahsan H; Koenig, Alexander; Riener, Robert

    2011-01-01

    Robot-assisted treadmill training improves motor function and walking ability in neurologically impaired patients. However, despite attention having been shown to play a role in training success, psychological responsiveness to task difficulty and motivational levels at task onset have not been measured. Seven healthy subjects participated in a robot-assist treadmill training task. Subjects engaged in a virtual task with varying difficulty levels that was shown to induce a feeling of being bored, excited and over-stressed. The participants' mental engagement was measured using the ECG-based heart rate variability in real time, during gait training as a proxy for EEG and psychological test batteries. Heart rate variability (HRV), which has been shown to reflect cortical engagement for both cognitive and physical tasks, was measured using nonlinear measures obtained from the Poincaré plot. We show that the cortical response to the task measured with HRV varies in relation to the level of mental engagement in response to the difficulty level of the virtual task. From these results we propose that nonlinear measures quantify cortical response / motivational level to robot-assist motor learning tasks and that the adaptation to the task is dependent on the level of motivation.

  2. Active constraint control for image-guided robotic surgery.

    PubMed

    Yen, P-L; Davies, B L

    2010-01-01

    The concept of active constraint control for image-guided robotic surgery is introduced, together with its benefits and a short outline of its history. The clinical use of active constraint control in orthopaedic surgery is discussed, together with the outcomes of a clinical trial for unicondylar knee replacement surgery. The evolution of the robotic design from large costly structures towards simpler, more cost-effective systems is also presented, leading to the design of the Acrobot 'Sculptor' system. A new approach to the achievement of robotic total knee replacement is also presented, in which a high-speed rotary cutter is used to slice through the bone to achieve a speedy resection. The control concept is presented, together with the results of trials on animal bones and a cadaver, showing that it is possible to remove large quantities of bone both quickly and accurately.

  3. 20 CFR 632.78 - Training activities.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 20 Employees' Benefits 3 2010-04-01 2010-04-01 false Training activities. 632.78 Section 632.78 Employees' Benefits EMPLOYMENT AND TRAINING ADMINISTRATION, DEPARTMENT OF LABOR INDIAN AND NATIVE AMERICAN EMPLOYMENT AND TRAINING PROGRAMS Program Design and Management § 632.78 Training activities. Native...

  4. Self-organization via active exploration in robotic applications

    NASA Technical Reports Server (NTRS)

    Ogmen, H.; Prakash, R. V.

    1992-01-01

    We describe a neural network based robotic system. Unlike traditional robotic systems, our approach focussed on non-stationary problems. We indicate that self-organization capability is necessary for any system to operate successfully in a non-stationary environment. We suggest that self-organization should be based on an active exploration process. We investigated neural architectures having novelty sensitivity, selective attention, reinforcement learning, habit formation, flexible criteria categorization properties and analyzed the resulting behavior (consisting of an intelligent initiation of exploration) by computer simulations. While various computer vision researchers acknowledged recently the importance of active processes (Swain and Stricker, 1991), the proposed approaches within the new framework still suffer from a lack of self-organization (Aloimonos and Bandyopadhyay, 1987; Bajcsy, 1988). A self-organizing, neural network based robot (MAVIN) has been recently proposed (Baloch and Waxman, 1991). This robot has the capability of position, size rotation invariant pattern categorization, recognition and pavlovian conditioning. Our robot does not have initially invariant processing properties. The reason for this is the emphasis we put on active exploration. We maintain the point of view that such invariant properties emerge from an internalization of exploratory sensory-motor activity. Rather than coding the equilibria of such mental capabilities, we are seeking to capture its dynamics to understand on the one hand how the emergence of such invariances is possible and on the other hand the dynamics that lead to these invariances. The second point is crucial for an adaptive robot to acquire new invariances in non-stationary environments, as demonstrated by the inverting glass experiments of Helmholtz. We will introduce Pavlovian conditioning circuits in our future work for the precise objective of achieving the generation, coordination, and internalization

  5. Effort, performance, and motivation: insights from robot-assisted training of human golf putting and rat grip strength.

    PubMed

    Duarte, Jaime E; Gebrekristos, Berkenesh; Perez, Sergi; Rowe, Justin B; Sharp, Kelli; Reinkensmeyer, David J

    2013-06-01

    Robotic devices can modulate success rates and required effort levels during motor training, but it is unclear how this affects performance gains and motivation. Here we present results from training unimpaired humans in a virtual golf-putting task, and training spinal cord injured (SCI) rats in a grip strength task using robotically modulated success rates and effort levels. Robotic assistance in golf practice increased trainees feelings of competence, and, paradoxically, increased their sense effort, even though it had mixed effects on learning. Reducing effort during a grip strength training task led rats with SCI to practice the task more frequently. However, the more frequent practice of these rats did not cause them to exceed the strength gains achieved by rats that exercised less often at higher required effort levels. These results show that increasing success and decreasing effort with robots increases motivation, but has mixed effects on performance gains.

  6. Effort, performance, and motivation: insights from robot-assisted training of human golf putting and rat grip strength.

    PubMed

    Duarte, Jaime E; Gebrekristos, Berkenesh; Perez, Sergi; Rowe, Justin B; Sharp, Kelli; Reinkensmeyer, David J

    2013-06-01

    Robotic devices can modulate success rates and required effort levels during motor training, but it is unclear how this affects performance gains and motivation. Here we present results from training unimpaired humans in a virtual golf-putting task, and training spinal cord injured (SCI) rats in a grip strength task using robotically modulated success rates and effort levels. Robotic assistance in golf practice increased trainees feelings of competence, and, paradoxically, increased their sense effort, even though it had mixed effects on learning. Reducing effort during a grip strength training task led rats with SCI to practice the task more frequently. However, the more frequent practice of these rats did not cause them to exceed the strength gains achieved by rats that exercised less often at higher required effort levels. These results show that increasing success and decreasing effort with robots increases motivation, but has mixed effects on performance gains. PMID:24187278

  7. Mechanisms of motor recovery in chronic and subacute stroke patients following a robot-aided training.

    PubMed

    Mazzoleni, S; Puzzolante, L; Zollo, L; Dario, P; Posteraro, F

    2014-01-01

    The aim of this article is to propose a methodology for analyzing different recovery mechanisms in subacute and chronic patients through evaluation of biomechanical parameters. Twenty-five post-stroke subjects, eight subacute and seventeen chronic, participated in the study. A 2-DoF robotic system was used for upper limb training. Two clinical scales were used for assessment. Forces and velocities at the robot's end-effector during the execution of upper limb planar reaching movements were measured. Clinical outcome measures show a significant decrease in motor impairment after the treatment both in chronic and subacute patients (MSS-SE, p<0.001; FM, p<0.05). Movement velocity increases after the robot-aided treatment in both groups. Mean values of forces exerted by subacute patients are lower than those observed in chronic patients, both at the beginning and at the end of robotic treatment, as in the latter the pathological pattern is already structured. Our results demonstrate that the monitoring of the forces exerted on the end-effector during robot-aided treatment can identify the specific motor recovery mechanisms at different stages. If the pathological pattern is not yet structured, rehabilitative interventions should be addressed toward the use of motor re-learning procedures; on the other hand, if the force analysis shows a strong pathological pattern, mechanisms of compensation should be encouraged.

  8. Impact of fellowship training on robotic-assisted laparoscopic partial nephrectomy: benchmarking perioperative safety and outcomes.

    PubMed

    Taylor, Abby S; Lee, Bruce; Rawal, Bhupendra; Thiel, David D

    2015-06-01

    To provide perioperative benchmark data for surgeons entering practice from formal robotic training and performing robotic-assisted laparoscopic partial nephrectomy (RAPN). Perioperative outcomes of the first 100 RAPN from a surgeon entering into practice directly from robotic fellowship training were analyzed. Postoperative complications were categorized by Clavien-Dindo grade. Surgical "trifecta scores" and Margin, Ischemia, and Complication (MIC) scoring were utilized to assess surgical outcomes. Statistical analyses were performed using SAS (version 9.2; SAS Institute, Inc., Cary, North Carolina). Median age of the cohort was 63 years (22-81 years), and 34 (34.3%) patients were over age 65. Forty-one (41.4%) patients had a BMI > 30. Thirteen (13.1%) had RENAL 10-12 tumors, 22 of which (22.2%) were >4 cm in size. Median warm ischemia time was 17 min, and 13 patients had resection without warm ischemia. Five patients were converted to open partial nephrectomy, and 1 patient was converted to laparoscopic nephrectomy. Twenty-one patients (21.2%) experienced a complication, 6 of whom had a major (Clavien grade 3 or higher) complication with one grade 5 complication. Operating room time decreased with experience, but surgical complications and hospital stay did not change with experience. MIC score of renal cell carcinoma (RCC) patients was 74.7%, while the surgical trifecta was reached in 71.3 % of RCC patients. Surgeons may enter practice directly from formal robotic training and perform RAPN with perioperative outcomes, surgical complications, surgical trifecta scores, and MIC scoring in line with those the most experienced robotic partial nephrectomists.

  9. Robot Guided ‘Pen Skill’ Training in Children with Motor Difficulties

    PubMed Central

    Kountouriotis, Georgios K.; Barber, Sally

    2016-01-01

    Motor deficits are linked to a range of negative physical, social and academic consequences. Haptic robotic interventions, based on the principles of sensorimotor learning, have been shown previously to help children with motor problems learn new movements. We therefore examined whether the training benefits of a robotic system would generalise to a standardised test of ‘pen-skills’, assessed using objective kinematic measures [via the Clinical Kinematic Assessment Tool, CKAT]. A counterbalanced, cross-over design was used in a group of 51 children (37 male, aged 5–11 years) with manual control difficulties. Improved performance on a novel task using the robotic device could be attributed to the intervention but there was no evidence of generalisation to any of the CKAT tasks. The robotic system appears to have the potential to support motor learning, with the technology affording numerous advantages. However, the training regime may need to target particular manual skills (e.g. letter formation) in order to obtain clinically significant improvements in specific skills such as handwriting. PMID:26967993

  10. Neurophysiology of robot-mediated training and therapy: a perspective for future use in clinical populations.

    PubMed

    Turner, Duncan L; Ramos-Murguialday, Ander; Birbaumer, Niels; Hoffmann, Ulrich; Luft, Andreas

    2013-11-13

    The recovery of functional movements following injury to the central nervous system (CNS) is multifaceted and is accompanied by processes occurring in the injured and non-injured hemispheres of the brain or above/below a spinal cord lesion. The changes in the CNS are the consequence of functional and structural processes collectively termed neuroplasticity and these may occur spontaneously and/or be induced by movement practice. The neurophysiological mechanisms underlying such brain plasticity may take different forms in different types of injury, for example stroke vs. spinal cord injury (SCI). Recovery of movement can be enhanced by intensive, repetitive, variable, and rewarding motor practice. To this end, robots that enable or facilitate repetitive movements have been developed to assist recovery and rehabilitation. Here, we suggest that some elements of robot-mediated training such as assistance and perturbation may have the potential to enhance neuroplasticity. Together the elemental components for developing integrated robot-mediated training protocols may form part of a neurorehabilitation framework alongside those methods already employed by therapists. Robots could thus open up a wider choice of options for delivering movement rehabilitation grounded on the principles underpinning neuroplasticity in the human CNS.

  11. Neurophysiology of Robot-Mediated Training and Therapy: A Perspective for Future Use in Clinical Populations

    PubMed Central

    Turner, Duncan L.; Ramos-Murguialday, Ander; Birbaumer, Niels; Hoffmann, Ulrich; Luft, Andreas

    2013-01-01

    The recovery of functional movements following injury to the central nervous system (CNS) is multifaceted and is accompanied by processes occurring in the injured and non-injured hemispheres of the brain or above/below a spinal cord lesion. The changes in the CNS are the consequence of functional and structural processes collectively termed neuroplasticity and these may occur spontaneously and/or be induced by movement practice. The neurophysiological mechanisms underlying such brain plasticity may take different forms in different types of injury, for example stroke vs. spinal cord injury (SCI). Recovery of movement can be enhanced by intensive, repetitive, variable, and rewarding motor practice. To this end, robots that enable or facilitate repetitive movements have been developed to assist recovery and rehabilitation. Here, we suggest that some elements of robot-mediated training such as assistance and perturbation may have the potential to enhance neuroplasticity. Together the elemental components for developing integrated robot-mediated training protocols may form part of a neurorehabilitation framework alongside those methods already employed by therapists. Robots could thus open up a wider choice of options for delivering movement rehabilitation grounded on the principles underpinning neuroplasticity in the human CNS. PMID:24312073

  12. Development and training of a learning expert system in an autonomous mobile robot via simulation

    SciTech Connect

    Spelt, P.F.; Lyness, E.; DeSaussure, G. . Center for Engineering Systems Advanced Research)

    1989-11-01

    The Center for Engineering Systems Advanced Research (CESAR) conducts basic research in the area of intelligent machines. Recently at CESAR a learning expert system was created to operate on board an autonomous robot working at a process control panel. The authors discuss two-computer simulation system used to create, evaluate and train this learning system. The simulation system has a graphics display of the current status of the process being simulated, and the same program which does the simulating also drives the actual control panel. Simulation results were validated on the actual robot. The speed and safety values of using a computerized simulator to train a learning computer, and future uses of the simulation system, are discussed.

  13. The effects of Robotic-Assisted Locomotor training on spasticity and volitional control.

    PubMed

    Mirbagheri, M M; Ness, L L; Patel, C; Quiney, K; Rymer, W Z

    2011-01-01

    We studied the effects of Robotic-Assisted Locomotor (LOKOMAT) Training on spasticity and volitional control of the spastic ankle in persons with incomplete Spinal Cord Injury (SCI). LOKOMAT training was performed 3 days/week during a 1-hr period including set-up time with up to 30 minutes of training during a single session. The training was provided for 4 weeks and subjects were evaluated before and after 1, 2, and 4 weeks of training. Spasticity was charterized in terms of neuromuscular abnormalities associated with the spastic joint. A system identification technique was used to quantify the effects of LOKOMAT training on these neuromuscular abnormalities. The effect of LOKOMAT training on volitional control was determined by measuring isometric maximum voluntary contraction (MVC) of ankle extensor and flexor muscles. Our results indicated that the reflex stiffness, abnormally increases in SCI, was significantly reduced (up to 65%) following 4-weeks of LOKOMAT training. Similarly, intrinsic (muscular) stiffness, which also abnormally increases in SCI, decreased significantly (up to 60%). MVCs were increased substantially (up to 93% in extensors and 180% in flexors) following 4-week training. These findings demonstrate that LOKOMAT training is effective in reducing spasticity and improving volitional control in SCI.

  14. Complexity analysis of EMG signals for patients after stroke during robot-aided rehabilitation training using fuzzy approximate entropy.

    PubMed

    Sun, Rui; Song, Rong; Tong, Kai-yu

    2014-09-01

    The paper presents a novel viewpoint to monitor the motor function improvement during a robot-aided rehabilitation training. Eight chronic poststroke subjects were recruited to attend the 20-session training, and in each session, subjects were asked to perform voluntary movements of elbow flexion and extension together with the robotic system. The robotic system was continuously controlled by the electromyographic (EMG) signal from the affected triceps. Fuzzy approximate entropy (fApEn) was applied to investigate the complexity of the EMG segment, and maximum voluntary contraction (MVC) during elbow flexion and extension was applied to reflect force generating capacity of the affected muscles. The results showed that the group mean fApEn of EMG signals from triceps and biceps increased significantly after the robot-aided rehabilitation training . There was also significant increase in maximum voluntary flexion and extension torques after the robot-aided rehabilitation training . There was significant correlation between fApEn of agonist and MVC , which implied that the increase of motorneuron number is one of factors that may explain the increase in muscle strength. These findings based on fApEn of the EMG signals expand the existing interpretation of training-induced function improvement in patients after stroke, and help us to understand the neurological change induced by the robot-aided rehabilitation training.

  15. Robotics in otolaryngology and head and neck surgery: Recommendations for training and credentialing

    PubMed Central

    Gross, Neil D.; Holsinger, F. Christopher; Magnuson, J. Scott; Duvvuri, Umamaheswar; Genden, Eric M.; Ghanem, Tamer AH.; Yaremchuk, Kathleen L.; Goldenberg, David; Miller, Matthew C.; Moore, Eric J.; Morris, Luc GT.; Netterville, James; Weinstein, Gregory S.; Richmon, Jeremy

    2016-01-01

    Training and credentialing for robotic surgery in otolaryngology - head and neck surgery is currently not standardized, but rather relies heavily on industry guidance. This manuscript represents a comprehensive review of this increasingly important topic and outlines clear recommendations to better standardize the practice. The recommendations provided can be used as a reference by individuals and institutions alike, and are expected to evolve over time. PMID:26950771

  16. Design of active orthoses for a robotic gait rehabilitation system

    NASA Astrophysics Data System (ADS)

    Villa-Parra, A. C.; Broche, L.; Delisle-Rodríguez, D.; Sagaró, R.; Bastos, T.; Frizera-Neto, A.

    2015-09-01

    An active orthosis (AO) is a robotic device that assists both human gait and rehabilitation therapy. This work proposes portable AOs, one for the knee joint and another for the ankle joint. Both AOs will be used to complete a robotic system that improves gait rehabilitation. The requirements for actuator selection, the biomechanical considerations during the AO design, the finite element method, and a control approach based on electroencephalographic and surface electromyographic signals are reviewed. This work contributes to the design of AOs for users with foot drop and knee flexion impairment. However, the potential of the proposed AOs to be part of a robotic gait rehabilitation system that improves the quality of life of stroke survivors requires further investigation.

  17. Mission Activity Planning for Humans and Robots on the Moon

    NASA Technical Reports Server (NTRS)

    Weisbin, C.; Shelton, K.; Lincoln, W.; Elfes, A.; Smith, J.H.; Mrozinski, J.; Hua, H.; Adumitroaie, V.; Silberg, R.

    2008-01-01

    A series of studies is conducted to develop a systematic approach to optimizing, both in terms of the distribution and scheduling of tasks, scenarios in which astronauts and robots accomplish a group of activities on the Moon, given an objective function (OF) and specific resources and constraints. An automated planning tool is developed as a key element of this optimization system.

  18. Robotics-Centered Outreach Activities: An Integrated Approach

    ERIC Educational Resources Information Center

    Ruiz-del-Solar, Javier

    2010-01-01

    Nowadays, universities are making extensive efforts to attract prospective students to the fields of electrical, electronic, and computer engineering. Thus, outreach is becoming increasingly important, and activities with schoolchildren are being extensively carried out as part of this effort. In this context, robotics is a very attractive and…

  19. Increased reward in ankle robotics training enhances motor control and cortical efficiency in stroke.

    PubMed

    Goodman, Ronald N; Rietschel, Jeremy C; Roy, Anindo; Jung, Brian C; Diaz, Jason; Macko, Richard F; Forrester, Larry W

    2014-01-01

    Robotics is rapidly emerging as a viable approach to enhance motor recovery after disabling stroke. Current principles of cognitive motor learning recognize a positive relationship between reward and motor learning. Yet no prior studies have established explicitly whether reward improves the rate or efficacy of robotics-assisted rehabilitation or produces neurophysiologic adaptations associated with motor learning. We conducted a 3 wk, 9-session clinical pilot with 10 people with chronic hemiparetic stroke, randomly assigned to train with an impedance-controlled ankle robot (anklebot) under either high reward (HR) or low reward conditions. The 1 h training sessions entailed playing a seated video game by moving the paretic ankle to hit moving onscreen targets with the anklebot only providing assistance as needed. Assessments included paretic ankle motor control, learning curves, electroencephalograpy (EEG) coherence and spectral power during unassisted trials, and gait function. While both groups exhibited changes in EEG, the HR group had faster learning curves (p = 0.05), smoother movements (p training may accelerate motor learning for restoring mobility.

  20. Robot free-flyers in space extravehicular activity

    NASA Astrophysics Data System (ADS)

    Weigl, Harald J.; Alexander, Harold L.

    1992-11-01

    The Laboratory for Space Teleoperation and Robotics is developing a neutrally buoyant robot for research into the automatic and teleoperated (remote human) control of unmanned robotic vehicles for use in space. The goal of this project is to develop a remote robot with maneuverability and dexterity comparable to that of a space-suited astronaut with a manned maneuvering unit, able to assume many of the tasks currently planned for astronauts during extravehicular activity (EVA). Such a robot would be able to spare the great expense and hazards associated with human EVA, and make possible much less expensive scientific and industrialization exploitation of orbit. Both autonomous and teleoperated control experiments will require the vehicle to be able to automatically control its position and orientation. The laboratory has developed a real-time vision-based navigation and control system for its underwater space robot simulator, the Submersible for Telerobotic and Astronautical Research (STAR). The system, implemented with standard, inexpensive computer hardware, has excellent performance and robustness characteristics for a variety of applications, including automatic station-keeping and large controlled maneuvers. Experimental results are presented indicating the precision, accuracy, and robustness to disturbances of the vision-based control system. The study proves the feasibility of using vision-based control and navigation for remote robots and provides a foundation for developing a system for general space robot tasks. The complex vision sensing problem is reduced through linearization to a simple algorithm, fast enough to be incorporated into a real-time vehicle control system. Vision sensing is structured to detect small changes in vehicle position and orientation from a nominal positional state relative to a target scene. The system uses a constant, linear inversion matrix to measure the vehicle positional state from the locations of navigation features in an

  1. A reinforcement learning trained fuzzy neural network controller for maintaining wireless communication connections in multi-robot systems

    NASA Astrophysics Data System (ADS)

    Zhong, Xu; Zhou, Yu

    2014-05-01

    This paper presents a decentralized multi-robot motion control strategy to facilitate a multi-robot system, comprised of collaborative mobile robots coordinated through wireless communications, to form and maintain desired wireless communication coverage in a realistic environment with unstable wireless signaling condition. A fuzzy neural network controller is proposed for each robot to maintain the wireless link quality with its neighbors. The controller is trained through reinforcement learning to establish the relationship between the wireless link quality and robot motion decision, via consecutive interactions between the controller and environment. The tuned fuzzy neural network controller is applied to a multi-robot deployment process to form and maintain desired wireless communication coverage. The effectiveness of the proposed control scheme is verified through simulations under different wireless signal propagation conditions.

  2. Short-term ankle motor performance with ankle robotics training in chronic hemiparetic stroke.

    PubMed

    Roy, Anindo; Forrester, Larry W; Macko, Richard F

    2011-01-01

    Cerebrovascular accident (stroke) often results in impaired motor control and persistent weakness that may lead to chronic disability, including deficits in gait and balance function. Finding ways to restore motor control may help reduce these deficits; however, little is known regarding the capacity or temporal profile of short-term motor adaptations and learning at the hemiparetic ankle. Our objective was to determine the short-term effects of a single session of impedance-controlled ankle robot ("anklebot") training on paretic ankle motor control in chronic stroke. This was a double-arm pilot study on a convenience sample of participants with chronic stroke (n = 7) who had residual hemiparetic deficits and an equal number of age- and sex-matched nondisabled control subjects. Training consisted of participants in each group playing a target-based video game with the anklebot for an hour, for a total of 560 movement repetitions in dorsiflexion/plantar flexion ranges followed by retest 48 hours later. Task difficulty was adjusted to ankle range of motion, with robotic assistance decreased incrementally across training. Assessments included robotic measures of ankle motor control on unassisted trials before and after training and at 48 hours after training. Following exposure to the task, subjects with stroke improved paretic ankle motor control across a single training session as indexed by increased targeting accuracy (21.6 +/- 8.0 to 31.4 +/- 4.8, p = 0.05), higher angular speeds (mean: 4.7 +/- 1.5 degrees/s to 6.5 +/- 2.6 degrees/s, p < 0.01, peak: 42.8 +/- 9.0 degrees/s to 45.6 +/- 9.4 degrees/s, p = 0.03), and smoother movements (normalized jerk: 654.1 +/- 103.3 s(-2) to 537.6 +/- 86.7 s(-2), p < 0.005, number of speed peaks: 27.1 +/- 5.8 to 23.7 +/- 4.1, p < 0.01). In contrast, nondisabled subjects did not make statistically significant gains in any metric after training except in the number of successful passages (32.3 +/- 7.5 to 36.5 +/- 6.4, p = 0

  3. Structural Brain Changes after Traditional and Robot-Assisted Multi-Domain Cognitive Training in Community-Dwelling Healthy Elderly

    PubMed Central

    Kim, Geon Ha; Jeon, Seun; Im, Kiho; Kwon, Hunki; Lee, Byung Hwa; Kim, Ga Young; Jeong, Hana; Han, Noh Eul; Seo, Sang Won; Cho, Hanna; Noh, Young; Park, Sang Eon; Kim, Hojeong; Hwang, Jung Won; Yoon, Cindy W.; Kim, Hee Jin; Ye, Byoung Seok; Chin, Ju Hee; Kim, Jung-Hyun; Suh, Mee Kyung; Lee, Jong Min; Kim, Sung Tae; Choi, Mun-Taek; Kim, Mun Sang; Heilman, Kenneth M; Jeong, Jee Hyang; Na, Duk L.

    2015-01-01

    The purpose of this study was to investigate if multi-domain cognitive training, especially robot-assisted training, alters cortical thickness in the brains of elderly participants. A controlled trial was conducted with 85 volunteers without cognitive impairment who were 60 years old or older. Participants were first randomized into two groups. One group consisted of 48 participants who would receive cognitive training and 37 who would not receive training. The cognitive training group was randomly divided into two groups, 24 who received traditional cognitive training and 24 who received robot-assisted cognitive training. The training for both groups consisted of daily 90-min-session, five days a week for a total of 12 weeks. The primary outcome was the changes in cortical thickness. When compared to the control group, both groups who underwent cognitive training demonstrated attenuation of age related cortical thinning in the frontotemporal association cortices. When the robot and the traditional interventions were directly compared, the robot group showed less cortical thinning in the anterior cingulate cortices. Our results suggest that cognitive training can mitigate age-associated structural brain changes in the elderly. Trial Registration ClnicalTrials.gov NCT01596205 PMID:25898367

  4. Education and training in pediatric robotic surgery: lessons learned from an inaugural multinational workshop.

    PubMed

    Cundy, Thomas P; Mayer, Erik K; Camps, Juan I; Olsen, Lars H; Pelizzo, Gloria; Yang, Guang-Zhong; Darzi, Ara; Najmaldin, Azad S

    2015-03-01

    The introduction of robotic surgery into clinical practice brings new and specific needs for education and training. Application to the pediatric setting comes with unique considerations, warranting dedicated training resources that are accessible. A pediatric robotic surgery workshop was convened to address initial education and training requirements. The event was designed to offer an exposure rich environment for delegates to familiarize and learn basic principles in a maximally efficient manner. Pre- and post-workshop survey responses were evaluated to reflect on the quality of the educational experience and scope for improvement. Feasibility and sustainability of such events was further evaluated by reviewing various challenges encountered. A total of 29 surgeons participated in the workshop, with 7 countries represented. The majority of delegates (94 %) indicated they were "very satisfied" with the overall program. Delegates almost unanimously expressed preference and satisfaction for hands-on content. Qualitative feedback favored a stepwise and modular workshop structure, transitioning from didactic teaching to progressively more advanced training. At the basic and intermediate level, this style of event is able to satisfy initial training and educational needs. Feasibility and sustainability of such events is highly dependent on infrastructure resources that have numerous barriers to accessibility.

  5. Robot-Assisted Training of the Kinesthetic Sense: Enhancing Proprioception after Stroke

    PubMed Central

    De Santis, Dalia; Zenzeri, Jacopo; Casadio, Maura; Masia, Lorenzo; Riva, Assunta; Morasso, Pietro; Squeri, Valentina

    2015-01-01

    Proprioception has a crucial role in promoting or hindering motor learning. In particular, an intact position sense strongly correlates with the chances of recovery after stroke. A great majority of neurological patients present both motor dysfunctions and impairments in kinesthesia, but traditional robot and virtual reality training techniques focus either in recovering motor functions or in assessing proprioceptive deficits. An open challenge is to implement effective and reliable tests and training protocols for proprioception that go beyond the mere position sense evaluation and exploit the intrinsic bidirectionality of the kinesthetic sense, which refers to both sense of position and sense of movement. Modulated haptic interaction has a leading role in promoting sensorimotor integration, and it is a natural way to enhance volitional effort. Therefore, we designed a preliminary clinical study to test a new proprioception-based motor training technique for augmenting kinesthetic awareness via haptic feedback. The feedback was provided by a robotic manipulandum and the test involved seven chronic hemiparetic subjects over 3 weeks. The protocol included evaluation sessions that consisted of a psychometric estimate of the subject’s kinesthetic sensation, and training sessions, in which the subject executed planar reaching movements in the absence of vision and under a minimally assistive haptic guidance made by sequences of graded force pulses. The bidirectional haptic interaction between the subject and the robot was optimally adapted to each participant in order to achieve a uniform task difficulty over the workspace. All the subjects consistently improved in the perceptual scores as a consequence of training. Moreover, they could minimize the level of haptic guidance in time. Results suggest that the proposed method is effective in enhancing kinesthetic acuity, but the level of impairment may affect the ability of subjects to retain their improvement in time

  6. Robot-assisted training of the kinesthetic sense: enhancing proprioception after stroke.

    PubMed

    De Santis, Dalia; Zenzeri, Jacopo; Casadio, Maura; Masia, Lorenzo; Riva, Assunta; Morasso, Pietro; Squeri, Valentina

    2014-01-01

    Proprioception has a crucial role in promoting or hindering motor learning. In particular, an intact position sense strongly correlates with the chances of recovery after stroke. A great majority of neurological patients present both motor dysfunctions and impairments in kinesthesia, but traditional robot and virtual reality training techniques focus either in recovering motor functions or in assessing proprioceptive deficits. An open challenge is to implement effective and reliable tests and training protocols for proprioception that go beyond the mere position sense evaluation and exploit the intrinsic bidirectionality of the kinesthetic sense, which refers to both sense of position and sense of movement. Modulated haptic interaction has a leading role in promoting sensorimotor integration, and it is a natural way to enhance volitional effort. Therefore, we designed a preliminary clinical study to test a new proprioception-based motor training technique for augmenting kinesthetic awareness via haptic feedback. The feedback was provided by a robotic manipulandum and the test involved seven chronic hemiparetic subjects over 3 weeks. The protocol included evaluation sessions that consisted of a psychometric estimate of the subject's kinesthetic sensation, and training sessions, in which the subject executed planar reaching movements in the absence of vision and under a minimally assistive haptic guidance made by sequences of graded force pulses. The bidirectional haptic interaction between the subject and the robot was optimally adapted to each participant in order to achieve a uniform task difficulty over the workspace. All the subjects consistently improved in the perceptual scores as a consequence of training. Moreover, they could minimize the level of haptic guidance in time. Results suggest that the proposed method is effective in enhancing kinesthetic acuity, but the level of impairment may affect the ability of subjects to retain their improvement in time.

  7. A Preliminary Study Exploring the Use of Fictional Narrative in Robotics Activities

    ERIC Educational Resources Information Center

    Williams, Douglas; Ma, Yuxin; Prejean, Louise

    2010-01-01

    Educational robotics activities are gaining in popularity. Though some research data suggest that educational robotics can be an effective approach in teaching mathematics, science, and engineering, research is needed to generate the best practices and strategies for designing these learning environments. Existing robotics activities typically do…

  8. A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training

    NASA Astrophysics Data System (ADS)

    Chen, Weihai; Cui, Xiang; Zhang, Jianbin; Wang, Jianhua

    2015-06-01

    Rehabilitation technologies have great potentials in assisted motion training for stroke patients. Considering that wrist motion plays an important role in arm dexterous manipulation of activities of daily living, this paper focuses on developing a cable-driven wrist robotic rehabilitator (CDWRR) for motion training or assistance to subjects with motor disabilities. The CDWRR utilizes the wrist skeletal joints and arm segments as the supporting structure and takes advantage of cable-driven parallel design to build the system, which brings the properties of flexibility, low-cost, and low-weight. The controller of the CDWRR is designed typically based on a virtual torque-field, which is to plan "assist-as-needed" torques for the spherical motion of wrist responding to the orientation deviation in wrist motion training. The torque-field controller can be customized to different levels of rehabilitation training requirements by tuning the field parameters. Additionally, a rapidly convergent parameter self-identification algorithm is developed to obtain the uncertain parameters automatically for the floating wearable structure of the CDWRR. Finally, experiments on a healthy subject are carried out to demonstrate the performance of the controller and the feasibility of the CDWRR on wrist motion training or assistance.

  9. A cable-driven wrist robotic rehabilitator using a novel torque-field controller for human motion training.

    PubMed

    Chen, Weihai; Cui, Xiang; Zhang, Jianbin; Wang, Jianhua

    2015-06-01

    Rehabilitation technologies have great potentials in assisted motion training for stroke patients. Considering that wrist motion plays an important role in arm dexterous manipulation of activities of daily living, this paper focuses on developing a cable-driven wrist robotic rehabilitator (CDWRR) for motion training or assistance to subjects with motor disabilities. The CDWRR utilizes the wrist skeletal joints and arm segments as the supporting structure and takes advantage of cable-driven parallel design to build the system, which brings the properties of flexibility, low-cost, and low-weight. The controller of the CDWRR is designed typically based on a virtual torque-field, which is to plan "assist-as-needed" torques for the spherical motion of wrist responding to the orientation deviation in wrist motion training. The torque-field controller can be customized to different levels of rehabilitation training requirements by tuning the field parameters. Additionally, a rapidly convergent parameter self-identification algorithm is developed to obtain the uncertain parameters automatically for the floating wearable structure of the CDWRR. Finally, experiments on a healthy subject are carried out to demonstrate the performance of the controller and the feasibility of the CDWRR on wrist motion training or assistance.

  10. Design and evaluation of a trilateral shared-control architecture for teleoperated training robots.

    PubMed

    Shamaei, Kamran; Kim, Lawrence H; Okamura, Allison M

    2015-08-01

    Multilateral teleoperated robots can be used to train humans to perform complex tasks that require collaborative interaction and expert supervision, such as laparoscopic surgical procedures. In this paper, we explain the design and performance evaluation of a shared-control architecture that can be used in trilateral teleoperated training robots. The architecture includes dominance and observation factors inspired by the determinants of motor learning in humans, including observational practice, focus of attention, feedback and augmented feedback, and self-controlled practice. Toward the validation of such an architecture, we (1) verify the stability of a trilateral system by applying Llewellyn's criterion on a two-port equivalent architecture, and (2) demonstrate that system transparency remains generally invariant across relevant observation factors and movement frequencies. In a preliminary experimental study, a dyad of two human users (one novice, one expert) collaborated on the control of a robot to follow a trajectory. The experiment showed that the framework can be used to modulate the efforts of the users and adjust the source and level of haptic feedback to the novice user.

  11. Assessment of robotic patient simulators for training in manual physical therapy examination techniques.

    PubMed

    Ishikawa, Shun; Okamoto, Shogo; Isogai, Kaoru; Akiyama, Yasuhiro; Yanagihara, Naomi; Yamada, Yoji

    2015-01-01

    Robots that simulate patients suffering from joint resistance caused by biomechanical and neural impairments are used to aid the training of physical therapists in manual examination techniques. However, there are few methods for assessing such robots. This article proposes two types of assessment measures based on typical judgments of clinicians. One of the measures involves the evaluation of how well the simulator presents different severities of a specified disease. Experienced clinicians were requested to rate the simulated symptoms in terms of severity, and the consistency of their ratings was used as a performance measure. The other measure involves the evaluation of how well the simulator presents different types of symptoms. In this case, the clinicians were requested to classify the simulated resistances in terms of symptom type, and the average ratios of their answers were used as performance measures. For both types of assessment measures, a higher index implied higher agreement among the experienced clinicians that subjectively assessed the symptoms based on typical symptom features. We applied these two assessment methods to a patient knee robot and achieved positive appraisals. The assessment measures have potential for use in comparing several patient simulators for training physical therapists, rather than as absolute indices for developing a standard. PMID:25923719

  12. Assessment of robotic patient simulators for training in manual physical therapy examination techniques.

    PubMed

    Ishikawa, Shun; Okamoto, Shogo; Isogai, Kaoru; Akiyama, Yasuhiro; Yanagihara, Naomi; Yamada, Yoji

    2015-01-01

    Robots that simulate patients suffering from joint resistance caused by biomechanical and neural impairments are used to aid the training of physical therapists in manual examination techniques. However, there are few methods for assessing such robots. This article proposes two types of assessment measures based on typical judgments of clinicians. One of the measures involves the evaluation of how well the simulator presents different severities of a specified disease. Experienced clinicians were requested to rate the simulated symptoms in terms of severity, and the consistency of their ratings was used as a performance measure. The other measure involves the evaluation of how well the simulator presents different types of symptoms. In this case, the clinicians were requested to classify the simulated resistances in terms of symptom type, and the average ratios of their answers were used as performance measures. For both types of assessment measures, a higher index implied higher agreement among the experienced clinicians that subjectively assessed the symptoms based on typical symptom features. We applied these two assessment methods to a patient knee robot and achieved positive appraisals. The assessment measures have potential for use in comparing several patient simulators for training physical therapists, rather than as absolute indices for developing a standard.

  13. Assessment of Robotic Patient Simulators for Training in Manual Physical Therapy Examination Techniques

    PubMed Central

    Ishikawa, Shun; Okamoto, Shogo; Isogai, Kaoru; Akiyama, Yasuhiro; Yanagihara, Naomi; Yamada, Yoji

    2015-01-01

    Robots that simulate patients suffering from joint resistance caused by biomechanical and neural impairments are used to aid the training of physical therapists in manual examination techniques. However, there are few methods for assessing such robots. This article proposes two types of assessment measures based on typical judgments of clinicians. One of the measures involves the evaluation of how well the simulator presents different severities of a specified disease. Experienced clinicians were requested to rate the simulated symptoms in terms of severity, and the consistency of their ratings was used as a performance measure. The other measure involves the evaluation of how well the simulator presents different types of symptoms. In this case, the clinicians were requested to classify the simulated resistances in terms of symptom type, and the average ratios of their answers were used as performance measures. For both types of assessment measures, a higher index implied higher agreement among the experienced clinicians that subjectively assessed the symptoms based on typical symptom features. We applied these two assessment methods to a patient knee robot and achieved positive appraisals. The assessment measures have potential for use in comparing several patient simulators for training physical therapists, rather than as absolute indices for developing a standard. PMID:25923719

  14. Active inference and robot control: a case study

    PubMed Central

    Nizard, Ange; Friston, Karl; Pezzulo, Giovanni

    2016-01-01

    Active inference is a general framework for perception and action that is gaining prominence in computational and systems neuroscience but is less known outside these fields. Here, we discuss a proof-of-principle implementation of the active inference scheme for the control or the 7-DoF arm of a (simulated) PR2 robot. By manipulating visual and proprioceptive noise levels, we show under which conditions robot control under the active inference scheme is accurate. Besides accurate control, our analysis of the internal system dynamics (e.g. the dynamics of the hidden states that are inferred during the inference) sheds light on key aspects of the framework such as the quintessentially multimodal nature of control and the differential roles of proprioception and vision. In the discussion, we consider the potential importance of being able to implement active inference in robots. In particular, we briefly review the opportunities for modelling psychophysiological phenomena such as sensory attenuation and related failures of gain control, of the sort seen in Parkinson's disease. We also consider the fundamental difference between active inference and optimal control formulations, showing that in the former the heavy lifting shifts from solving a dynamical inverse problem to creating deep forward or generative models with dynamics, whose attracting sets prescribe desired behaviours. PMID:27683002

  15. Thermal tracking in mobile robots for leak inspection activities.

    PubMed

    Ibarguren, Aitor; Molina, Jorge; Susperregi, Loreto; Maurtua, Iñaki

    2013-10-09

    Maintenance tasks are crucial for all kind of industries, especially in extensive industrial plants, like solar thermal power plants. The incorporation of robots is a key issue for automating inspection activities, as it will allow a constant and regular control over the whole plant. This paper presents an autonomous robotic system to perform pipeline inspection for early detection and prevention of leakages in thermal power plants, based on the work developed within the MAINBOT (http://www.mainbot.eu) European project. Based on the information provided by a thermographic camera, the system is able to detect leakages in the collectors and pipelines. Beside the leakage detection algorithms, the system includes a particle filter-based tracking algorithm to keep the target in the field of view of the camera and to avoid the irregularities of the terrain while the robot patrols the plant. The information provided by the particle filter is further used to command a robot arm, which handles the camera and ensures that the target is always within the image. The obtained results show the suitability of the proposed approach, adding a tracking algorithm to improve the performance of the leakage detection system.

  16. Thermal Tracking in Mobile Robots for Leak Inspection Activities

    PubMed Central

    Ibarguren, Aitor; Molina, Jorge; Susperregi, Loreto; Maurtua, Iñaki

    2013-01-01

    Maintenance tasks are crucial for all kind of industries, especially in extensive industrial plants, like solar thermal power plants. The incorporation of robots is a key issue for automating inspection activities, as it will allow a constant and regular control over the whole plant. This paper presents an autonomous robotic system to perform pipeline inspection for early detection and prevention of leakages in thermal power plants, based on the work developed within the MAINBOT (http://www.mainbot.eu) European project. Based on the information provided by a thermographic camera, the system is able to detect leakages in the collectors and pipelines. Beside the leakage detection algorithms, the system includes a particle filter-based tracking algorithm to keep the target in the field of view of the camera and to avoid the irregularities of the terrain while the robot patrols the plant. The information provided by the particle filter is further used to command a robot arm, which handles the camera and ensures that the target is always within the image. The obtained results show the suitability of the proposed approach, adding a tracking algorithm to improve the performance of the leakage detection system. PMID:24113684

  17. Thermal tracking in mobile robots for leak inspection activities.

    PubMed

    Ibarguren, Aitor; Molina, Jorge; Susperregi, Loreto; Maurtua, Iñaki

    2013-01-01

    Maintenance tasks are crucial for all kind of industries, especially in extensive industrial plants, like solar thermal power plants. The incorporation of robots is a key issue for automating inspection activities, as it will allow a constant and regular control over the whole plant. This paper presents an autonomous robotic system to perform pipeline inspection for early detection and prevention of leakages in thermal power plants, based on the work developed within the MAINBOT (http://www.mainbot.eu) European project. Based on the information provided by a thermographic camera, the system is able to detect leakages in the collectors and pipelines. Beside the leakage detection algorithms, the system includes a particle filter-based tracking algorithm to keep the target in the field of view of the camera and to avoid the irregularities of the terrain while the robot patrols the plant. The information provided by the particle filter is further used to command a robot arm, which handles the camera and ensures that the target is always within the image. The obtained results show the suitability of the proposed approach, adding a tracking algorithm to improve the performance of the leakage detection system. PMID:24113684

  18. Should body weight-supported treadmill training and robotic-assistive steppers for locomotor training trot back to the starting gate?

    PubMed

    Dobkin, Bruce H; Duncan, Pamela W

    2012-05-01

    Body weight-supported treadmill training (BWSTT) and robotic-assisted step training (RAST) have not, so far, led to better outcomes than a comparable dose of progressive over-ground training (OGT) for disabled persons with stroke, spinal cord injury, multiple sclerosis, Parkinson's disease, or cerebral palsy. The conceptual bases for these promising rehabilitation interventions had once seemed quite plausible, but the results of well-designed, randomized clinical trials have been disappointing. The authors reassess the underpinning concepts for BWSTT and RAST, which were derived from mammalian studies of treadmill-induced hind-limb stepping associated with central pattern generation after low thoracic spinal cord transection, as well as human studies of the triple crown icons of task-oriented locomotor training, massed practice, and activity-induced neuroplasticity. The authors retrospectively consider where theory and practice may have fallen short in the pilot studies that aimed to produce thoroughbred interventions. Based on these shortcomings, the authors move forward with recommendations for the future development of workhorse interventions for walking. In the absence of evidence for physical therapists to employ these strategies, however, BWSTT and RAST should not be provided routinely to disabled, vulnerable persons in place of OGT outside of a scientifically conducted efficacy trial.

  19. Dynamic active constraints for hyper-redundant flexible robots.

    PubMed

    Kwok, Ka-Wai; Mylonas, George P; Sun, Loi Wah; Lerotic, Mirna; Clark, James; Athanasiou, Thanos; Darzi, Ara; Yang, Guang-Zhong

    2009-01-01

    In robot-assisted procedures, the surgeon's ability can be enhanced by navigation guidance through the use of virtual fixtures or active constraints. This paper presents a real-time modeling scheme for dynamic active constraints with fast and simple mesh adaptation under cardiac deformation and changes in anatomic structure. A smooth tubular pathway is constructed which provides assistance for a flexible hyper-redundant robot to circumnavigate the heart with the aim of undertaking bilateral pulmonary vein isolation as part of a modified maze procedure for the treatment of debilitating arrhythmia and atrial fibrillation. In contrast to existing approaches, the method incorporates detailed geometrical constraints with explicit manipulation margins of the forbidden region for an entire articulated surgical instrument, rather than just the end-effector itself. Detailed experimental validation is conducted to demonstrate the speed and accuracy of the instrument navigation with and without the use of the proposed dynamic constraints.

  20. Adaptive training of cortical feature maps for a robot sensorimotor controller.

    PubMed

    Adams, Samantha V; Wennekers, Thomas; Denham, Sue; Culverhouse, Phil F

    2013-08-01

    This work investigates self-organising cortical feature maps (SOFMs) based upon the Kohonen Self-Organising Map (SOM) but implemented with spiking neural networks. In future work, the feature maps are intended as the basis for a sensorimotor controller for an autonomous humanoid robot. Traditional SOM methods require some modifications to be useful for autonomous robotic applications. Ideally the map training process should be self-regulating and not require predefined training files or the usual SOM parameter reduction schedules. It would also be desirable if the organised map had some flexibility to accommodate new information whilst preserving previous learnt patterns. Here methods are described which have been used to develop a cortical motor map training system which goes some way towards addressing these issues. The work is presented under the general term 'Adaptive Plasticity' and the main contribution is the development of a 'plasticity resource' (PR) which is modelled as a global parameter which expresses the rate of map development and is related directly to learning on the afferent (input) connections. The PR is used to control map training in place of a traditional learning rate parameter. In conjunction with the PR, random generation of inputs from a set of exemplar patterns is used rather than predefined datasets and enables maps to be trained without deciding in advance how much data is required. An added benefit of the PR is that, unlike a traditional learning rate, it can increase as well as decrease in response to the demands of the input and so allows the map to accommodate new information when the inputs are changed during training.

  1. Embodied Computation: An Active-Learning Approach to Mobile Robotics Education

    ERIC Educational Resources Information Center

    Riek, L. D.

    2013-01-01

    This paper describes a newly designed upper-level undergraduate and graduate course, Autonomous Mobile Robots. The course employs active, cooperative, problem-based learning and is grounded in the fundamental computational problems in mobile robotics defined by Dudek and Jenkin. Students receive a broad survey of robotics through lectures, weekly…

  2. Improved single pellet grasping using automated ad libitum full-time training robot.

    PubMed

    Fenrich, Keith K; May, Zacnicte; Hurd, Caitlin; Boychuk, Carolyn E; Kowalczewski, Jan; Bennett, David J; Whishaw, Ian Q; Fouad, Karim

    2015-03-15

    The single pellet grasping (SPG) task is a skilled forelimb motor task commonly used to evaluate reaching and grasp kinematics and recovery of forelimb function in rodent models of CNS injuries and diseases. To train rats in the SPG task, the animals are usually food restricted then placed in an SPG task enclosure and presented food pellets on a platform located beyond a slit located at the front of the task enclosure for 10-30 min, normally every weekday for several weeks. When the SPG task is applied in studies involving various experimental groups, training quickly becomes labor intensive, and can yield results with significant day-to-day variability. Furthermore, training is frequently done during the animals' light-cycle, which for nocturnal rodents such as mice and rats could affect performance. Here we describe an automated pellet presentation (APP) robotic system to train and test rats in the SPG task that reduces some of the procedural weaknesses of manual training. We found that APP trained rats performed significantly more trials per 24 h period, and had higher success rates with less daily and weekly variability than manually trained rats. Moreover, the results show that success rates are positively correlated with the number of dark-cycle trials, suggesting that dark-cycle training has a positive effect on success rates. These results demonstrate that automated training is an effective method for evaluating and training skilled reaching performance of rats, opening up the possibility for new approaches to investigating the role of motor systems in enabling skilled forelimb use and new approaches to investigating rehabilitation following CNS injury. PMID:25523027

  3. Improved single pellet grasping using automated ad libitum full-time training robot.

    PubMed

    Fenrich, Keith K; May, Zacnicte; Hurd, Caitlin; Boychuk, Carolyn E; Kowalczewski, Jan; Bennett, David J; Whishaw, Ian Q; Fouad, Karim

    2015-03-15

    The single pellet grasping (SPG) task is a skilled forelimb motor task commonly used to evaluate reaching and grasp kinematics and recovery of forelimb function in rodent models of CNS injuries and diseases. To train rats in the SPG task, the animals are usually food restricted then placed in an SPG task enclosure and presented food pellets on a platform located beyond a slit located at the front of the task enclosure for 10-30 min, normally every weekday for several weeks. When the SPG task is applied in studies involving various experimental groups, training quickly becomes labor intensive, and can yield results with significant day-to-day variability. Furthermore, training is frequently done during the animals' light-cycle, which for nocturnal rodents such as mice and rats could affect performance. Here we describe an automated pellet presentation (APP) robotic system to train and test rats in the SPG task that reduces some of the procedural weaknesses of manual training. We found that APP trained rats performed significantly more trials per 24 h period, and had higher success rates with less daily and weekly variability than manually trained rats. Moreover, the results show that success rates are positively correlated with the number of dark-cycle trials, suggesting that dark-cycle training has a positive effect on success rates. These results demonstrate that automated training is an effective method for evaluating and training skilled reaching performance of rats, opening up the possibility for new approaches to investigating the role of motor systems in enabling skilled forelimb use and new approaches to investigating rehabilitation following CNS injury.

  4. Industrial robots and robotics

    SciTech Connect

    Kafrissen, S.; Stephens, M.

    1984-01-01

    This book discusses the study of robotics. It provides information of hardware, software, applications and economics. Eleven chapters examine the following: Minicomputers, Microcomputers, and Microprocessors; The Servo-Control System; The Activators; Robot Vision Systems; and Robot Workcell Environments. Twelve appendices supplement the data.

  5. Interactive Video Training and Development Activity.

    ERIC Educational Resources Information Center

    Troy State Univ., AL.

    The Interactive Video Training and Development Activity of Troy State University (Troy, Alabama) is described in this report. The project has trained more than 30 people in the production of interactive video programs since its inception in 1983. Since 1985, training programs have been offered twice a year to individuals within and outside the…

  6. Robot-assisted walking training for individuals with Parkinson’s disease: a pilot randomized controlled trial

    PubMed Central

    2013-01-01

    Background Over the last years, the introduction of robotic technologies into Parkinson’s disease rehabilitation settings has progressed from concept to reality. However, the benefit of robotic training remains elusive. This pilot randomized controlled observer trial is aimed at investigating the feasibility, the effectiveness and the efficacy of new end-effector robot training in people with mild Parkinson’s disease. Methods Design. Pilot randomized controlled trial. Setting. Robot assisted gait training (EG) compared to treadmill training (CG). Participants. Twenty cognitively intact participants with mild Parkinson’s disease and gait disturbance. Interventions. The EG underwent a rehabilitation programme of robot assisted walking for 40 minutes, 5 times a week for 4 weeks. The CG received a treadmill training programme for 40 minutes, 5 times a week for 4 weeks. Main outcome measures. The outcome measure of efficacy was recorded by gait analysis laboratory. The assessments were performed at the beginning (T0) and at the end of the treatment (T1). The main outcome was the change in velocity. The feasibility of the intervention was assessed by recording exercise adherence and acceptability by specific test. Results Robot training was feasible, acceptable, safe, and the participants completed 100% of the prescribed training sessions. A statistically significant improvement in gait index was found in favour of the EG (T0 versus T1). In particular, the statistical analysis of primary outcome (gait speed) using the Friedman test showed statistically significant improvements for the EG (p = 0,0195). The statistical analysis performed by Friedman test of Step length left (p = 0,0195) and right (p = 0,0195) and Stride length left (p = 0,0078) and right (p = 0,0195) showed a significant statistical gain. No statistically significant improvements on the CG were found. Conclusions Robot training is a feasible and safe form of rehabilitative

  7. Effects of robot training on bowel function in patients with spinal cord injury.

    PubMed

    Huang, Qiuchen; Yu, Lili; Gu, Rui; Zhou, Yue; Hu, Chunying

    2015-05-01

    [Purpose] The purpose of this study was to compare the effects of body weight-supported treadmill training (BWSTT) and robot-assisted rehabilitation (RAT) on bowel function in patients with spinal cord injury with respect to defecation time and defecation drug dose (enema). [Subjects] Twenty-four patients with spinal cord injury participated in the study. All subjects had an incomplete injury ranging from level T8 to L2. [Methods] The subjects were randomly divided into BWSTT and RAT groups. Walking training was provided to both groups for 20 minutes, four times a week, for one month. The defecation time and enema dose were measured before and after the experiment. [Results] The RAT group showed significant shortening of defecation time and decrease of enema dose. [Conclusion] The results demonstrated that significantly better improvement in bowel function can be achieved with RAT. PMID:26157223

  8. [Rehabilitation and nursing-care robots].

    PubMed

    Hachisuka, Kenji

    2016-04-01

    In the extremely aged society, rehabilitation staff will be required to provide ample rehabilitation training for more stroke patients and more aged people with disabilities despite limitations in human resources. A nursing-care robot is one potential solution from the standpoint of rehabilitation. The nursing-care robot is defined as a robot which assists aged people and persons with disabilities in daily life and social life activities. The nursing-care robot consists of an independent support robot, caregiver support robot, and life support robot. Although many nursing-care robots have been developed, the most appropriate robot must be selected according to its features and the needs of patients and caregivers in the field of nursing-care. PMID:27333762

  9. [Rehabilitation and nursing-care robots].

    PubMed

    Hachisuka, Kenji

    2016-04-01

    In the extremely aged society, rehabilitation staff will be required to provide ample rehabilitation training for more stroke patients and more aged people with disabilities despite limitations in human resources. A nursing-care robot is one potential solution from the standpoint of rehabilitation. The nursing-care robot is defined as a robot which assists aged people and persons with disabilities in daily life and social life activities. The nursing-care robot consists of an independent support robot, caregiver support robot, and life support robot. Although many nursing-care robots have been developed, the most appropriate robot must be selected according to its features and the needs of patients and caregivers in the field of nursing-care.

  10. Self-adaptive robot training of stroke survivors for continuous tracking movements

    PubMed Central

    2010-01-01

    Background Although robot therapy is progressively becoming an accepted method of treatment for stroke survivors, few studies have investigated how to adapt the robot/subject interaction forces in an automatic way. The paper is a feasibility study of a novel self-adaptive robot controller to be applied with continuous tracking movements. Methods The haptic robot Braccio di Ferro is used, in relation with a tracking task. The proposed control architecture is based on three main modules: 1) a force field generator that combines a non linear attractive field and a viscous field; 2) a performance evaluation module; 3) an adaptive controller. The first module operates in a continuous time fashion; the other two modules operate in an intermittent way and are triggered at the end of the current block of trials. The controller progressively decreases the gain of the force field, within a session, but operates in a non monotonic way between sessions: it remembers the minimum gain achieved in a session and propagates it to the next one, which starts with a block whose gain is greater than the previous one. The initial assistance gains are chosen according to a minimal assistance strategy. The scheme can also be applied with closed eyes in order to enhance the role of proprioception in learning and control. Results The preliminary results with a small group of patients (10 chronic hemiplegic subjects) show that the scheme is robust and promotes a statistically significant improvement in performance indicators as well as a recalibration of the visual and proprioceptive channels. The results confirm that the minimally assistive, self-adaptive strategy is well tolerated by severely impaired subjects and is beneficial also for less severe patients. Conclusions The experiments provide detailed information about the stability and robustness of the adaptive controller of robot assistance that could be quite relevant for the design of future large scale controlled clinical trials

  11. Effectiveness of Postgraduate Training for Learning Extraperitoneal Access for Robot-Assisted Radical Prostatectomy

    PubMed Central

    Achim, Mary; Munsell, Mark; Matin, Surena

    2011-01-01

    Abstract Purpose To determine the effectiveness of postgraduate training for learning extraperitoneal robot-assisted radical prostatectomy (EP-RARP) and to identify any unmet training needs. Materials and Methods The training resources used were live surgery observations, digital video disc instruction, postgraduate courses, and literature review. Modifications to the transperitoneal (TP) setup in equipment, patient positioning, port placement, and access technique were identified. A surgeon who had previous experience with 898 TP robot-assisted radical prostatectomies (TP-RARPs) performed EP-RARP in 30 patients. We evaluated setup results, emphasizing access-related difficulties, and compared the EP cohort with a nonrandomized, concurrent TP cohort of 62 patients for short-term outcomes. Results The median setup time for EP was 26 minutes (range 15–65 min) for EP compared with 14 to 17 minutes for the comparable TP setup and dropping the bladder. During EP setup and dissection, peritoneal entry occurred in 37%, incorrect port spacing in 10%, epigastric vessel injury in 10%, and other minor pitfalls in 10%. No significant differences were found between EP and TP in postsetup operative times, hospital stay, complications, surgical margin status with organ-confined disease, or lymph node dissection yield. EP had significantly higher estimated blood loss (300 vs 200 mL, P=0.001) and more symptomatic lymphoceles when extended pelvic lymph node dissection was performed (3/16 vs 0/47, P=0.001). Conclusions Using postgraduate education resources, an experienced TP-RARP surgeon successfully transitioned to EP-RARP, achieving the major objectives of safety and equivalent outcomes. We identified several minor nuances in the setup that need further refinement in future education models. PMID:21745117

  12. Robot-Assisted Proprioceptive Training with Added Vibro-Tactile Feedback Enhances Somatosensory and Motor Performance

    PubMed Central

    Cuppone, Anna Vera; Squeri, Valentina; Semprini, Marianna; Masia, Lorenzo; Konczak, Jürgen

    2016-01-01

    This study examined the trainability of the proprioceptive sense and explored the relationship between proprioception and motor learning. With vision blocked, human learners had to perform goal-directed wrist movements relying solely on proprioceptive/haptic cues to reach several haptically specified targets. One group received additional somatosensory movement error feedback in form of vibro-tactile cues applied to the skin of the forearm. We used a haptic robotic device for the wrist and implemented a 3-day training regimen that required learners to make spatially precise goal-directed wrist reaching movements without vision. We assessed whether training improved the acuity of the wrist joint position sense. In addition, we checked if sensory learning generalized to the motor domain and improved spatial precision of wrist tracking movements that were not trained. The main findings of the study are: First, proprioceptive acuity of the wrist joint position sense improved after training for the group that received the combined proprioceptive/haptic and vibro-tactile feedback (VTF). Second, training had no impact on the spatial accuracy of the untrained tracking task. However, learners who had received VTF significantly reduced their reliance on haptic guidance feedback when performing the untrained motor task. That is, concurrent VTF was highly salient movement feedback and obviated the need for haptic feedback. Third, VTF can be also provided by the limb not involved in the task. Learners who received VTF to the contralateral limb equally benefitted. In conclusion, somatosensory training can significantly enhance proprioceptive acuity within days when learning is coupled with vibro-tactile sensory cues that provide feedback about movement errors. The observable sensory improvements in proprioception facilitates motor learning and such learning may generalize to the sensorimotor control of the untrained motor tasks. The implications of these findings for

  13. Clinical Characteristics of Proper Robot-Assisted Gait Training Group in Non-ambulatory Subacute Stroke Patients

    PubMed Central

    Kim, Soo Jeong; Lee, Hye Jin; Hwang, Seung Won; Pyo, Hannah; Yang, Sung Phil; Lim, Mun-Hee; Park, Gyu Lee

    2016-01-01

    Objective To identify the clinical characteristics of proper robot-assisted gait training group using exoskeletal locomotor devices in non-ambulatory subacute stroke patients. Methods A total of 38 stroke patients were enrolled in a 4-week robotic training protocol (2 sessions/day, 5 times/week). All subjects were evaluated for their general characteristics, Functional Ambulatory Classification (FAC), Fugl-Meyer Scale (FMS), Berg Balance Scale (BBS), Modified Rankin Scale (MRS), Modified Barthel Index (MBI), and Mini-Mental Status Examination (MMSE) at 0, 2, and 4 weeks. Statistical analysis were performed to determine significant clinical characteristics for improvement of gait function after robot-assisted gait training. Results Paired t-test showed that all functional parameters except MMSE were improved significantly (p<0.05). The duration of disease and baseline BBS score were significantly (p<0.05) correlated with FAC score in multiple regression models. Receiver operating characteristic (ROC) curve showed that a baseline BBS score of '9' was a cutoff value (AUC, 0.966; sensitivity, 91%–100%; specificity, 85%). By repeated-measures ANOVA, the differences in improved walking ability according to time were significant between group of patients who had baseline BBS score of '9' and those who did not have baseline BBS score of '9' Conclusion Our results showed that a baseline BBS score above '9' and a short duration of disease were highly correlated with improved walking ability after robot-assisted gait training. Therefore, baseline BBS and duration of disease should be considered clinically for gaining walking ability in robot-assisted training group. PMID:27152266

  14. Effect of Robotic-Assisted Gait Training in Patients With Incomplete Spinal Cord Injury

    PubMed Central

    Shin, Ji Cheol; Kim, Ji Yong; Park, Han Kyul

    2014-01-01

    Objective To determine the effect of robotic-assisted gait training (RAGT) compared to conventional overground training. Methods Sixty patients with motor incomplete spinal cord injury (SCI) were included in a prospective, randomized clinical trial by comparing RAGT to conventional overground training. The RAGT group received RAGT three sessions per week at duration of 40 minutes with regular physiotherapy in 4 weeks. The conventional group underwent regular physiotherapy twice a day, 5 times a week. Main outcomes were lower extremity motor score of American Spinal Injury Association impairment scale (LEMS), ambulatory motor index (AMI), Spinal Cord Independence Measure III mobility section (SCIM3-M), and walking index for spinal cord injury version II (WISCI-II) scale. Results At the end of rehabilitation, both groups showed significant improvement in LEMS, AMI, SCIM3-M, and WISCI-II. Based on WISCI-II, statistically significant improvement was observed in the RAGT group. For the remaining variables, no difference was found. Conclusion RAGT combined with conventional physiotherapy could yield more improvement in ambulatory function than conventional therapy alone. RAGT should be considered as one additional tool to provide neuromuscular reeducation in patient with incomplete SCI. PMID:25566469

  15. Reduced knee hyperextension after wearing a robotic knee orthosis during gait training--a case study.

    PubMed

    Mao, Yurong; Lo, Wai Leung; Xu, Guangqing; Li, Leonard Sheungwai; Li, Le; Huang, Dongfeng

    2015-01-01

    This case study describes the effects of a wearable dynamic knee orthosis to supplement walking training in a patient suffering knee hyperextension. The subject was a 57-year old female who was 3.5 years post-brain tumor surgery. She was presented with impaired right lower extremity muscle performance, increased lower extremity muscle tension, and right knee hyperextension. She reported pain at the right knee joint and tibialis anterior after 10 minutes of over-ground walk. Fifteen one-hour sessions of gait training with robotic knee orthosis (RKO) were provided an over 3 weeks period. The subject demonstrated improvement with right lower limb kinematic and kinetic measures of gait. Peak flexion degree and moment increased (from -4.99° to 13.47°, and from 0.18 Nm/kg to 0.20 Nm/kg respectively).Extension peak moment decreased from 1.03 Nm/kg to 0.53 Nm/kg. Knee joint force decreased from 0.68 N to 0.45 N. Ground reaction force (GRF) reduced from 11.06N to 10.11N. Berg Balance Scale (BBS) improved from 45/56 to 51/56. No difference was observed in Fugl-Meyer Assessment of the Lower limb (FMA-LE) scores. Gait training that integrates an intention-based RKO for correcting knee hyperextension can be clinically effective. The persistence and generalizability of these results need to be further investigated.

  16. Robotics in medicine

    NASA Astrophysics Data System (ADS)

    Kuznetsov, D. N.; Syryamkin, V. I.

    2015-11-01

    Modern technologies play a very important role in our lives. It is hard to imagine how people can get along without personal computers, and companies - without powerful computer centers. Nowadays, many devices make modern medicine more effective. Medicine is developing constantly, so introduction of robots in this sector is a very promising activity. Advances in technology have influenced medicine greatly. Robotic surgery is now actively developing worldwide. Scientists have been carrying out research and practical attempts to create robotic surgeons for more than 20 years, since the mid-80s of the last century. Robotic assistants play an important role in modern medicine. This industry is new enough and is at the early stage of development; despite this, some developments already have worldwide application; they function successfully and bring invaluable help to employees of medical institutions. Today, doctors can perform operations that seemed impossible a few years ago. Such progress in medicine is due to many factors. First, modern operating rooms are equipped with up-to-date equipment, allowing doctors to make operations more accurately and with less risk to the patient. Second, technology has enabled to improve the quality of doctors' training. Various types of robots exist now: assistants, military robots, space, household and medical, of course. Further, we should make a detailed analysis of existing types of robots and their application. The purpose of the article is to illustrate the most popular types of robots used in medicine.

  17. Views of physiatrists and physical therapists on the use of gait-training robots for stroke patients.

    PubMed

    Kang, Chang Gu; Chun, Min Ho; Jang, Min Cheol; Kim, Won; Do, Kyung Hee

    2016-01-01

    [Purpose] Gait-training robots have been developed for stroke patients with gait disturbance. It is important to survey the views of physiatrists and physical therapists on the characteristics of these devices during their development. [Subjects and Methods] A total of 100 physiatrists and 100 physical therapists from 38 hospitals participated in our questionnaire survey. [Results] The most common answers about the merits of gait-training robots concern improving the treatment effects (28.5%), followed by standardizing treatment (19%), motivating patients about treatment (17%), and improving patients' self-esteem (14%). The subacute period (1-3 months post-stroke onset) was most often chosen as the ideal period (47.3%) for the use of these devices, and a functional ambulation classification of 0-2 was the most selected response for the optimal patient status (27%). The preferred model was the treadmill type (47.5%) over the overground walking type (40%). The most favored commercial price was $50,000-$100,000 (38.3%). The most selected optimal duration for robot-assisted gait therapy was 30-45 min (47%), followed by 15-30 min (29%), 45-60 min (18%), ≥ 60 min (5%), and < 15 min (1%). [Conclusion] Our study findings could guide the future designs of more effective gait-training robots for stroke patients. PMID:26957758

  18. Views of physiatrists and physical therapists on the use of gait-training robots for stroke patients.

    PubMed

    Kang, Chang Gu; Chun, Min Ho; Jang, Min Cheol; Kim, Won; Do, Kyung Hee

    2016-01-01

    [Purpose] Gait-training robots have been developed for stroke patients with gait disturbance. It is important to survey the views of physiatrists and physical therapists on the characteristics of these devices during their development. [Subjects and Methods] A total of 100 physiatrists and 100 physical therapists from 38 hospitals participated in our questionnaire survey. [Results] The most common answers about the merits of gait-training robots concern improving the treatment effects (28.5%), followed by standardizing treatment (19%), motivating patients about treatment (17%), and improving patients' self-esteem (14%). The subacute period (1-3 months post-stroke onset) was most often chosen as the ideal period (47.3%) for the use of these devices, and a functional ambulation classification of 0-2 was the most selected response for the optimal patient status (27%). The preferred model was the treadmill type (47.5%) over the overground walking type (40%). The most favored commercial price was $50,000-$100,000 (38.3%). The most selected optimal duration for robot-assisted gait therapy was 30-45 min (47%), followed by 15-30 min (29%), 45-60 min (18%), ≥ 60 min (5%), and < 15 min (1%). [Conclusion] Our study findings could guide the future designs of more effective gait-training robots for stroke patients.

  19. Views of physiatrists and physical therapists on the use of gait-training robots for stroke patients

    PubMed Central

    Kang, Chang Gu; Chun, Min Ho; Chang, Min Cheol; Kim, Won; Hee Do, Kyung

    2016-01-01

    [Purpose] Gait-training robots have been developed for stroke patients with gait disturbance. It is important to survey the views of physiatrists and physical therapists on the characteristics of these devices during their development. [Subjects and Methods] A total of 100 physiatrists and 100 physical therapists from 38 hospitals participated in our questionnaire survey. [Results] The most common answers about the merits of gait-training robots concern improving the treatment effects (28.5%), followed by standardizing treatment (19%), motivating patients about treatment (17%), and improving patients’ self-esteem (14%). The subacute period (1–3 months post-stroke onset) was most often chosen as the ideal period (47.3%) for the use of these devices, and a functional ambulation classification of 0–2 was the most selected response for the optimal patient status (27%). The preferred model was the treadmill type (47.5%) over the overground walking type (40%). The most favored commercial price was $50,000–$100,000 (38.3%). The most selected optimal duration for robot-assisted gait therapy was 30–45 min (47%), followed by 15–30 min (29%), 45–60 min (18%), ≥ 60 min (5%), and < 15 min (1%). [Conclusion] Our study findings could guide the future designs of more effective gait-training robots for stroke patients. PMID:26957758

  20. Robotics

    NASA Technical Reports Server (NTRS)

    Rothschild, Lynn J.

    2012-01-01

    Earth's upper atmosphere is an extreme environment: dry, cold, and irradiated. It is unknown whether our aerobiosphere is limited to the transport of life, or there exist organisms that grow and reproduce while airborne (aerophiles); the microenvironments of suspended particles may harbor life at otherwise uninhabited altitudes[2]. The existence of aerophiles would significantly expand the range of planets considered candidates for life by, for example, including the cooler clouds of a hot Venus-like planet. The X project is an effort to engineer a robotic exploration and biosampling payload for a comprehensive survey of Earth's aerobiology. While many one-shot samples have been retrieved from above 15 km, their results are primarily qualitative; variations in method confound comparisons, leaving such major gaps in our knowledge of aerobiology as quantification of populations at different strata and relative species counts[1]. These challenges and X's preliminary solutions are explicated below. X's primary balloon payload is undergoing a series of calibrations before beginning flights in Spring 2012. A suborbital launch is currently planned for Summer 2012. A series of ground samples taken in Winter 2011 is being used to establish baseline counts and identify likely background contaminants.

  1. User-centric design of a personal assistance robot (FRASIER) for active aging.

    PubMed

    Padir, Taşkin; Skorinko, Jeanine; Dimitrov, Velin

    2015-01-01

    We present our preliminary results from the design process for developing the Worcester Polytechnic Institute's personal assistance robot, FRASIER, as an intelligent service robot for enabling active aging. The robot capabilities include vision-based object detection, tracking the user and help with carrying heavy items such as grocery bags or cafeteria trays. This work-in-progress report outlines our motivation and approach to developing the next generation of service robots for the elderly. Our main contribution in this paper is the development of a set of specifications based on the adopted user-centered design process, and realization of the prototype system designed to meet these specifications. PMID:26737419

  2. User-centric design of a personal assistance robot (FRASIER) for active aging.

    PubMed

    Padir, Taşkin; Skorinko, Jeanine; Dimitrov, Velin

    2015-01-01

    We present our preliminary results from the design process for developing the Worcester Polytechnic Institute's personal assistance robot, FRASIER, as an intelligent service robot for enabling active aging. The robot capabilities include vision-based object detection, tracking the user and help with carrying heavy items such as grocery bags or cafeteria trays. This work-in-progress report outlines our motivation and approach to developing the next generation of service robots for the elderly. Our main contribution in this paper is the development of a set of specifications based on the adopted user-centered design process, and realization of the prototype system designed to meet these specifications.

  3. Non-robotic thoracoscopic internal mammary artery preparation in the pig. A training model.

    PubMed

    Demertzis, Stefanos D; Laschke, Matthias W; Siclari, Francesco P A; Menger, Michael D

    2008-08-01

    Notwithstanding non-robotic, thoracoscopic preparation of the internal mammary artery (IMA) is a difficult surgical task, an appropriate experimental training model is lacking. We evaluated the young domestic pig for this purpose. Four domestic female pigs (30-40 kg body weight) were used for this study. Bilateral thoracoscopic preparation of the IMA was carried out under continuous, pressure controlled CO(2) insufflation. A 30 degrees rigid thoracoscope was inserted through a 10-mm port in the 5th/6th intercostal space (ICS) dorsally to the posterior axillary line. The dissection instrument (Ultracision Harmonic Scalpel) was inserted (5-mm port) in the 7th ICS at the posterior axillary line and the endo-forceps (5-mm port) in the 5th ICS at the posterior axillary line. Thoracoscopic IMA preparation in pig resulted more difficult than in man. A total of seven IMAs were prepared in their full intrathoracic length. A change in the preparation technique (lateral detachment of the endothoracic muscle) improved the safety of the procedure, allowing all four respective IMAs to be prepared safely, while the initial technique ensued an injury for 2 out of 3 vessels. The described young domestic pig model is suitable for experimental training of bilateral thoracoscopic IMA preparation.

  4. Initial Work Toward A Robotically Assisted Extravehicular Activity Glove

    NASA Technical Reports Server (NTRS)

    Rogers, Jonathan M.; Peters, Benjamin J.; Laske, Evans A.; McBryan, Emily R.

    2016-01-01

    The Space Suit RoboGlove (SSRG) is a glove designed to provide additional grasp strength or endurance for an Extravehicular Activity (EVA) crew member, since a pressurized space suit gloved hand performance is a fraction of what the unencumbered human hand can achieve. There have been past efforts to improve space suit gloved hand performance by employing novel materials and construction techniques to the glove design, as well as integrating powered assistance devices into the gloves. These past efforts were not completely successful and the National Aeronautics and Space Administration (NASA) decided to develop a new glove based on the NASA/General Motors RoboGlove technology. The resulting SSRG used a unique approach to integrate the robotic actuators and sensors into a Phase VI EVA glove that resulted in a space suit glove that provided grasp augmentation to the user while the augmentation is activated, and also functioned as a normal glove when the augmentation is disabled. Care was taken to avoid adding excessive bulk to the glove or affecting tactility by choosing low-profile sensors and locating the actuators at a distance from the fingers. Conduits were used to guide robotic tendons from linear actuators, across the wrist, and to the fingers. The electromechanical design, softgoods integration, control system, and early test results of the first generation SSRG are presented in this paper. These early test results showed that this sensor integration did not impact tactile feedback in the glove and that the actuators provided potential for increased grip strength and reduction in grasp fatigue over time.

  5. A Robotic System for Actively Stiffening Flexible Manipulators

    PubMed Central

    Loschak, Paul M.; Burke, Stephen F.; Zumbro, Emiko; Forelli, Alexandra R.; Howe, Robert D.

    2015-01-01

    A system for actively changing the stiffness of a long, thin, flexible robotic manipulator has been designed for cardiologists to use in a range of diagnosis and treatment procedures. Low-stiffness manipulators, such as catheters, are ideal for steering through vasculature with low risk of tissue injury. However, such instruments are not well-suited for applying force to tissue. The proposed system solves this problem by using a series of bead-shaped vertebrae containing pull wires to actively change the stiffness of the catheter, similar to gooseneck surgical retractors. Individual wires steer the catheter to a desired location. All wires are then tensioned to create friction between each vertebra and prevent sliding, therefore resisting motion. While this design concept has been implemented manually in various settings for decades, fine robotic control of the friction and stiffness of the system relies on a thorough understanding of the friction properties between vertebral segments. We have developed an analytical model to understand the interactions between vertebrae and determine the relationships between system parameters and the overall stiffness of the catheter. Experiments validated the calculations from the model and the functionality of the system by applying known loads to the tip of the catheter and measuring the catheter displacement. The catheter stiffness was measured to range from 100 N/m to 800 N/m, which is sufficient for performing many surgical tasks on tissue. This system can be useful in minimally invasive procedures involving direct instrument contact with tissue by improving accuracy, safety, and work flow. PMID:26709364

  6. Using Haptic and Auditory Interaction Tools to Engage Students with Visual Impairments in Robot Programming Activities

    ERIC Educational Resources Information Center

    Howard, A. M.; Park, Chung Hyuk; Remy, S.

    2012-01-01

    The robotics field represents the integration of multiple facets of computer science and engineering. Robotics-based activities have been shown to encourage K-12 students to consider careers in computing and have even been adopted as part of core computer-science curriculum at a number of universities. Unfortunately, for students with visual…

  7. Active training paradigm for motor imagery BCI.

    PubMed

    Li, Junhua; Zhang, Liqing

    2012-06-01

    Brain-computer interface (BCI) allows the use of brain activities for people to directly communicate with the external world or to control external devices without participation of any peripheral nerves and muscles. Motor imagery is one of the most popular modes in the research field of brain-computer interface. Although motor imagery BCI has some advantages compared with other modes of BCI, such as asynchronization, it is necessary to require training sessions before using it. The performance of trained BCI system depends on the quality of training samples or the subject engagement. In order to improve training effect and decrease training time, we proposed a new paradigm where subjects participated in training more actively than in the traditional paradigm. In the traditional paradigm, a cue (to indicate what kind of motor imagery should be imagined during the current trial) is given to the subject at the beginning of a trial or during a trial, and this cue is also used as a label for this trial. It is usually assumed that labels for trials are accurate in the traditional paradigm, although subjects may not have performed the required or correct kind of motor imagery, and trials may thus be mislabeled. And then those mislabeled trials give rise to interference during model training. In our proposed paradigm, the subject is required to reconfirm the label and can correct the label when necessary. This active training paradigm may generate better training samples with fewer inconsistent labels because it overcomes mistakes when subject's motor imagination does not match the given cues. The experiments confirm that our proposed paradigm achieves better performance; the improvement is significant according to statistical analysis. PMID:22476215

  8. Effects of intensive arm training with the rehabilitation robot ARMin II in chronic stroke patients: four single-cases

    PubMed Central

    2009-01-01

    Background Robot-assisted therapy offers a promising approach to neurorehabilitation, particularly for severely to moderately impaired stroke patients. The objective of this study was to investigate the effects of intensive arm training on motor performance in four chronic stroke patients using the robot ARMin II. Methods ARMin II is an exoskeleton robot with six degrees of freedom (DOF) moving shoulder, elbow and wrist joints. Four volunteers with chronic (≥ 12 months post-stroke) left side hemi-paresis and different levels of motor severity were enrolled in the study. They received robot-assisted therapy over a period of eight weeks, three to four therapy sessions per week, each session of one hour. Patients 1 and 4 had four one-hour training sessions per week and patients 2 and 3 had three one-hour training sessions per week. Primary outcome variable was the Fugl-Meyer Score of the upper extremity Assessment (FMA), secondary outcomes were the Wolf Motor Function Test (WMFT), the Catherine Bergego Scale (CBS), the Maximal Voluntary Torques (MVTs) and a questionnaire about ADL-tasks, progress, changes, motivation etc. Results Three out of four patients showed significant improvements (p < 0.05) in the main outcome. The improvements in the FMA scores were aligned with the objective results of MVTs. Most improvements were maintained or even increased from discharge to the six-month follow-up. Conclusion Data clearly indicate that intensive arm therapy with the robot ARMin II can significantly improve motor function of the paretic arm in some stroke patients, even those in a chronic state. The findings of the study provide a basis for a subsequent controlled randomized clinical trial. PMID:20017939

  9. Influence of robotic shoal size, configuration, and activity on zebrafish behavior in a free-swimming environment.

    PubMed

    Butail, Sachit; Polverino, Giovanni; Phamduy, Paul; Del Sette, Fausto; Porfiri, Maurizio

    2014-12-15

    In animal studies, robots have been recently used as a valid tool for testing a wide spectrum of hypotheses. These robots often exploit visual or auditory cues to modulate animal behavior. The propensity of zebrafish, a model organism in biological studies, toward fish with similar color patterns and shape has been leveraged to design biologically inspired robots that successfully attract zebrafish in preference tests. With an aim of extending the application of such robots to field studies, here, we investigate the response of zebrafish to multiple robotic fish swimming at different speeds and in varying arrangements. A soft real-time multi-target tracking and control system remotely steers the robots in circular trajectories during the experimental trials. Our findings indicate a complex behavioral response of zebrafish to biologically inspired robots. More robots produce a significant change in salient measures of stress, with a fast robot swimming alone causing more freezing and erratic activity than two robots swimming slowly together. In addition, fish spend more time in the proximity of a robot when they swim far apart than when the robots swim close to each other. Increase in the number of robots also significantly alters the degree of alignment of fish motion with a robot. Results from this study are expected to advance our understanding of robot perception by live animals and aid in hypothesis-driven studies in unconstrained free-swimming environments. PMID:25239605

  10. Influence of robotic shoal size, configuration, and activity on zebrafish behavior in a free-swimming environment.

    PubMed

    Butail, Sachit; Polverino, Giovanni; Phamduy, Paul; Del Sette, Fausto; Porfiri, Maurizio

    2014-12-15

    In animal studies, robots have been recently used as a valid tool for testing a wide spectrum of hypotheses. These robots often exploit visual or auditory cues to modulate animal behavior. The propensity of zebrafish, a model organism in biological studies, toward fish with similar color patterns and shape has been leveraged to design biologically inspired robots that successfully attract zebrafish in preference tests. With an aim of extending the application of such robots to field studies, here, we investigate the response of zebrafish to multiple robotic fish swimming at different speeds and in varying arrangements. A soft real-time multi-target tracking and control system remotely steers the robots in circular trajectories during the experimental trials. Our findings indicate a complex behavioral response of zebrafish to biologically inspired robots. More robots produce a significant change in salient measures of stress, with a fast robot swimming alone causing more freezing and erratic activity than two robots swimming slowly together. In addition, fish spend more time in the proximity of a robot when they swim far apart than when the robots swim close to each other. Increase in the number of robots also significantly alters the degree of alignment of fish motion with a robot. Results from this study are expected to advance our understanding of robot perception by live animals and aid in hypothesis-driven studies in unconstrained free-swimming environments.

  11. Plasticity and alterations of trunk motor cortex following spinal cord injury and non-stepping robot and treadmill training.

    PubMed

    Oza, Chintan S; Giszter, Simon F

    2014-06-01

    Spinal cord injury (SCI) induces significant reorganization in the sensorimotor cortex. Trunk motor control is crucial for postural stability and propulsion after low thoracic SCI and several rehabilitative strategies are aimed at trunk stability and control. However little is known about the effect of SCI and rehabilitation training on trunk motor representations and their plasticity in the cortex. Here, we used intracortical microstimulation to examine the motor cortex representations of the trunk in relation to other representations in three groups of chronic adult complete low thoracic SCI rats: chronic untrained, treadmill trained (but 'non-stepping') and robot assisted treadmill trained (but 'non-stepping') and compared with a group of normal rats. Our results demonstrate extensive and significant reorganization of the trunk motor cortex after chronic adult SCI which includes (1) expansion and rostral displacement of trunk motor representations in the cortex, with the greatest significant increase observed for rostral (to injury) trunk, and slight but significant increase of motor representation for caudal (to injury) trunk at low thoracic levels in all spinalized rats; (2) significant changes in coactivation and the synergy representation (or map overlap) between different trunk muscles and between trunk and forelimb. No significant differences were observed between the groups of transected rats for the majority of the comparisons. However, (3) the treadmill and robot-treadmill trained groups of rats showed a further small but significant rostral migration of the trunk representations, beyond the shift caused by transection alone. We conclude that SCI induces a significant reorganization of the trunk motor cortex, which is not qualitatively altered by non-stepping treadmill training or non-stepping robot assisted treadmill training, but is shifted further from normal topography by the training. This shift may potentially make subsequent rehabilitation with

  12. Comparison of haptic guidance and error amplification robotic trainings for the learning of a timing-based motor task by healthy seniors.

    PubMed

    Bouchard, Amy E; Corriveau, Hélène; Milot, Marie-Hélène

    2015-01-01

    With age, a decline in the temporal aspect of movement is observed such as a longer movement execution time and a decreased timing accuracy. Robotic training can represent an interesting approach to help improve movement timing among the elderly. Two types of robotic training-haptic guidance (HG; demonstrating the correct movement for a better movement planning and improved execution of movement) and error amplification (EA; exaggerating movement errors to have a more rapid and complete learning) have been positively used in young healthy subjects to boost timing accuracy. For healthy seniors, only HG training has been used so far where significant and positive timing gains have been obtained. The goal of the study was to evaluate and compare the impact of both HG and EA robotic trainings on the improvement of seniors' movement timing. Thirty-two healthy seniors (mean age 68 ± 4 years) learned to play a pinball-like game by triggering a one-degree-of-freedom hand robot at the proper time to make a flipper move and direct a falling ball toward a randomly positioned target. During HG and EA robotic trainings, the subjects' timing errors were decreased and increased, respectively, based on the subjects' timing errors in initiating a movement. Results showed that only HG training benefited learning, but the improvement did not generalize to untrained targets. Also, age had no influence on the efficacy of HG robotic training, meaning that the oldest subjects did not benefit more from HG training than the younger senior subjects. Using HG to teach the correct timing of movement seems to be a good strategy to improve motor learning for the elderly as for younger people. However, more studies are needed to assess the long-term impact of HG robotic training on improvement in movement timing. PMID:25873868

  13. Comparison of haptic guidance and error amplification robotic trainings for the learning of a timing-based motor task by healthy seniors.

    PubMed

    Bouchard, Amy E; Corriveau, Hélène; Milot, Marie-Hélène

    2015-01-01

    With age, a decline in the temporal aspect of movement is observed such as a longer movement execution time and a decreased timing accuracy. Robotic training can represent an interesting approach to help improve movement timing among the elderly. Two types of robotic training-haptic guidance (HG; demonstrating the correct movement for a better movement planning and improved execution of movement) and error amplification (EA; exaggerating movement errors to have a more rapid and complete learning) have been positively used in young healthy subjects to boost timing accuracy. For healthy seniors, only HG training has been used so far where significant and positive timing gains have been obtained. The goal of the study was to evaluate and compare the impact of both HG and EA robotic trainings on the improvement of seniors' movement timing. Thirty-two healthy seniors (mean age 68 ± 4 years) learned to play a pinball-like game by triggering a one-degree-of-freedom hand robot at the proper time to make a flipper move and direct a falling ball toward a randomly positioned target. During HG and EA robotic trainings, the subjects' timing errors were decreased and increased, respectively, based on the subjects' timing errors in initiating a movement. Results showed that only HG training benefited learning, but the improvement did not generalize to untrained targets. Also, age had no influence on the efficacy of HG robotic training, meaning that the oldest subjects did not benefit more from HG training than the younger senior subjects. Using HG to teach the correct timing of movement seems to be a good strategy to improve motor learning for the elderly as for younger people. However, more studies are needed to assess the long-term impact of HG robotic training on improvement in movement timing.

  14. Urology residents experience comparable workload profiles when performing live porcine nephrectomies and robotic surgery virtual reality training modules.

    PubMed

    Mouraviev, Vladimir; Klein, Martina; Schommer, Eric; Thiel, David D; Samavedi, Srinivas; Kumar, Anup; Leveillee, Raymond J; Thomas, Raju; Pow-Sang, Julio M; Su, Li-Ming; Mui, Engy; Smith, Roger; Patel, Vipul

    2016-03-01

    In pursuit of improving the quality of residents' education, the Southeastern Section of the American Urological Association (SES AUA) hosts an annual robotic training course for its residents. The workshop involves performing a robotic live porcine nephrectomy as well as virtual reality robotic training modules. The aim of this study was to evaluate workload levels of urology residents when performing a live porcine nephrectomy and the virtual reality robotic surgery training modules employed during this workshop. Twenty-one residents from 14 SES AUA programs participated in 2015. On the first-day residents were taught with didactic lectures by faculty. On the second day, trainees were divided into two groups. Half were asked to perform training modules of the Mimic da Vinci-Trainer (MdVT, Mimic Technologies, Inc., Seattle, WA, USA) for 4 h, while the other half performed nephrectomy procedures on a live porcine model using the da Vinci Si robot (Intuitive Surgical Inc., Sunnyvale, CA, USA). After the first 4 h the groups changed places for another 4-h session. All trainees were asked to complete the NASA-TLX 1-page questionnaire following both the MdVT simulation and live animal model sessions. A significant interface and TLX interaction was observed. The interface by TLX interaction was further analyzed to determine whether the scores of each of the six TLX scales varied across the two interfaces. The means of the TLX scores observed at the two interfaces were similar. The only significant difference was observed for frustration, which was significantly higher at the simulation than the animal model, t (20) = 4.12, p = 0.001. This could be due to trainees' familiarity with live anatomical structures over skill set simulations which remain a real challenge to novice surgeons. Another reason might be that the simulator provides performance metrics for specific performance traits as well as composite scores for entire exercises. Novice trainees experienced

  15. Urology residents experience comparable workload profiles when performing live porcine nephrectomies and robotic surgery virtual reality training modules.

    PubMed

    Mouraviev, Vladimir; Klein, Martina; Schommer, Eric; Thiel, David D; Samavedi, Srinivas; Kumar, Anup; Leveillee, Raymond J; Thomas, Raju; Pow-Sang, Julio M; Su, Li-Ming; Mui, Engy; Smith, Roger; Patel, Vipul

    2016-03-01

    In pursuit of improving the quality of residents' education, the Southeastern Section of the American Urological Association (SES AUA) hosts an annual robotic training course for its residents. The workshop involves performing a robotic live porcine nephrectomy as well as virtual reality robotic training modules. The aim of this study was to evaluate workload levels of urology residents when performing a live porcine nephrectomy and the virtual reality robotic surgery training modules employed during this workshop. Twenty-one residents from 14 SES AUA programs participated in 2015. On the first-day residents were taught with didactic lectures by faculty. On the second day, trainees were divided into two groups. Half were asked to perform training modules of the Mimic da Vinci-Trainer (MdVT, Mimic Technologies, Inc., Seattle, WA, USA) for 4 h, while the other half performed nephrectomy procedures on a live porcine model using the da Vinci Si robot (Intuitive Surgical Inc., Sunnyvale, CA, USA). After the first 4 h the groups changed places for another 4-h session. All trainees were asked to complete the NASA-TLX 1-page questionnaire following both the MdVT simulation and live animal model sessions. A significant interface and TLX interaction was observed. The interface by TLX interaction was further analyzed to determine whether the scores of each of the six TLX scales varied across the two interfaces. The means of the TLX scores observed at the two interfaces were similar. The only significant difference was observed for frustration, which was significantly higher at the simulation than the animal model, t (20) = 4.12, p = 0.001. This could be due to trainees' familiarity with live anatomical structures over skill set simulations which remain a real challenge to novice surgeons. Another reason might be that the simulator provides performance metrics for specific performance traits as well as composite scores for entire exercises. Novice trainees experienced

  16. Visual perception and grasping for the extravehicular activity robot

    NASA Technical Reports Server (NTRS)

    Starks, Scott A.

    1989-01-01

    The development of an approach to the visual perception of object surface information using laser range data in support of robotic grasping is discussed. This is a very important problem area in that a robot such as the EVAR must be able to formulate a grasping strategy on the basis of its knowledge of the surface structure of the object. A description of the problem domain is given as well as a formulation of an algorithm which derives an object surface description adequate to support robotic grasping. The algorithm is based upon concepts of differential geometry namely, Gaussian and mean curvature.

  17. The effect of timing electrical stimulation to robotic-assisted stepping on neuromuscular activity and associated kinematics.

    PubMed

    Askari, Sina; Chao, TeKang; de Leon, Ray D; Won, Deborah S

    2013-01-01

    Results of previous studies raise the question of how timing neuromuscular functional electrical stimulation (FES) to limb movements during stepping might alter neuromuscular control differently than patterned stimulation alone. We have developed a prototype FES system for a rodent model of spinal cord injury (SCI) that times FES to robotic treadmill training (RTT). In this study, one group of rats (n = 6) was trained with our FES+RTT system and received stimulation of the ankle flexor (tibialis anterior [TA]) muscle timed according to robot-controlled hind-limb position (FES+RTT group); a second group (n = 5) received a similarly patterned stimulation, randomly timed with respect to the rats' hind-limb movements, while they were in their cages (randomly timed stimulation [RS] group). After 4 wk of training, we tested treadmill stepping ability and compared kinematic measures of hind-limb movement and electromyography (EMG) activity in the TA. The FES+RTT group stepped faster and exhibited TA EMG profiles that better matched the applied stimulation profile during training than the RS group. The shape of the EMG profile was assessed by "gamma," a measure that quantified the concentration of EMG activity during the early swing phase of the gait cycle. This gamma measure was 112% higher for the FES+RTT group than for the RS group. The FES+RTT group exhibited burst-to-step latencies that were 41% shorter and correspondingly exhibited a greater tendency to perform ankle flexion movements during stepping than the RS group, as measured by the percentage of time the hind limb was either dragging or in withdrawal. The results from this study support the hypothesis that locomotor training consisting of FES timed to hind-limb movement improves the activation of hind-limb muscle more so than RS alone. Our rodent FES+RTT system can serve as a tool to help further develop this combined therapy to target appropriate neurophysiological changes for locomotor control.

  18. Extravehicular activity training and hardware design consideration.

    PubMed

    Thuot, P J; Harbaugh, G J

    1995-07-01

    Preparing astronauts to perform the many complex extravehicular activity (EVA) tasks required to assemble and maintain Space Station will be accomplished through training simulations in a variety of facilities. The adequacy of this training is dependent on a thorough understanding of the task to be performed, the environment in which the task will be performed, high-fidelity training hardware and an awareness of the limitations of each particular training facility. Designing hardware that can be successfully operated, or assembled, by EVA astronauts in an efficient manner, requires an acute understanding of human factors and the capabilities and limitations of the space-suited astronaut. Additionally, the significant effect the microgravity environment has on the crew members' capabilities has to be carefully considered not only for each particular task, but also for all the overhead related to the task and the general overhead associated with EVA. This paper will describe various training methods and facilities that will be used to train EVA astronauts for Space Station assembly and maintenance. User-friendly EVA hardware design considerations and recent EVA flight experience will also be presented. PMID:11541312

  19. Extravehicular activity training and hardware design consideration.

    PubMed

    Thuot, P J; Harbaugh, G J

    1995-07-01

    Preparing astronauts to perform the many complex extravehicular activity (EVA) tasks required to assemble and maintain Space Station will be accomplished through training simulations in a variety of facilities. The adequacy of this training is dependent on a thorough understanding of the task to be performed, the environment in which the task will be performed, high-fidelity training hardware and an awareness of the limitations of each particular training facility. Designing hardware that can be successfully operated, or assembled, by EVA astronauts in an efficient manner, requires an acute understanding of human factors and the capabilities and limitations of the space-suited astronaut. Additionally, the significant effect the microgravity environment has on the crew members' capabilities has to be carefully considered not only for each particular task, but also for all the overhead related to the task and the general overhead associated with EVA. This paper will describe various training methods and facilities that will be used to train EVA astronauts for Space Station assembly and maintenance. User-friendly EVA hardware design considerations and recent EVA flight experience will also be presented.

  20. United States Army Training and Doctrine Command (TRADOC) - artificial intelligence and robotics symposium

    SciTech Connect

    Not Available

    1985-01-01

    Various papers on artificial intelligence and robotics and their applications for the US Army are presented. Topics include US Army robotics development directions; mobile robots for surveillance, reconnaissance, and manipulative missions in hazardous environments; technology development in intelligent machine systems; control of a multi-robot process line using AI; land vehicles; remote control weapons platforms; expert systems for logistic analysis. Also addressed are software architecture for real-time, embedded expert systems; knowledge integrity maintenance; embedding AI systems into command and control; a natural language understanding system for maneuver control; and a design of a generic intelligent trainer.

  1. Nanometer precision robot for active photonics alignment using INCHWORM motors

    NASA Astrophysics Data System (ADS)

    Henderson, David A.; Ragona, Sid P.

    2001-05-01

    To keep pace with the increasing demand for higher throughput, lower cost per unit and tighter specifications, manufacturers of fiber optic devices are now looking towards a new generation of automated alignment tools. The ideal alignment tool has six degrees-of-freedom (DOF), (X,Y,Z, Yaw, Pitch, Roll) repeatability better than 50 nanometers, travel greater than 10 millimeters and is fully automated. In this paper we describe the use of INCHWORM motor technology to produce a new nano-robotic system that demonstrates a major advancement toward the ideal photonics alignment tool. The INCHWORM actuator is uniquely suited to provide nanometer resolution movements over tens of millimeters of range with very high stiffness and stability. The clamp-extend-clamp-retract stepping sequence produces direct linear motion with no backlash. INCHWORM motors are integrated in cross roller bearing stages to achieve 20 nanometer and 0.1 arc second closed-loop resolution. The high stiffness and stability of the solid-state piezoelectric actuators hold position to a single count on a glass scale encoder while generating zero heat. Mounting fixtures hold optical elements so that their geometric centers coincide with the virtual point of rotation. Active alignment processes for selected photonics components, as well as intensity maps of components are presented.

  2. Exercise, training and neutrophil microbicidal activity.

    PubMed

    Smith, J A; Telford, R D; Mason, I B; Weidemann, M J

    1990-06-01

    The concentration in human plasma of putative neutrophil-"priming" cytokines like endogenous pyrogens is known to increase significantly in response to moderate exercise (11). This is characteristic of an acute-phase response. The ability of blood neutrophils isolated from both trained and untrained human subjects (n = 11, 9) to produce microbicidal reactive oxygen species was determined using luminol-enhanced chemiluminescence both before and after one hour of aerobic exercise at 60% VO2max. Irrespective of training and stimulus concentration, exercise nearly always caused significant "priming" of the capacity of neutrophils to produce H2O2 and HOCl upon stimulation with opsonized zymosan (P less than 0.01); however, compared to their untrained counterparts, the activity of cells isolated from trained individuals was depressed about 50% at unit stimulus concentration, both before and after exercise (P less than 0.075), whilst remaining unaltered at saturating concentrations. Although neutrophil oxygenation activity is only one parameter that contributes to immunological status, regular episodes of moderate exercise may increase resistance to infection by priming the "killing capacity" of neutrophils. In contrast, prolonged periods of intensive training may lead to increased susceptibility to common infections by diminishing this activity. PMID:2115507

  3. Guide to good practices for line and training manager activities

    SciTech Connect

    1998-06-01

    The purpose of this guide is to provide direction for line and training managers in carrying out their responsibilities for training and qualifying personnel and to verify that existing training activities are effective.

  4. A robotic gait training system integrating split-belt treadmill, footprint sensing and synchronous EEG recording for neuro-motor recovery.

    PubMed

    Liu, Yi-Hung; Zhang, Bo; Liu, Quanquan; Hsu, Wei-Chun; Hsiao, Yu-Tsung; Su, Jui-Yiao; Kobayashi, Yo; Fujie, Masakatsu G

    2015-08-01

    This paper presents a robotic gait training system for neuro-motor rehabilitation of hemiplegic stroke survivors. The system is composed of a treadmill consisting of two separated belts, footprint array sensor attached below each belt for gait data acquisition, and an electroencephalography (EEG) device for monitoring brain activities during gait training. The split belt treadmill allow physical therapists to set different treadmill belt velocities to modify physical workload of the patients during walking, thus being able to better improve the symmetry of gait phases between affected and unaffected (sound) legs in comparison with conventional treadmills where there is only one single belt. In contrast to in-shoe pressure sensors, the under-belt footprint sensor array designed in this study not only reduces the preparation complexity of gait training but also collects more gait data for motion analysis. Recorded EEG is segmented synchronously with gait-related events. The processed EEG data can be used for monitoring brain-activities during gait training, providing a neurological approach for motion assessment. One subject with simulated stroke using an ankle-foot orthosis participated in this study. Preliminary results indicate the feasibility of the proposed system to improve gait function and monitor neuro-motor recovery.

  5. Evaluation of the autonomic response in healthy subjects during treadmill training with assistance of a robot-driven gait orthosis.

    PubMed

    Magagnin, Valentina; Porta, Alberto; Fusini, Laura; Licari, Vittorio; Bo, Ivano; Turiel, Maurizio; Molteni, Franco; Cerutti, Sergio; Caiani, Enrico G

    2009-04-01

    Body weight supported treadmill training assisted with a robotic driven gait orthosis is an emerging clinical tool helpful to restore gait in individuals with loss of motor skills. However, the autonomic response during this rehabilitation protocol is not known. The aim of the study was to evaluate the autonomic response during a routine protocol of motor rehabilitation through spectral and symbolic analyses of short-term heart rate variability in a group of 20 healthy subjects (11 men, mean age 25+/-3.8 years). The protocol included the following phases: (1) sitting position; (2) standing position; (3) suspension during subject instrumentation; (4 and 5) robotic-assisted treadmill locomotion at 1.5km/h and 2.5km/h respectively with partial body weight support; (6) standing recovery after exercise. Results showed a significant tachycardia associated with the reduction in variance during the suspended phase of the protocol compared to the sitting position. Spectral analysis did not demonstrate any significant autonomic response during the entire protocol, while symbolic analysis detected an increase in sympathetic modulation during body suspension and an increase of vagal modulation during walking. These results could be used to improve understanding of the cardiovascular effects of rehabilitation in subjects undergoing robotic driven gait orthosis treadmill training.

  6. Dimensionality Reduction in Controlling Articulated Snake Robot for Endoscopy Under Dynamic Active Constraints

    PubMed Central

    Kwok, Ka-Wai; Tsoi, Kuen Hung; Vitiello, Valentina; Clark, James; Chow, Gary C. T.; Luk, Wayne; Yang, Guang-Zhong

    2014-01-01

    This paper presents a real-time control framework for a snake robot with hyper-kinematic redundancy under dynamic active constraints for minimally invasive surgery. A proximity query (PQ) formulation is proposed to compute the deviation of the robot motion from predefined anatomical constraints. The proposed method is generic and can be applied to any snake robot represented as a set of control vertices. The proposed PQ formulation is implemented on a graphic processing unit, allowing for fast updates over 1 kHz. We also demonstrate that the robot joint space can be characterized into lower dimensional space for smooth articulation. A novel motion parameterization scheme in polar coordinates is proposed to describe the transition of motion, thus allowing for direct manual control of the robot using standard interface devices with limited degrees of freedom. Under the proposed framework, the correct alignment between the visual and motor axes is ensured, and haptic guidance is provided to prevent excessive force applied to the tissue by the robot body. A resistance force is further incorporated to enhance smooth pursuit movement matched to the dynamic response and actuation limit of the robot. To demonstrate the practical value of the proposed platform with enhanced ergonomic control, detailed quantitative performance evaluation was conducted on a group of subjects performing simulated intraluminal and intracavity endoscopic tasks. PMID:24741371

  7. Dimensionality Reduction in Controlling Articulated Snake Robot for Endoscopy Under Dynamic Active Constraints.

    PubMed

    Kwok, Ka-Wai; Tsoi, Kuen Hung; Vitiello, Valentina; Clark, James; Chow, Gary C T; Luk, Wayne; Yang, Guang-Zhong

    2013-02-01

    This paper presents a real-time control framework for a snake robot with hyper-kinematic redundancy under dynamic active constraints for minimally invasive surgery. A proximity query (PQ) formulation is proposed to compute the deviation of the robot motion from predefined anatomical constraints. The proposed method is generic and can be applied to any snake robot represented as a set of control vertices. The proposed PQ formulation is implemented on a graphic processing unit, allowing for fast updates over 1 kHz. We also demonstrate that the robot joint space can be characterized into lower dimensional space for smooth articulation. A novel motion parameterization scheme in polar coordinates is proposed to describe the transition of motion, thus allowing for direct manual control of the robot using standard interface devices with limited degrees of freedom. Under the proposed framework, the correct alignment between the visual and motor axes is ensured, and haptic guidance is provided to prevent excessive force applied to the tissue by the robot body. A resistance force is further incorporated to enhance smooth pursuit movement matched to the dynamic response and actuation limit of the robot. To demonstrate the practical value of the proposed platform with enhanced ergonomic control, detailed quantitative performance evaluation was conducted on a group of subjects performing simulated intraluminal and intracavity endoscopic tasks.

  8. 20 CFR 632.78 - Training activities.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... remedial education, GED, training in the primary language of persons with limited English-speaking proficiency, or English-as-a-second-language training. (b) On-the-job training. (1) On-the-job training...

  9. A novel robot training system designed to supplement upper limb physiotherapy of patients with spastic hemiparesis.

    PubMed

    Fazekas, Gabor; Horvath, Monika; Toth, Andras

    2006-09-01

    Spasticity is velocity and acceleration dependent, and it is therefore important to execute physiotherapeutic exercises at a relatively low and constant velocity. This can be more accurately managed by a robot than by a person when such exercises are administered continuously for more than 15-20 min. The purpose of this project was to construct a robot-mediated system that could support upper limb physiotherapy of patients with spastic hemiparesis. The system, unlike any known robotic therapeutic system, uses unmodified industrial robots to carry out passive physiotherapy on the upper limb (including the movements of the shoulder and the elbow). An initial trial was executed in order to assess its safety and to gain experience of the robot-mediated therapy. Four healthy subjects and eight patients with spastic hemiparesis were included. Each subject received 30-min-long robotic physiotherapy sessions over 20 consecutive workdays. The 12 participants received, in total, 240 robot-mediated physiotherapeutic sessions. No dangerous situation or considerable technical problem occurred; the robots executed the therapy programme as intended. Investigation of the effectiveness of this kind of therapy was not an aim of this initial trial; however, the patients' clinical status was followed and some favourable changes were found regarding the spasticity of elbow flexors and shoulder abductors. According to the experiences of the first clinical investigation, the programming interface and the mechanical interface device between the patient and the robots had been improved. A controlled clinical study is under way to assess the effectiveness of the REHAROB movement therapy.

  10. Influence of complementing a robotic upper limb rehabilitation system with video games on the engagement of the participants: a study focusing on muscle activities.

    PubMed

    Li, Chong; Rusák, Zoltán; Horváth, Imre; Ji, Linhong

    2014-12-01

    Efficacious stroke rehabilitation depends not only on patients' medical treatment but also on their motivation and engagement during rehabilitation exercises. Although traditional rehabilitation exercises are often mundane, technology-assisted upper-limb robotic training can provide engaging and task-oriented training in a natural environment. The factors that influence engagement, however, are not fully understood. This paper therefore studies the relationship between engagement and muscle activities as well as the influencing factors of engagement. To this end, an experiment was conducted using a robotic upper limb rehabilitation system with healthy individuals in three training exercises: (a) a traditional exercise, which is typically used for training the grasping function, (b) a tracking exercise, currently used in robot-assisted stroke patient rehabilitation for fine motor movement, and (c) a video game exercise, which is a proliferating approach of robot-assisted rehabilitation enabling high-level active engagement of stroke patients. These exercises differ not only in the characteristics of the motion that they use but also in their method of triggering engagement. To measure the level of engagement, we used facial expressions, motion analysis of the arm movements, and electromyography. The results show that (a) the video game exercise could engage the participants for a longer period than the other two exercises, (b) the engagement level decreased when the participants became too familiar with the exercises, and (c) analysis of normalized root mean square in electromyographic data indicated that muscle activities were more intense when the participants are engaged. This study shows that several sub-factors on engagement, such as versatility of feedback, cognitive tasks, and competitiveness, may influence engagement more than the others. To maintain a high level of engagement, the rehabilitation system needs to be adaptive, providing different exercises to

  11. Influence of complementing a robotic upper limb rehabilitation system with video games on the engagement of the participants: a study focusing on muscle activities.

    PubMed

    Li, Chong; Rusák, Zoltán; Horváth, Imre; Ji, Linhong

    2014-12-01

    Efficacious stroke rehabilitation depends not only on patients' medical treatment but also on their motivation and engagement during rehabilitation exercises. Although traditional rehabilitation exercises are often mundane, technology-assisted upper-limb robotic training can provide engaging and task-oriented training in a natural environment. The factors that influence engagement, however, are not fully understood. This paper therefore studies the relationship between engagement and muscle activities as well as the influencing factors of engagement. To this end, an experiment was conducted using a robotic upper limb rehabilitation system with healthy individuals in three training exercises: (a) a traditional exercise, which is typically used for training the grasping function, (b) a tracking exercise, currently used in robot-assisted stroke patient rehabilitation for fine motor movement, and (c) a video game exercise, which is a proliferating approach of robot-assisted rehabilitation enabling high-level active engagement of stroke patients. These exercises differ not only in the characteristics of the motion that they use but also in their method of triggering engagement. To measure the level of engagement, we used facial expressions, motion analysis of the arm movements, and electromyography. The results show that (a) the video game exercise could engage the participants for a longer period than the other two exercises, (b) the engagement level decreased when the participants became too familiar with the exercises, and (c) analysis of normalized root mean square in electromyographic data indicated that muscle activities were more intense when the participants are engaged. This study shows that several sub-factors on engagement, such as versatility of feedback, cognitive tasks, and competitiveness, may influence engagement more than the others. To maintain a high level of engagement, the rehabilitation system needs to be adaptive, providing different exercises to

  12. Comparing Single and Dual Console Systems in the Robotic Surgical Training of Graduating OB/GYN Residents in the United States

    PubMed Central

    Mikhail, Emad; Salemi, Jason L.; Hart, Stuart; Imudia, Anthony N.

    2016-01-01

    Objective. To assess the impact of a single versus dual console robotic system on the perceptions of program directors (PD) and residents (RES) towards robotic surgical training among graduating obstetrics and gynecology residents. Design. An anonymous survey was developed using Qualtrics, a web-based survey development and administration system, and sent to obstetrics and gynecology program directors and graduating residents. Participants. 39 program directors and 32 graduating residents (PGY4). Results. According to residents perception, dual console is utilized in about 70% of the respondents' programs. Dual console system programs were more likely to provide a robotics training certificate compared to single console programs (43.5% versus 0%, p = 0.03). A greater proportion of residents graduating from a dual console program perform more than 20 robotic-assisted total laparoscopic hysterectomies, 30% versus 0% (p = 0.15). Conclusions. Utilization of dual console system increased the likelihood of obtaining robotic training certification without significantly increasing the case volume of robotic-assisted total laparoscopic hysterectomy. PMID:26955485

  13. Visual sensor fusion for active security in robotic industrial environments

    NASA Astrophysics Data System (ADS)

    Robla, Sandra; Llata, Jose R.; Torre-Ferrero, Carlos; Sarabia, Esther G.; Becerra, Victor; Perez-Oria, Juan

    2014-12-01

    This work presents a method of information fusion involving data captured by both a standard charge-coupled device (CCD) camera and a time-of-flight (ToF) camera to be used in the detection of the proximity between a manipulator robot and a human. Both cameras are assumed to be located above the work area of an industrial robot. The fusion of colour images and time-of-flight information makes it possible to know the 3D localization of objects with respect to a world coordinate system. At the same time, this allows to know their colour information. Considering that ToF information given by the range camera contains innacuracies including distance error, border error, and pixel saturation, some corrections over the ToF information are proposed and developed to improve the results. The proposed fusion method uses the calibration parameters of both cameras to reproject 3D ToF points, expressed in a common coordinate system for both cameras and a robot arm, in 2D colour images. In addition to this, using the 3D information, the motion detection in a robot industrial environment is achieved, and the fusion of information is applied to the foreground objects previously detected. This combination of information results in a matrix that links colour and 3D information, giving the possibility of characterising the object by its colour in addition to its 3D localisation. Further development of these methods will make it possible to identify objects and their position in the real world and to use this information to prevent possible collisions between the robot and such objects.

  14. Dry box training with three-dimensional vision for the assistant surgeon in robot-assisted urological surgery.

    PubMed

    Hinata, Nobuyuki; Iwamoto, Hideto; Morizane, Shuichi; Hikita, Katsuya; Yao, Akihisa; Muraoka, Kuniyasu; Honda, Masashi; Isoyama, Tadahiro; Sejima, Takehiro; Takenaka, Atsushi

    2013-10-01

    We analyzed whether three-dimensional vision, practice or previous laparoscopic experience improves the surgical performance of the bedside assistant during robot-assisted surgery. Six experienced laparoscopic surgeons and 15 novices carried out three skills drills imitating an assistant's maneuvers in robot-assisted surgery, and times for completing the tasks were recorded. Both the novice and experienced groups showed significantly shorter manipulation times for each drill with three-dimensional vision compared with two-dimensional or glassless three-dimensional vision. The experienced group showed significantly shorter manipulation times than the novice group for all types of vision. A significant improvement was observed 14 out of 18 times in the novice group, but only one out of 18 times in the experienced group. We can conclude that the use of three-dimensional visualization facilitates the performance of the assistant surgeon, especially if a novice, during robot-assisted surgery. Laparoscopic experience also improves the performance, whereas training is beneficial for novice assistant surgeons before carrying out actual operations.

  15. Training volume, androgen use and serum creatine kinase activity.

    PubMed

    Häkkinen, K; Alén, M

    1989-09-01

    Serum creatine kinase (CK) activities were investigated in elite male strength athletes (n = 20) during normal weight training and bodybuilding training (one training session per day), during high volume strength training (two sessions per day) and during strength training (one session per day) with the use of high dose synthetic androgens (five athletes in each subgroup). The findings demonstrated that the increase in serum CK was highest in the subgroup using androgens. These results suggest that strength training with the use of androgenic steroids leads to higher serum CK activities than normal strength training.

  16. Muscle activation during lower body resistance training.

    PubMed

    Ebben, W P; Feldmann, C R; Dayne, A; Mitsche, D; Alexander, P; Knetzger, K J

    2009-01-01

    This study evaluated the biceps femoris (BF), rectus femoris (RF), and vastus lateralis (VL) activation and activation ratios of a variety of resistance training exercises characterized by knee extension, and determined if subject strength or gender affects these variables. The exercises evaluated included the leg extension, squat, deadlift, lunge, and step up. Subjects included 20 athletes and recreationally active college students. Electromyography (EMG) of the muscles expressed as a percentage of maximum voluntary isometric contraction (MVIC), as well as the BF to RF and BF to VL EMG ratio, were determined for each exercise. There was no significant interaction between gender and exercise type for the RMS EMG of the BF (p = 0.67), RF (p = 0.53), or VL (p = 0.06). Main effects were found for the RMS EMG of the BF (p = 0.00), RF (p = 0.00), and VL (p = 0.00), as well as the RMS EMG of the BF to RF activation ratio (p = 0.00) and BF to VL activation ratios (p = 0.003), between exercises. Peak RMS EMG was also assessed. Post hoc analysis identified specific differences in muscle activation and ratios between exercises. Clinicians should consider the magnitude of muscle activation and activation ratios when prescribing hamstring and quadriceps exercises. PMID:18975260

  17. An Assessment of the State of the Art of Curriculum Materials and a Status Assessment of Training Programs for Robotics/Automated Systems Technicians. Task Analysis and Descriptions of Required Job Competencies of Robotics/Automated Systems Technicians.

    ERIC Educational Resources Information Center

    Hull, Daniel M.; Lovett, James E.

    This report presents the results of research conducted to determine the current state of the art of robotics/automated systems technician (RAST) training offered in the United States. Section I discusses the RAST curriculum project, of which this state-of-the-art review is a part, and offers a RAST job description. Section II describes the…

  18. Clinical application of a robotic ankle training program for cerebral palsy compared to the research laboratory application: Does it translate to practice?

    PubMed Central

    Sukal-Moulton, Theresa; Clancy, Theresa; Zhang, Li-Qun; Gaebler-Spira, Deborah

    2014-01-01

    Objective To determine the clinical efficacy of an ankle robotic rehabilitation protocol for patients with cerebral palsy. Design The clinic cohort was identified from a retrospective chart review in a before-after intervention trial design and compared to a previously published prospective research cohort. Setting Urban rehabilitation hospital outpatient clinic. Participants Children (n=28, 8.2 ± 3.62 years) with Gross Motor Function Classification System level I, II or III who were referred for ankle stretching and strengthening used an ankle rehabilitation robot in the clinic setting. Clinic results were compared to a previously published cohort of 12 participants (7.8 ± 2.91 years) seen in a research laboratory-based intervention protocol. Interventions Patients in the clinic cohort were seen 2 times per week for 75 minute sessions for a total of 6 weeks. The first 30 minutes of the session was spent using the robotic ankle device for ankle stretching and strengthening and the remaining 45 minutes were spent on functional movement activities. There was no control group. Main Outcome Measures We compared pre- and post-intervention measures of plantarflexor and dorsiflexor range of motion, strength, spasticity, mobility (timed up and go, 6-minute walk, 10-meter walk), balance (Pediatric Balance Scale), Selective Motor Control Assessment of the Lower Extremity (SCALE), and the Gross Motor Function Measure (GMFM). Results Significant improvements were found for the clinic cohort in all main outcome measures except for the GMFM. These improvements were equivalent to those reported in the research cohort, except for larger SCALE test changes in the research cohort. Conclusion These findings suggest that translation of repetitive, goal directed biofeedback training into the clinic setting is both feasible and beneficial for patients with cerebral palsy. PMID:24792141

  19. Periodic activations of behaviours and emotional adaptation in behaviour-based robotics

    NASA Astrophysics Data System (ADS)

    Burattini, Ernesto; Rossi, Silvia

    2010-09-01

    The possible modulatory influence of motivations and emotions is of great interest in designing robotic adaptive systems. In this paper, an attempt is made to connect the concept of periodic behaviour activations to emotional modulation, in order to link the variability of behaviours to the circumstances in which they are activated. The impact of emotion is studied, described as timed controlled structures, on simple but conflicting reactive behaviours. Through this approach it is shown that the introduction of such asynchronies in the robot control system may lead to an adaptation in the emergent behaviour without having an explicit action selection mechanism. The emergent behaviours of a simple robot designed with both a parallel and a hierarchical architecture are evaluated and compared.

  20. Performance of daily activities by older adults with dementia: the role of an assistive robot.

    PubMed

    Begum, Momotaz; Wang, Rosalie; Huq, Rajibul; Mihailidis, Alex

    2013-06-01

    Older adults with cognitive impairment often have difficulties in remembering the proper sequence of activities of daily living (ADLs) or how to use the tools necessary to perform ADLs. They, therefore, require reminders in a timely fashion while performing ADLs. This is a very stressful situation for the caregivers of people with dementia. In this paper we describe a pilot study where a tele-operated assistive robot helps a group of older adults with dementia (OAwD) to perform an ADL, namely making a cup of tea in the kitchen. Five OAwD along with their caregivers participated in this study which took place in a simulated-home setting. The purpose of this study was to investigate the feasibility and usability of a robotic system in assisting the OAwD to perform ADL in a home setting. The findings from this study will contribute to achieve our ultimate goal of designing a full-fledged assistive robot that assists OAwD aging in their own homes. The assistive robots designed for people with dementia mostly focus on companionship. This is, to the best of our knowledge, the first attempt to design an assistive robot which will provide step-by-step guidance to people with dementia in their activities of daily living. PMID:24187224

  1. Training Medical Novices in Spinal Microsurgery: Does the Modality Matter? A Pilot Study Comparing Traditional Microscopic Surgery and a Novel Robotic Optoelectronic Visualization Tool.

    PubMed

    Moisi, Marc; Tubbs, R Shane; Page, Jeni; Chapman, Alexandra; Burgess, Brittni; Laws, Tyler; Warren, Haylie; Oskouian, Rod J

    2016-01-01

    The operative microscope has been a staple instrument in the neurosurgical operating room over the last 50 years. With advances in optoelectronics, options such as robotically controlled high magnification have become available. Such robotically controlled optoelectronic systems may offer new opportunities in surgical technique and teaching. However, traditionally trained surgeons may find it hard to accept newer technologies due to an inherent bias emerging from their previous background. We, therefore, studied how a medically naïve population in a pilot study would meet set microsurgical goals in a cadaver experiment using either a conventional operative microscope or BrightMatter™ Servo system, ​a robotically controlled optoelectronic system (Synaptive Medical, Toronto, Ontario, Canada). We found that the relative ease in teaching medical novices with a robotically controlled optoelectronic system was more valuable when compared to using a modern-day surgical microscope. PMID:26973804

  2. A novel self-guided approach to alpha activity training.

    PubMed

    van Boxtel, Geert J M; Denissen, Ad J M; Jäger, Mark; Vernon, David; Dekker, Marian K J; Mihajlović, Vojkan; Sitskoorn, Margriet M

    2012-03-01

    Fifty healthy participants took part in a double-blind placebo-controlled study in which they were either given auditory alpha activity (8-12Hz) training (N=18), random beta training (N=12), or no training at all (N=20). A novel wireless electrode system was used for training without instructions, involving water-based electrodes mounted in an audio headset. Training was applied approximately at central electrodes. Post-training measurement using a conventional full-cap EEG system revealed a 10% increase in alpha activity at posterior sites compared to pre-training levels, when using the conventional index of alpha activity and a non-linear regression fit intended to model individual alpha frequency. This statistically significant increase was present only in the group that received the alpha training, and remained evident at a 3 month follow-up session, especially under eyes open conditions where an additional 10% increase was found. In an exit interview, approximately twice as many participants in the alpha training group (53%) mentioned that the training was relaxing, compared to those in either the beta (20%) or no training (21%) control groups. Behavioural measures of stress and relaxation were indicative of effects of alpha activity training but failed to reach statistical significance. These results are discussed in terms of a lack of statistical power. Overall, results suggest that self-guided alpha activity training using this novel system is feasible and represents a step forward in the ease of instrumental conditioning of brain rhythms.

  3. The Effects on Kinematics and Muscle Activity of Walking in a Robotic Gait Trainer During Zero-Force Control.

    PubMed

    van Asseldonk, Edwin H F; Veneman, Jan F; Ekkelenkamp, Ralf; Buurke, Jaap H; van der Helm, Frans C T; van der Kooij, Herman

    2008-08-01

    "Assist as needed" control algorithms promote activity of patients during robotic gait training. Implementing these requires a free walking mode of a device, as unassisted motions should not be hindered. The goal of this study was to assess the normality of walking in the free walking mode of the LOPES gait trainer, an 8 degrees-of-freedom lightweight impedance controlled exoskeleton. Kinematics, gait parameters and muscle activity of walking in a free walking mode in the device were compared with those of walking freely on a treadmill. Average values and variability of the spatio-temporal gait variables showed no or small (relative to cycle-to-cycle variability) changes and the kinematics showed a significant and relevant decrease in knee angle range only. Muscles involved in push off showed a small decrease, whereas muscles involved in acceleration and deceleration of the swing leg showed an increase of their activity. Timing of the activity was mainly unaffected. Most of the observed differences could be ascribed to the inertia of the exoskeleton. Overall, walking with the LOPES resembled free walking, although this required several adaptations in muscle activity. These adaptations are such that we expect that Assist as Needed training can be implemented in LOPES.

  4. Human-like Compliance for Dexterous Robot Hands

    NASA Technical Reports Server (NTRS)

    Jau, Bruno M.

    1995-01-01

    This paper describes the Active Electromechanical Compliance (AEC) system that was developed for the Jau-JPL anthropomorphic robot. The AEC system imitates the functionality of the human muscle's secondary function, which is to control the joint's stiffness: AEC is implemented through servo controlling the joint drive train's stiffness. The control strategy, controlling compliant joints in teleoperation, is described. It enables automatic hybrid position and force control through utilizing sensory feedback from joint and compliance sensors. This compliant control strategy is adaptable for autonomous robot control as well. Active compliance enables dual arm manipulations, human-like soft grasping by the robot hand, and opens the way to many new robotics applications.

  5. Electronics/Robotics Displaced Worker Retraining and Technician Upgrade Training. Ohlone College Investment in People Project 1983-84. Evaluation Report.

    ERIC Educational Resources Information Center

    Moock, Lynn D.

    An evaluator studied the effectiveness of the displaced worker entry-level and the upgrade components of the electronics/robotics training program. Since the program was a pilot project with attendant trials and errors, a user-focused process of evaluation was selected. Entry-level students, administrators, the counselor, and instructors completed…

  6. Identification and Active Exploration of Deformable Object Boundary Constraints through Robotic Manipulation

    PubMed Central

    Boonvisut, Pasu; Cavusoglu, M. Cenk

    2014-01-01

    Robotic motion planning algorithms for manipulation of deformable objects, such as in medical robotics applications, rely on accurate estimations of object deformations that occur during manipulation. An estimation of the tissue response (for off-line planning or real-time on-line re-planning), in turn, requires knowledge of both object constitutive parameters and boundary constraints. In this paper, a novel algorithm for estimating boundary constraints of deformable objects from robotic manipulation data is presented. The proposed algorithm uses tissue deformation data collected with a vision system, and employs a multi-stage hill climbing procedure to estimate the boundary constraints of the object. An active exploration technique, which uses an information maximization approach, is also proposed to extend the identification algorithm. The effects of uncertainties on the proposed methods are analyzed in simulation. The results of experimental evaluation of the methods are also presented. PMID:25684836

  7. Basic Operational Robotics Instructional System

    NASA Technical Reports Server (NTRS)

    Todd, Brian Keith; Fischer, James; Falgout, Jane; Schweers, John

    2013-01-01

    The Basic Operational Robotics Instructional System (BORIS) is a six-degree-of-freedom rotational robotic manipulator system simulation used for training of fundamental robotics concepts, with in-line shoulder, offset elbow, and offset wrist. BORIS is used to provide generic robotics training to aerospace professionals including flight crews, flight controllers, and robotics instructors. It uses forward kinematic and inverse kinematic algorithms to simulate joint and end-effector motion, combined with a multibody dynamics model, moving-object contact model, and X-Windows based graphical user interfaces, coordinated in the Trick Simulation modeling environment. The motivation for development of BORIS was the need for a generic system for basic robotics training. Before BORIS, introductory robotics training was done with either the SRMS (Shuttle Remote Manipulator System) or SSRMS (Space Station Remote Manipulator System) simulations. The unique construction of each of these systems required some specialized training that distracted students from the ideas and goals of the basic robotics instruction.

  8. The perihelion activity of comet 67P/Churyumov–Gerasimenko as seen by robotic telescopes

    NASA Astrophysics Data System (ADS)

    Snodgrass, Colin; Opitom, Cyrielle; de Val-Borro, Miguel; Jehin, Emmanuel; Manfroid, Jean; Lister, Tim; Marchant, Jon; Jones, Geraint H.; Fitzsimmons, Alan; Steele, Iain A.; Smith, Robert J.; Jermak, Helen; Granzer, Thomas; Meech, Karen J.; Rousselot, Philippe; Levasseur-Regourd, Anny-Chantal

    2016-11-01

    Around the time of its perihelion passage the observability of 67P/Churyumov-Gerasimenko from Earth was limited to very short windows each morning from any given site, due to the low solar elongation of the comet. The peak in the comet's activity was therefore difficult to observe with conventionally scheduled telescopes, but was possible where service/queue scheduled mode was possible, and with robotic telescopes. We describe the robotic observations that allowed us to measure the total activity of the comet around perihelion, via photometry (dust) and spectroscopy (gas), and compare these results with the measurements at this time by Rosetta's instruments. The peak of activity occurred approximately two weeks after perihelion. The total brightness (dust) largely followed the predictions from Snodgrass et al. 2013, with no significant change in total activity levels from previous apparitions. The CN gas production rate matched previous orbits near perihelion, but appeared to be relatively low later in the year.

  9. The perihelion activity of comet 67P/Churyumov-Gerasimenko as seen by robotic telescopes

    NASA Astrophysics Data System (ADS)

    Snodgrass, Colin; Opitom, Cyrielle; de Val-Borro, Miguel; Jehin, Emmanuel; Manfroid, Jean; Lister, Tim; Marchant, Jon; Jones, Geraint H.; Fitzsimmons, Alan; Steele, Iain A.; Smith, Robert J.; Jermak, Helen; Granzer, Thomas; Meech, Karen J.; Rousselot, Philippe; Levasseur-Regourd, Anny-Chantal

    2016-09-01

    Around the time of its perihelion passage the observability of 67P/Churyumov-Gerasimenko from Earth was limited to very short windows each morning from any given site, due to the low solar elongation of the comet. The peak in the comet's activity was therefore difficult to observe with conventionally scheduled telescopes, but was possible where service/queue scheduled mode was possible, and with robotic telescopes. We describe the robotic observations that allowed us to measure the total activity of the comet around perihelion, via photometry (dust) and spectroscopy (gas), and compare these results with the measurements at this time by Rosetta's instruments. The peak of activity occurred approximately two weeks after perihelion. The total brightness (dust) largely followed the predictions from Snodgrass et al. (2013), with no significant change in total activity levels from previous apparitions. The CN gas production rate matched previous orbits near perihelion, but appeared to be relatively low later in the year.

  10. Effects of a robot-assisted training of grasp and pronation/supination in chronic stroke: a pilot study

    PubMed Central

    2011-01-01

    Background Rehabilitation of hand function is challenging, and only few studies have investigated robot-assisted rehabilitation focusing on distal joints of the upper limb. This paper investigates the feasibility of using the HapticKnob, a table-top end-effector device, for robot-assisted rehabilitation of grasping and forearm pronation/supination, two important functions for activities of daily living involving the hand, and which are often impaired in chronic stroke patients. It evaluates the effectiveness of this device for improving hand function and the transfer of improvement to arm function. Methods A single group of fifteen chronic stroke patients with impaired arm and hand functions (Fugl-Meyer motor assessment scale (FM) 10-45/66) participated in a 6-week 3-hours/week rehabilitation program with the HapticKnob. Outcome measures consisted primarily of the FM and Motricity Index (MI) and their respective subsections related to distal and proximal arm function, and were assessed at the beginning, end of treatment and in a 6-weeks follow-up. Results Thirteen subjects successfully completed robot-assisted therapy, with significantly improved hand and arm motor functions, demonstrated by an average 3.00 points increase on the FM and 4.55 on the MI at the completion of the therapy (4.85 FM and 6.84 MI six weeks post-therapy). Improvements were observed both in distal and proximal components of the clinical scales at the completion of the study (2.00 FM wrist/hand, 2.55 FM shoulder/elbow, 2.23 MI hand and 4.23 MI shoulder/elbow). In addition, improvements in hand function were observed, as measured by the Motor Assessment Scale, grip force, and a decrease in arm muscle spasticity. These results were confirmed by motion data collected by the robot. Conclusions The results of this study show the feasibility of this robot-assisted therapy with patients presenting a large range of impairment levels. A significant homogeneous improvement in both hand and arm function

  11. Robotics in otolaryngology and head and neck surgery: Recommendations for training and credentialing: A report of the 2015 AHNS education committee, AAO-HNS robotic task force and AAO-HNS sleep disorders committee.

    PubMed

    Gross, Neil D; Holsinger, F Christopher; Magnuson, J Scott; Duvvuri, Umamaheswar; Genden, Eric M; Ghanem, Tamer Ah; Yaremchuk, Kathleen L; Goldenberg, David; Miller, Matthew C; Moore, Eric J; Morris, Luc Gt; Netterville, James; Weinstein, Gregory S; Richmon, Jeremy

    2016-04-01

    Training and credentialing for robotic surgery in otolaryngology - head and neck surgery is currently not standardized, but rather relies heavily on industry guidance. This manuscript represents a comprehensive review of this increasingly important topic and outlines clear recommendations to better standardize the practice. The recommendations provided can be used as a reference by individuals and institutions alike, and are expected to evolve over time. © 2016 Wiley Periodicals, Inc. Head Neck 38: E151-E158. PMID:26950771

  12. Robotics in otolaryngology and head and neck surgery: Recommendations for training and credentialing: A report of the 2015 AHNS education committee, AAO-HNS robotic task force and AAO-HNS sleep disorders committee.

    PubMed

    Gross, Neil D; Holsinger, F Christopher; Magnuson, J Scott; Duvvuri, Umamaheswar; Genden, Eric M; Ghanem, Tamer Ah; Yaremchuk, Kathleen L; Goldenberg, David; Miller, Matthew C; Moore, Eric J; Morris, Luc Gt; Netterville, James; Weinstein, Gregory S; Richmon, Jeremy

    2016-04-01

    Training and credentialing for robotic surgery in otolaryngology - head and neck surgery is currently not standardized, but rather relies heavily on industry guidance. This manuscript represents a comprehensive review of this increasingly important topic and outlines clear recommendations to better standardize the practice. The recommendations provided can be used as a reference by individuals and institutions alike, and are expected to evolve over time. © 2016 Wiley Periodicals, Inc. Head Neck 38: E151-E158.

  13. Lower-Limb Rehabilitation Robot Design

    NASA Astrophysics Data System (ADS)

    Bouhabba, E. M.; Shafie, A. A.; Khan, M. R.; Ariffin, K.

    2013-12-01

    It is a general assumption that robotics will play an important role in therapy activities within rehabilitation treatment. In the last decade, the interest in the field has grown exponentially mainly due to the initial success of the early systems and the growing demand caused by increasing numbers of stroke patients and their associate rehabilitation costs. As a result, robot therapy systems have been developed worldwide for training of both the upper and lower extremities. This paper investigates and proposes a lower-limb rehabilitation robot that is used to help patients with lower-limb paralysis to improve and resume physical functions. The proposed rehabilitation robot features three rotary joints forced by electric motors providing linear motions. The paper covers mechanism design and optimization, kinematics analysis, trajectory planning, wearable sensors, and the control system design. The design and control system demonstrate that the proposed rehabilitation robot is safe and reliable with the effective design and better kinematic performance.

  14. 20 CFR 632.78 - Training activities.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... which the participant is willing to relocate, and consideration in the selection of training programs...) is training in the private or public sector given to a participant, who has been hired first by the employer, and which occurs while the participant is engaged in productive work which provides knowledge...

  15. Australian Small Business Participation in Training Activities

    ERIC Educational Resources Information Center

    Webster, Beverley; Walker, Elizabeth; Brown, Alan

    2005-01-01

    Purpose: This purpose of this paper is to investigate the use of on-line training by small businesses in Australia. It explores the relationship between the owners acceptance and use of the Internet, and their current participation in training opportunities. Design/Methodology/Approach: A sample of small businesses which had participated in an…

  16. Bioinspired active whisker sensor for robotic vibrissal tactile sensing

    NASA Astrophysics Data System (ADS)

    Ju, Feng; Ling, Shih-Fu

    2014-12-01

    A whisker transducer (WT) inspired by rat’s vibrissal tactile perception is proposed based on a transduction matrix model characterizing the electro-mechanical transduction process in both forward and backward directions. It is capable of acting as an actuator to sweep the whisker and simultaneously as a sensor to sense the force, motion, and mechanical impedance at whisker tip. Its validity is confirmed by numerical simulation using a finite element model. A prototype is then fabricated and its transduction matrix is determined by parameter identification. The calibrated WT can accurately sense mechanical impedance which is directly related to stiffness, mass and damping. Subsequent vibrissal tactile sensing of sandpaper texture reveals that the real part of mechanical impedance sensed by WT is correlated with sandpaper roughness. Texture discrimination is successfully achieved by inputting the real part to a k-means clustering algorithm. The mechanical impedance sensing ability as well as other features of the WT such as simultaneous-actuation-and-sensing makes it a good solution to robotic tactile sensing.

  17. Video-based convolutional neural networks for activity recognition from robot-centric videos

    NASA Astrophysics Data System (ADS)

    Ryoo, M. S.; Matthies, Larry

    2016-05-01

    In this evaluation paper, we discuss convolutional neural network (CNN)-based approaches for human activity recognition. In particular, we investigate CNN architectures designed to capture temporal information in videos and their applications to the human activity recognition problem. There have been multiple previous works to use CNN-features for videos. These include CNNs using 3-D XYT convolutional filters, CNNs using pooling operations on top of per-frame image-based CNN descriptors, and recurrent neural networks to learn temporal changes in per-frame CNN descriptors. We experimentally compare some of these different representatives CNNs while using first-person human activity videos. We especially focus on videos from a robots viewpoint, captured during its operations and human-robot interactions.

  18. Planning and Development of Lab Training Activities for Powerline Communications

    ERIC Educational Resources Information Center

    Drosopoulos, A.; Hatziprokopiou, M.

    2010-01-01

    This paper discusses the planning and development of student training and activities for the Powerline Communications Laboratory at the Technical Education Institute (TEI), Patras, Greece. Powerline communications is currently an active area of research and development that combines three separate specializations from the standard training of…

  19. Robot-assisted motor training: assistance decreases exploration during reinforcement learning.

    PubMed

    Sans-Muntadas, Albert; Duarte, Jaime E; Reinkensmeyer, David J

    2014-01-01

    Reinforcement learning (RL) is a form of motor learning that robotic therapy devices could potentially manipulate to promote neurorehabilitation. We developed a system that requires trainees to use RL to learn a predefined target movement. The system provides higher rewards for movements that are more similar to the target movement. We also developed a novel algorithm that rewards trainees of different abilities with comparable reward sizes. This algorithm measures a trainee's performance relative to their best performance, rather than relative to an absolute target performance, to determine reward. We hypothesized this algorithm would permit subjects who cannot normally achieve high reward levels to do so while still learning. In an experiment with 21 unimpaired human subjects, we found that all subjects quickly learned to make a first target movement with and without the reward equalization. However, artificially increasing reward decreased the subjects' tendency to engage in exploration and therefore slowed learning, particularly when we changed the target movement. An anti-slacking watchdog algorithm further slowed learning. These results suggest that robotic algorithms that assist trainees in achieving rewards or in preventing slacking might, over time, discourage the exploration needed for reinforcement learning.

  20. An active damping control of robot manipulators with oscillatory bases by singular perturbation approach

    NASA Astrophysics Data System (ADS)

    Lin, J.; Huang, Z. Z.; Huang, P. H.

    2007-07-01

    This paper deals with active damping control problems of robot manipulators with oscillatory bases. A first investigation of two-time scale fuzzy logic controller with vibration stabilizer for such structures has been proposed, where the dynamics of a robotic system is strongly affected by disturbances due to the base oscillation. Under the assumption of two-time scale, its stability and design procedures are presented for a multiple link manipulator with multiple dimension oscillation. The fast-subsystem controller will damp out the vibration of the oscillatory bases using a PD control method. Hence, the slow-subsystem fuzzy logic controller dominates the trajectory tracking. It can be guaranteed the stability of the internal dynamics by adding a boundary-layer correction based on singular perturbations approach. Experimental results have shown that the proposed control model offers several implementation advantages such as reduced effect of overshoot and chattering, smaller steady state error, and a fast convergent rate. The results of this study can be feasible to various mechanical systems, such as mobile robot, gantry cranes, underwater robot, and other dynamic systems mounted on oscillatory bases.

  1. An active view planning method for mobile robots using a trinocular visual sensor

    NASA Astrophysics Data System (ADS)

    Kim, Min Y.; Cho, Hyungsuck

    2003-10-01

    The ability of mobile robots to perceive and recognize environments is essential for autonomous navigation. To improve the performance of autonomous environment perception for mobile robots, it is important to effectively plan the next pose (position and orientation) of the sensor system at a current navigation state. In this paper, we propose a next-view-planning method for autonomous map construction needed for mobile robots with visual range sensor systems. The proposed view-planning method mimics the decision-making method of human beings, and uses the occlusion information reduced from the geometric relationship between the sensor view and objects as an important clue for the next sensor view planning. The proposed view-planning algorithms are developed in the following steps: 1) Given a prior map and range measurements sensed at a current location of the mobile robot, it is determined which parts in the map are interested in a view of solving the map uncertainty. 2) Based on the selected potential regions, some candidate poses of the sensor system for the next environment sensing are carefully generated. 3) The created candidates are evaluated by using a specially designed evaluation parameter, and the best one of them is selected as a next sensor position based on a fuzzy decision-making method. In this work, the principle of the view planning method is described in detail, and a series of experimental tests is performed to show the feasibility of the method for autonomous map building. For sensing the environments, an active trinocular vision sensor using laser structured light is utilized, which is mounted on the pan-tilt mechanism of the mobile robot, which is composed of a laser stripe projector and two cameras.

  2. Selecting services for a service robot: evaluating the problematic activities threatening the independence of elderly persons.

    PubMed

    Bedaf, Sandra; Gelderblom, Gert Jan; de Witte, Luc; Syrdal, Dag; Lehmann, Hagen; Amirabdollahian, Farshid; Dautenhahn, Kerstin; Hewson, David

    2013-06-01

    Sustaining independent living for the elderly is desirable both for the individual as well as for societies as a whole. Substantial care interventions are provided to citizens supporting their independent living. Currently, such interventions are primarily based on human care provision, but due to demographic changes the demand for such support is continuously increasing. Assistive Robotics has the potential to answer this growing demand. The notions research towards service robots that support the independence of elderly people has been given increased attention. The challenge is to develop robots that are able to adequately support with those activities that pose the greatest problems for elderly people seeking to remain independent. In order to develop the capabilities of the Care-O-bot 3 in the ACCOMPANY project, problematic activities that may threaten continued independent living of elderly people were studied. Focus groups were conducted in the Netherlands, UK, and France and included three separate user groups: (1) elderly (N=41), (2) formal caregivers (N=40), and (3) informal caregivers (N=32). This resulted in a top 3 of problematic activity domains that received the highest priority: (1) Mobility, (2) Self-care, and (3) Social isolation. The findings inform the further development of the Care-O-bot. In the ACCOMPANY project the Care-O-bot 3 will be developed further to enable it to support independently living older persons in one of these domains.

  3. Autogenic training alters cerebral activation patterns in fMRI.

    PubMed

    Schlamann, Marc; Naglatzki, Ryan; de Greiff, Armin; Forsting, Michael; Gizewski, Elke R

    2010-10-01

    Cerebral activation patterns during the first three auto-suggestive phases of autogenic training (AT) were investigated in relation to perceived experiences. Nineteen volunteers trained in AT and 19 controls were studied with fMRI during the first steps of autogenic training. FMRI revealed activation of the left postcentral areas during AT in those with experience in AT, which also correlated with the level of AT experience. Activation of prefrontal and insular cortex was significantly higher in the group with experience in AT while insular activation was correlated with number years of simple relaxation exercises. Specific activation in subjects experienced in AT may represent a training effect. Furthermore, the correlation of insular activation suggests that these subjects are different from untrained subjects in emotional processing or self-awareness.

  4. Hessian-Regularized Co-Training for Social Activity Recognition

    PubMed Central

    Liu, Weifeng; Li, Yang; Lin, Xu; Tao, Dacheng; Wang, Yanjiang

    2014-01-01

    Co-training is a major multi-view learning paradigm that alternately trains two classifiers on two distinct views and maximizes the mutual agreement on the two-view unlabeled data. Traditional co-training algorithms usually train a learner on each view separately and then force the learners to be consistent across views. Although many co-trainings have been developed, it is quite possible that a learner will receive erroneous labels for unlabeled data when the other learner has only mediocre accuracy. This usually happens in the first rounds of co-training, when there are only a few labeled examples. As a result, co-training algorithms often have unstable performance. In this paper, Hessian-regularized co-training is proposed to overcome these limitations. Specifically, each Hessian is obtained from a particular view of examples; Hessian regularization is then integrated into the learner training process of each view by penalizing the regression function along the potential manifold. Hessian can properly exploit the local structure of the underlying data manifold. Hessian regularization significantly boosts the generalizability of a classifier, especially when there are a small number of labeled examples and a large number of unlabeled examples. To evaluate the proposed method, extensive experiments were conducted on the unstructured social activity attribute (USAA) dataset for social activity recognition. Our results demonstrate that the proposed method outperforms baseline methods, including the traditional co-training and LapCo algorithms. PMID:25259945

  5. Working memory training: improving intelligence--changing brain activity.

    PubMed

    Jaušovec, Norbert; Jaušovec, Ksenija

    2012-07-01

    The main objectives of the study were: to investigate whether training on working memory (WM) could improve fluid intelligence, and to investigate the effects WM training had on neuroelectric (electroencephalography - EEG) and hemodynamic (near-infrared spectroscopy - NIRS) patterns of brain activity. In a parallel group experimental design, respondents of the working memory group after 30 h of training significantly increased performance on all tests of fluid intelligence. By contrast, respondents of the active control group (participating in a 30-h communication training course) showed no improvements in performance. The influence of WM training on patterns of neuroelectric brain activity was most pronounced in the theta and alpha bands. Theta and lower-1 alpha band synchronization was accompanied by increased lower-2 and upper alpha desynchronization. The hemodynamic patterns of brain activity after the training changed from higher right hemispheric activation to a balanced activity of both frontal areas. The neuroelectric as well as hemodynamic patterns of brain activity suggest that the training influenced WM maintenance functions as well as processes directed by the central executive. The changes in upper alpha band desynchronization could further indicate that processes related to long term memory were also influenced.

  6. [Robotic surgery].

    PubMed

    Sándor, József; Haidegger, Tamás; Kormos, Katalin; Ferencz, Andrea; Csukás, Domokos; Bráth, Endre; Szabó, Györgyi; Wéber, György

    2013-10-01

    Due to the fast spread of laparoscopic cholecystectomy, surgical procedures have been changed essentially. The new techniques applied for both abdominal and thoracic procedures provided the possibility for minimally invasive access with all its advantages. Robots - originally developed for industrial applications - were retrofitted for laparoscopic procedures. The currently prevailing robot-assisted surgery is ergonomically more advantageous for the surgeon, as well as for the patient through the more precise preparative activity thanks to the regained 3D vision. The gradual decrease of costs of robotic surgical systems and development of new generations of minimally invasive devices may lead to substantial changes in routine surgical procedures. PMID:24144815

  7. [Robotic surgery].

    PubMed

    Sándor, József; Haidegger, Tamás; Kormos, Katalin; Ferencz, Andrea; Csukás, Domokos; Bráth, Endre; Szabó, Györgyi; Wéber, György

    2013-10-01

    Due to the fast spread of laparoscopic cholecystectomy, surgical procedures have been changed essentially. The new techniques applied for both abdominal and thoracic procedures provided the possibility for minimally invasive access with all its advantages. Robots - originally developed for industrial applications - were retrofitted for laparoscopic procedures. The currently prevailing robot-assisted surgery is ergonomically more advantageous for the surgeon, as well as for the patient through the more precise preparative activity thanks to the regained 3D vision. The gradual decrease of costs of robotic surgical systems and development of new generations of minimally invasive devices may lead to substantial changes in routine surgical procedures.

  8. Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

    PubMed Central

    Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

    2015-01-01

    In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning. PMID:26485148

  9. Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

    PubMed

    Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

    2015-01-01

    In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

  10. Brain computer interface for operating a robot

    NASA Astrophysics Data System (ADS)

    Nisar, Humaira; Balasubramaniam, Hari Chand; Malik, Aamir Saeed

    2013-10-01

    A Brain-Computer Interface (BCI) is a hardware/software based system that translates the Electroencephalogram (EEG) signals produced by the brain activity to control computers and other external devices. In this paper, we will present a non-invasive BCI system that reads the EEG signals from a trained brain activity using a neuro-signal acquisition headset and translates it into computer readable form; to control the motion of a robot. The robot performs the actions that are instructed to it in real time. We have used the cognitive states like Push, Pull to control the motion of the robot. The sensitivity and specificity of the system is above 90 percent. Subjective results show a mixed trend of the difficulty level of the training activities. The quantitative EEG data analysis complements the subjective results. This technology may become very useful for the rehabilitation of disabled and elderly people.

  11. Microscopic Analysis of Activated Sludge. Training Manual.

    ERIC Educational Resources Information Center

    Office of Water Program Operations (EPA), Cincinnati, OH. National Training and Operational Technology Center.

    This training manual presents material on the use of a compound microscope to analyze microscope communities, present in wastewater treatment processes, for operational control. Course topics include: sampling techniques, sample handling, laboratory analysis, identification of organisms, data interpretation, and use of the compound microscope.…

  12. Working Memory Training: Improving Intelligence--Changing Brain Activity

    ERIC Educational Resources Information Center

    Jausovec, Norbert; Jausovec, Ksenija

    2012-01-01

    The main objectives of the study were: to investigate whether training on working memory (WM) could improve fluid intelligence, and to investigate the effects WM training had on neuroelectric (electroencephalography--EEG) and hemodynamic (near-infrared spectroscopy--NIRS) patterns of brain activity. In a parallel group experimental design,…

  13. Active Ageing in a Greying Society: Training for All Ages

    ERIC Educational Resources Information Center

    Hessel, Roger

    2008-01-01

    With the ageing of society, policy-makers are aware of the need to retain older workers in employment. Across Europe, lifelong learning is increasingly important. Adults who remain active longer need (re-)training to maintain their productivity. However, vocational training tends to decline with age. The article analyses European employment policy…

  14. Robotics for welding research

    SciTech Connect

    Braun, G.; Jones, J.

    1984-09-01

    The welding metallurgy research and education program at Colorado School of Mines (CSM) is helping industries make the transition toward automation by training students in robotics. Industry's interest is primarily in pick and place operations, although robotics can increase efficiency in areas other than production. Training students to develop fully automated robotic welding systems will usher in new curriculum requirements in the area of computers and microprocessors. The Puma 560 robot is CSM's newest acquisition for welding research 5 references, 2 figures, 1 table.

  15. Effect of robot-assisted versus conventional body-weight-supported treadmill training on quality of life for people with multiple sclerosis.

    PubMed

    Wier, Lauren M; Hatcher, Mary S; Triche, Elizabeth W; Lo, Albert C

    2011-01-01

    This study describes the effect of body-weight-supported treadmill training (BWSTT) on quality of life (QoL) for multiple sclerosis (MS) patients. Thirteen individuals with MS and gait impairment randomly received two blocks of six biweekly training sessions: (1) robot-assisted BWSTT then BWSTT alone (R-T) or (2) BWSTT alone then robot-assisted BWSTT (T-R). No statistically significant differences were found between robot-assisted BWSTT and unassisted BWSTT for improving QoL outcome measures. The change in Physical Component Summary scores from baseline to the end of the 12 training sessions improved significantly more in the R-T than the T-R group. Within-participant longitudinal changes in QoL for all participants from both groups combined showed significant improvements in 5 of the 13 QoL measures. The results of this pilot study suggest that both types of BWSTT may improve QoL for people with gait dysfunction secondary to MS.

  16. A reliability study on brain activation during active and passive arm movements supported by an MRI-compatible robot.

    PubMed

    Estévez, Natalia; Yu, Ningbo; Brügger, Mike; Villiger, Michael; Hepp-Reymond, Marie-Claude; Riener, Robert; Kollias, Spyros

    2014-11-01

    In neurorehabilitation, longitudinal assessment of arm movement related brain function in patients with motor disability is challenging due to variability in task performance. MRI-compatible robots monitor and control task performance, yielding more reliable evaluation of brain function over time. The main goals of the present study were first to define the brain network activated while performing active and passive elbow movements with an MRI-compatible arm robot (MaRIA) in healthy subjects, and second to test the reproducibility of this activation over time. For the fMRI analysis two models were compared. In model 1 movement onset and duration were included, whereas in model 2 force and range of motion were added to the analysis. Reliability of brain activation was tested with several statistical approaches applied on individual and group activation maps and on summary statistics. The activated network included mainly the primary motor cortex, primary and secondary somatosensory cortex, superior and inferior parietal cortex, medial and lateral premotor regions, and subcortical structures. Reliability analyses revealed robust activation for active movements with both fMRI models and all the statistical methods used. Imposed passive movements also elicited mainly robust brain activation for individual and group activation maps, and reliability was improved by including additional force and range of motion using model 2. These findings demonstrate that the use of robotic devices, such as MaRIA, can be useful to reliably assess arm movement related brain activation in longitudinal studies and may contribute in studies evaluating therapies and brain plasticity following injury in the nervous system.

  17. Robots, Bulldozers, and Other Map Activities for the Primary Grades.

    ERIC Educational Resources Information Center

    Pritchard, Sandra F.

    1984-01-01

    Described are activities which will increase fluency in the use of north, south, east, west, up, and down; reinforce the proper positioning of the cardinal directions on a map grid; relate map symbols to familiar surface features; give practice in identifying map symbols; and provide an opportunity to construct maps. (RM)

  18. A semi-active milling procedure in view of preparing implantation beds in robot-assisted orthopaedic surgery.

    PubMed

    Van Ham, G; Denis, K; Vander Sloten, J; Van Audekercke, R; Van der Perre, G; De Schutter, J; Simon, J P; Fabry, G

    2005-05-01

    Bone cutting in total joint reconstructions requires a high accuracy to obtain a well-functioning and long-lasting prosthesis. Hence robot assistance can be useful to increase the precision of the surgical actions. A drawback of current robot systems is that they autonomously machine the bone, in that way ignoring the surgeon's experience and introducing a safety risk. This paper presents a semi-active milling procedure to overcome that drawback. In this procedure the surgeon controls robot motion by exerting forces on a force-controlled lever that is attached to the robot end effector. Meanwhile the robot constrains tool motion to the planned motion and generates a tool feed determined by the feed force that the surgeon executes. As a case study the presented milling procedure has been implemented on a laboratory set-up for robot-assisted preparation of the acetabulum in total hip arthroplasty. Two machining methods have been considered. In the first method the surgeon determines both milling trajectory and feed by the forces that he/she executes on the force-controlled lever. In the second method the cavity is machined contour by contour, and the surgeon only provides the feed. Machining experiments have shown that the first method results in large surface irregularities and is not useful. The second method, however, results in accurate cavity preparation and has therefore potential to be implemented in future robot systems.

  19. Crossmodal representation of a functional robotic hand arises after extensive training in healthy participants.

    PubMed

    Marini, Francesco; Tagliabue, Chiara F; Sposito, Ambra V; Hernandez-Arieta, Alejandro; Brugger, Peter; Estévez, Natalia; Maravita, Angelo

    2014-01-01

    The way in which humans represent their own bodies is critical in guiding their interactions with the environment. To achieve successful body-space interactions, the body representation is strictly connected with that of the space immediately surrounding it through efficient visuo-tactile crossmodal integration. Such a body-space integrated representation is not fixed, but can be dynamically modulated by the use of external tools. Our study aims to explore the effect of using a complex tool, namely a functional prosthesis, on crossmodal visuo-tactile spatial interactions in healthy participants. By using the crossmodal visuo-tactile congruency paradigm, we found that prolonged training with a mechanical hand capable of distal hand movements and providing sensory feedback induces a pattern of interference, which is not observed after a brief training, between visual stimuli close to the prosthesis and touches on the body. These results suggest that after extensive, but not short, training the functional prosthesis acquires a visuo-tactile crossmodal representation akin to real limbs. This finding adds to previous evidence for the embodiment of functional prostheses in amputees, and shows that their use may also improve the crossmodal combination of somatosensory feedback delivered by the prosthesis with visual stimuli in the space around it, thus effectively augmenting the patients' visuomotor abilities.

  20. Communication and knowledge sharing in human-robot interaction and learning from demonstration.

    PubMed

    Koenig, Nathan; Takayama, Leila; Matarić, Maja

    2010-01-01

    Inexpensive personal robots will soon become available to a large portion of the population. Currently, most consumer robots are relatively simple single-purpose machines or toys. In order to be cost effective and thus widely accepted, robots will need to be able to accomplish a wide range of tasks in diverse conditions. Learning these tasks from demonstrations offers a convenient mechanism to customize and train a robot by transferring task related knowledge from a user to a robot. This avoids the time-consuming and complex process of manual programming. The way in which the user interacts with a robot during a demonstration plays a vital role in terms of how effectively and accurately the user is able to provide a demonstration. Teaching through demonstrations is a social activity, one that requires bidirectional communication between a teacher and a student. The work described in this paper studies how the user's visual observation of the robot and the robot's auditory cues affect the user's ability to teach the robot in a social setting. Results show that auditory cues provide important knowledge about the robot's internal state, while visual observation of a robot can hinder an instructor due to incorrect mental models of the robot and distractions from the robot's movements.

  1. Exploratorium: Robots.

    ERIC Educational Resources Information Center

    Brand, Judith, Ed.

    2002-01-01

    This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

  2. On the role of auditory feedback in robot-assisted movement training after stroke: review of the literature.

    PubMed

    Rosati, Giulio; Rodà, Antonio; Avanzini, Federico; Masiero, Stefano

    2013-01-01

    The goal of this paper is to address a topic that is rarely investigated in the literature of technology-assisted motor rehabilitation, that is, the integration of auditory feedback in the rehabilitation device. After a brief introduction on rehabilitation robotics, the main concepts of auditory feedback are presented, together with relevant approaches, techniques, and technologies available in this domain. Current uses of auditory feedback in the context of technology-assisted rehabilitation are then reviewed. In particular, a comparative quantitative analysis over a large corpus of the recent literature suggests that the potential of auditory feedback in rehabilitation systems is currently and largely underexploited. Finally, several scenarios are proposed in which the use of auditory feedback may contribute to overcome some of the main limitations of current rehabilitation systems, in terms of user engagement, development of acute-phase and home rehabilitation devices, learning of more complex motor tasks, and improving activities of daily living.

  3. On the Role of Auditory Feedback in Robot-Assisted Movement Training after Stroke: Review of the Literature

    PubMed Central

    Rodà, Antonio; Avanzini, Federico; Masiero, Stefano

    2013-01-01

    The goal of this paper is to address a topic that is rarely investigated in the literature of technology-assisted motor rehabilitation, that is, the integration of auditory feedback in the rehabilitation device. After a brief introduction on rehabilitation robotics, the main concepts of auditory feedback are presented, together with relevant approaches, techniques, and technologies available in this domain. Current uses of auditory feedback in the context of technology-assisted rehabilitation are then reviewed. In particular, a comparative quantitative analysis over a large corpus of the recent literature suggests that the potential of auditory feedback in rehabilitation systems is currently and largely underexploited. Finally, several scenarios are proposed in which the use of auditory feedback may contribute to overcome some of the main limitations of current rehabilitation systems, in terms of user engagement, development of acute-phase and home rehabilitation devices, learning of more complex motor tasks, and improving activities of daily living. PMID:24382952

  4. Robotic and user interface solutions for hazardous and remote applications

    SciTech Connect

    Schempf, H.

    1997-12-01

    Carnegie Mellon University (CMU) is developing novel robotic and user interface systems to assist in the cleanup activities undertaken by the U.S. Department of Energy (DOE). Under DOE`s EM-50 funding and administered by the Federal Energy Technology Center (FETC), CMU has developed a novel asbestos pipe-insulation abatement robot system, called BOA, and a novel generic user interface control and training console, dubbed RoboCon. The use of BOA will allow the speedier abatement of the vast DOE piping networks clad with hazardous and contaminated asbestos insulation by which overall job costs can be reduced by as much as 50%. RoboCon will allow the DOE to evaluate different remote and robotic system technologies from the overall man-machine performance standpoint, as well as provide a standardized training platform for training site operators in the operation of remote and robotic equipment.

  5. Instructional games and activities for criticality safety training

    SciTech Connect

    Bullard, B.; McBride, J. )

    1993-01-01

    During the past several years, the Training and Management Systems Division (TMSD) staff of Oak Ridge Institute for Science and Education (ORISE) has designed and developed nuclear criticality safety (NCS) training programs that focus on high trainee involvement through the use of instructional games and activities. This paper discusses the instructional game, initial considerations for developing games, advantages and limitations of games, and how games may be used in developing and implementing NCS training. It also provides examples of the various instructional games and activities used in separate courses designed for Martin Marietta Energy Systems (MMES's) supervisors and U.S. Nuclear Regulatory Commission (NRC) fuel facility inspectors.

  6. Increased parietal activity after training of interference control.

    PubMed

    Oelhafen, Stephan; Nikolaidis, Aki; Padovani, Tullia; Blaser, Daniela; Koenig, Thomas; Perrig, Walter J

    2013-11-01

    Recent studies suggest that computerized cognitive training leads to improved performance in related but untrained tasks (i.e. transfer effects). However, most study designs prevent disentangling which of the task components are necessary for transfer. In the current study, we examined whether training on two variants of the adaptive dual n-back task would affect untrained task performance and the corresponding electrophysiological event-related potentials (ERPs). Forty three healthy young adults were trained for three weeks with a high or low interference training variant of the dual n-back task, or they were assigned to a passive control group. While n-back training with high interference led to partial improvements in the Attention Network Test (ANT), we did not find transfer to measures of working memory and fluid intelligence. ERP analysis in the n-back task and the ANT indicated overlapping processes in the P3 time range. Moreover, in the ANT, we detected increased parietal activity for the interference training group alone. In contrast, we did not find electrophysiological differences between the low interference training and the control group. These findings suggest that training on an interference control task leads to higher electrophysiological activity in the parietal cortex, which may be related to improvements in processing speed, attentional control, or both.

  7. Medical robotics.

    PubMed

    Ferrigno, Giancarlo; Baroni, Guido; Casolo, Federico; De Momi, Elena; Gini, Giuseppina; Matteucci, Matteo; Pedrocchi, Alessandra

    2011-01-01

    Information and communication technology (ICT) and mechatronics play a basic role in medical robotics and computer-aided therapy. In the last three decades, in fact, ICT technology has strongly entered the health-care field, bringing in new techniques to support therapy and rehabilitation. In this frame, medical robotics is an expansion of the service and professional robotics as well as other technologies, as surgical navigation has been introduced especially in minimally invasive surgery. Localization systems also provide treatments in radiotherapy and radiosurgery with high precision. Virtual or augmented reality plays a role for both surgical training and planning and for safe rehabilitation in the first stage of the recovery from neurological diseases. Also, in the chronic phase of motor diseases, robotics helps with special assistive devices and prostheses. Although, in the past, the actual need and advantage of navigation, localization, and robotics in surgery and therapy has been in doubt, today, the availability of better hardware (e.g., microrobots) and more sophisticated algorithms(e.g., machine learning and other cognitive approaches)has largely increased the field of applications of these technologies,making it more likely that, in the near future, their presence will be dramatically increased, taking advantage of the generational change of the end users and the increasing request of quality in health-care delivery and management.

  8. APOLLO 10: Training for Lunar Surface Activities

    NASA Technical Reports Server (NTRS)

    1974-01-01

    Astronauts train on a mock-up lunar surface, practicing the procedures they will follow on the real thing, and adjusting to the demands of the workload. From the film documentary 'APOLLO 10: 'Green Light for a Lunar Landing''. Part of a documentary series made in the early 70's on the APOLLO missions, and narrated by Burgess Meredith. (Actual date created is not known at this time) APOLLO 10: Manned lunar orbital flight with Thomas P Stafford, John W. Young, and Eugene A. Cernan to test all aspects of an actual manned lunar landing except the landing. Mission Duration 192hrs 3mins 23 sec

  9. 78 FR 67222 - Proposed Information Collection Activity; Comment Request: Other On-the-Job Training and...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-11-08

    ... AFFAIRS Proposed Information Collection Activity; Comment Request: Other On-the-Job Training and Apprenticeship Training Agreement and Standards and Employer's Application To Provide Job Training AGENCY... information needed to meet statutory requirements for job training program. DATES: Written comments...

  10. Robotics for Human Exploration

    NASA Technical Reports Server (NTRS)

    Fong, Terrence; Deans, Mathew; Bualat, Maria

    2013-01-01

    Robots can do a variety of work to increase the productivity of human explorers. Robots can perform tasks that are tedious, highly repetitive or long-duration. Robots can perform precursor tasks, such as reconnaissance, which help prepare for future human activity. Robots can work in support of astronauts, assisting or performing tasks in parallel. Robots can also perform "follow-up" work, completing tasks designated or started by humans. In this paper, we summarize the development and testing of robots designed to improve future human exploration of space.

  11. Flywheel resistance training calls for greater eccentric muscle activation than weight training.

    PubMed

    Norrbrand, Lena; Pozzo, Marco; Tesch, Per A

    2010-11-01

    Changes in muscle activation and performance were studied in healthy men in response to 5 weeks of resistance training with or without "eccentric overload". Subjects, assigned to either weight stack (grp WS; n = 8) or iso-inertial "eccentric overload" flywheel (grp FW; n = 9) knee extensor resistance training, completed 12 sessions of four sets of seven concentric-eccentric actions. Pre- and post-measurements comprised maximal voluntary contraction (MVC), rate of force development (RFD) and training mode-specific force. Root mean square electromyographic (EMG(RMS)) activity of mm. vastus lateralis and medialis was assessed during MVC and used to normalize EMG(RMS) for training mode-specific concentric (EMG(CON)) and eccentric (EMG(ECC)) actions at 90°, 120° and 150° knee joint angles. Grp FW showed greater (p < 0.05) overall normalized angle-specific EMG(ECC) of vastii muscles compared with grp WS. Grp FW showed near maximal normalized EMG(CON) both pre- and post-training. EMG(CON) for Grp WS was near maximal only post-training. While RFD was unchanged following training (p > 0.05), MVC and training-specific strength increased (p < 0.05) in both groups. We believe the higher EMG(ECC) activity noted with FW exercise compared to standard weight lifting could be attributed to its unique iso-inertial loading features. Hence, the resulting greater mechanical stress may explain the robust muscle hypertrophy reported earlier in response to flywheel resistance training. PMID:20676897

  12. Overview and Categorization of Robots Supporting Independent Living of Elderly People: What Activities Do They Support and How Far Have They Developed.

    PubMed

    Bedaf, Sandra; Gelderblom, Gert Jan; De Witte, Luc

    2015-01-01

    Over the past decades, many robots for the elderly have been developed, supporting different activities of elderly people. A systematic review in four scientific literature databases and a search in article references and European projects was performed in order to create an overview of robots supporting independent living of elderly people. The robots found were categorized based on their development stage, the activity domains they claim to support, and the type of support provided (i.e., physical, non-physical, and/or non-specified). In total, 107 robots for the elderly were identified. Six robots were still in a concept phase, 95 in a development phase, and six of these robots were commercially available. These robots claimed to provide support related to four activity domains: mobility, self-care, interpersonal interaction & relationships, and other activities. Of the many robots developed, only a small percentage is commercially available. Technical ambitions seem to be guiding robot development. To prolong independent living, the step towards physical support is inevitable and needs to be taken. However, it will be a long time before a robot will be capable of supporting multiple activities in a physical manner in the home of an elderly person in order to enhance their independent living. PMID:26132353

  13. Overview and Categorization of Robots Supporting Independent Living of Elderly People: What Activities Do They Support and How Far Have They Developed.

    PubMed

    Bedaf, Sandra; Gelderblom, Gert Jan; De Witte, Luc

    2015-01-01

    Over the past decades, many robots for the elderly have been developed, supporting different activities of elderly people. A systematic review in four scientific literature databases and a search in article references and European projects was performed in order to create an overview of robots supporting independent living of elderly people. The robots found were categorized based on their development stage, the activity domains they claim to support, and the type of support provided (i.e., physical, non-physical, and/or non-specified). In total, 107 robots for the elderly were identified. Six robots were still in a concept phase, 95 in a development phase, and six of these robots were commercially available. These robots claimed to provide support related to four activity domains: mobility, self-care, interpersonal interaction & relationships, and other activities. Of the many robots developed, only a small percentage is commercially available. Technical ambitions seem to be guiding robot development. To prolong independent living, the step towards physical support is inevitable and needs to be taken. However, it will be a long time before a robot will be capable of supporting multiple activities in a physical manner in the home of an elderly person in order to enhance their independent living.

  14. Robot-assisted motor activation monitored by time-domain optical brain imaging

    NASA Astrophysics Data System (ADS)

    Steinkellner, O.; Wabnitz, H.; Schmid, S.; Steingräber, R.; Schmidt, H.; Krüger, J.; Macdonald, R.

    2011-07-01

    Robot-assisted motor rehabilitation proved to be an effective supplement to conventional hand-to-hand therapy in stroke patients. In order to analyze and understand motor learning and performance during rehabilitation it is desirable to develop a monitor to provide objective measures of the corresponding brain activity at the rehabilitation progress. We used a portable time-domain near-infrared reflectometer to monitor the hemodynamic brain response to distal upper extremity activities. Four healthy volunteers performed two different robot-assisted wrist/forearm movements, flexion-extension and pronation-supination in comparison with an unassisted squeeze ball exercise. A special headgear with four optical measurement positions to include parts of the pre- and postcentral gyrus provided a good overlap with the expected activation areas. Data analysis based on variance of time-of-flight distributions of photons through tissue was chosen to provide a suitable representation of intracerebral signals. In all subjects several of the four detection channels showed a response. In some cases indications were found of differences in localization of the activated areas for the various tasks.

  15. Human-robot interaction: kinematics and muscle activity inside a powered compliant knee exoskeleton.

    PubMed

    Knaepen, Kristel; Beyl, Pieter; Duerinck, Saartje; Hagman, Friso; Lefeber, Dirk; Meeusen, Romain

    2014-11-01

    Until today it is not entirely clear how humans interact with automated gait rehabilitation devices and how we can, based on that interaction, maximize the effectiveness of these exoskeletons. The goal of this study was to gain knowledge on the human-robot interaction, in terms of kinematics and muscle activity, between a healthy human motor system and a powered knee exoskeleton (i.e., KNEXO). Therefore, temporal and spatial gait parameters, human joint kinematics, exoskeleton kinetics and muscle activity during four different walking trials in 10 healthy male subjects were studied. Healthy subjects can walk with KNEXO in patient-in-charge mode with some slight constraints in kinematics and muscle activity primarily due to inertia of the device. Yet, during robot-in-charge walking the muscular constraints are reversed by adding positive power to the leg swing, compensating in part this inertia. Next to that, KNEXO accurately records and replays the right knee kinematics meaning that subject-specific trajectories can be implemented as a target trajectory during assisted walking. No significant differences in the human response to the interaction with KNEXO in low and high compliant assistance could be pointed out. This is in contradiction with our hypothesis that muscle activity would decrease with increasing assistance. It seems that the differences between the parameter settings of low and high compliant control might not be sufficient to observe clear effects in healthy subjects. Moreover, we should take into account that KNEXO is a unilateral, 1 degree-of-freedom device. PMID:24846650

  16. Human-robot interaction: kinematics and muscle activity inside a powered compliant knee exoskeleton.

    PubMed

    Knaepen, Kristel; Beyl, Pieter; Duerinck, Saartje; Hagman, Friso; Lefeber, Dirk; Meeusen, Romain

    2014-11-01

    Until today it is not entirely clear how humans interact with automated gait rehabilitation devices and how we can, based on that interaction, maximize the effectiveness of these exoskeletons. The goal of this study was to gain knowledge on the human-robot interaction, in terms of kinematics and muscle activity, between a healthy human motor system and a powered knee exoskeleton (i.e., KNEXO). Therefore, temporal and spatial gait parameters, human joint kinematics, exoskeleton kinetics and muscle activity during four different walking trials in 10 healthy male subjects were studied. Healthy subjects can walk with KNEXO in patient-in-charge mode with some slight constraints in kinematics and muscle activity primarily due to inertia of the device. Yet, during robot-in-charge walking the muscular constraints are reversed by adding positive power to the leg swing, compensating in part this inertia. Next to that, KNEXO accurately records and replays the right knee kinematics meaning that subject-specific trajectories can be implemented as a target trajectory during assisted walking. No significant differences in the human response to the interaction with KNEXO in low and high compliant assistance could be pointed out. This is in contradiction with our hypothesis that muscle activity would decrease with increasing assistance. It seems that the differences between the parameter settings of low and high compliant control might not be sufficient to observe clear effects in healthy subjects. Moreover, we should take into account that KNEXO is a unilateral, 1 degree-of-freedom device.

  17. [Robotic surgery in urology: the Italian contribution].

    PubMed

    Porpiglia, Francesco; Bertolo, Riccardo

    2015-10-01

    The introduction of robotic technology has given a major boost to the urologic surgery by expanding the indications of minimally-invasive surgery. The Italian urological community has played a major role in this revolution, by contributing to the development and dissemination of technological innovation in urology, with several key publications stemming from this research. The most important revolution has been observed in radical prostatectomy, with robotic technology allowing to achieve better functional results. Nephron-sparing surgery has also been expanded, and leading Italian centers are being involved in international research groups focused on these topics. Major impact has been observed for pyeloplasty, where Italy has been a leader in the field with the introduction of robot-assisted single-site technique. In summary, the advent of robotics has improved collaborations between Italy and other Countries, with increased scientific activity, continuous improvement of surgical techniques and effective training of young urologists.

  18. Robotic Exploration of Moon and Mars: Thematic Education Approach

    NASA Technical Reports Server (NTRS)

    Allen, J S.; Tobola, K. W.; Lowes, L. L.; Betrue, R.

    2008-01-01

    Safe, sustained, affordable human and robotic exploration of the Moon, Mars, and beyond is a major NASA goal. Robotic exploration of the Moon and Mars will help pave the way for an expanded human presence in our solar system. To help share the robotic exploration role in the Vision for Space Exploration with classrooms, informal education groups, and the public, our team researched and consolidated the thematic story components and associated education activities into a useful education materials set for educators. We developed the set of materials for a workshop combining NASA Science Mission Directorate and Exploration Systems Mission Directorate engineering, science, and technology to train informal educators on education activities that support the robotic exploration themes. A major focus is on the use of robotic spacecraft and instruments to explore and prepare for the human exploration of the Moon and Mars.

  19. 30 Years of Neurosurgical Robots: Review and Trends for Manipulators and Associated Navigational Systems.

    PubMed

    Smith, James Andrew; Jivraj, Jamil; Wong, Ronnie; Yang, Victor

    2016-04-01

    This review provides an examination of contemporary neurosurgical robots and the developments that led to them. Improvements in localization, microsurgery and minimally invasive surgery have made robotic neurosurgery viable, as seen by the success of platforms such as the CyberKnife and neuromate. Neurosurgical robots can now perform specific surgical tasks such as skull-base drilling and craniotomies, as well as pedicle screw and cochlear electrode insertions. Growth trends in neurosurgical robotics are likely to continue but may be tempered by concerns over recent surgical robot recalls, commercially-driven surgeon training, and studies that show operational costs for surgical robotic procedures are often higher than traditional surgical methods. We point out that addressing performance issues related to navigation-related registration is an active area of research and will aid in improving overall robot neurosurgery performance and associated costs.

  20. 30 Years of Neurosurgical Robots: Review and Trends for Manipulators and Associated Navigational Systems.

    PubMed

    Smith, James Andrew; Jivraj, Jamil; Wong, Ronnie; Yang, Victor

    2016-04-01

    This review provides an examination of contemporary neurosurgical robots and the developments that led to them. Improvements in localization, microsurgery and minimally invasive surgery have made robotic neurosurgery viable, as seen by the success of platforms such as the CyberKnife and neuromate. Neurosurgical robots can now perform specific surgical tasks such as skull-base drilling and craniotomies, as well as pedicle screw and cochlear electrode insertions. Growth trends in neurosurgical robotics are likely to continue but may be tempered by concerns over recent surgical robot recalls, commercially-driven surgeon training, and studies that show operational costs for surgical robotic procedures are often higher than traditional surgical methods. We point out that addressing performance issues related to navigation-related registration is an active area of research and will aid in improving overall robot neurosurgery performance and associated costs. PMID:26467553

  1. Damping Control of Liquid Container by Swing-type Active Vibration Reducer on Mobile Robot

    NASA Astrophysics Data System (ADS)

    Hamaguchi, Masafumi; Taniguchi, Takao

    This paper proposes a damping control of sloshing in a cylindrical container with a swing-type active vibration reducer on a wheeled mobile robot (WMR). The WMR runs along a straight path on a horizontal plane. The container is mounted on the active vibration reducer. A laser displacement sensor is used to observe the liquid level in the container. The container can be tilted in the running direction by the active vibration reducer. A sloshing model is obtained from a spherical pendulum-type sloshing model, which approximately expresses (1, 1)-mode sloshing. The sloshing model is used to design a damping control system. The control system of the active vibration reducer is designed with an inverse model of sloshing and an optimal regulator with a Kalman filter. The WMR is driven by an acceleration pattern designed with an input shaping method. The usefulness of the proposed method is demonstrated through simulation and experimental results.

  2. Robot- and computer-assisted craniotomy (CRANIO): from active systems to synergistic man-machine interaction.

    PubMed

    Cunha-Cruz, V; Follmann, A; Popovic, A; Bast, P; Wu, T; Heger, S; Engelhardt, M; Schmieder, K; Radermacher, K

    2010-01-01

    Computer and robot assistance in craniotomy/craniectomy procedures is intended to increase precision and efficiency of the removal of calvarial tumours, enabling the preoperative design and manufacturing of the corresponding implant. In the framework of the CRANIO project, an active robotic system was developed to automate the milling processes based on a predefined resection planning. This approach allows for a very efficient milling process, but lacks feedback of the intra-operative process to the surgeon. To better integrate the surgeon into the process, a new teleoperated synergistic architecture was designed. This enables the surgeon to realize changes during the procedure and use their human cognitive capabilities. The preoperative planning information is used as guidance for the user interacting with the system through a master-slave architecture. In this article, the CRANIO system is presented together with this new synergistic approach. Experiments have been performed to evaluate the accuracy of the system in active and synergistic modes for the bone milling procedure. The laboratory studies showed the general feasibility of the new concept for the selected medical procedure and determined the accuracy of the system. Although the integration of the surgeon partially reduces the efficiency of the milling process compared with a purely active (automatic) milling, it provides more feedback and flexibility to the user during the intra-operative procedure.

  3. Multi-robots to micro-surgery: Selected robotic applications at Sandia National Laboratories

    SciTech Connect

    Bennett, P.C.

    1996-11-01

    The Intelligent Systems and Robotics Center (ISRC) at Sandia National Laboratories is a multi-program organization, pursuing research, development and applications in a wide range of field. Activities range from large-scale applications such as nuclear facility dismantlement for the US Department of Energy (DOE), to aircraft inspection and refurbishment, to automated script and program generation for robotic manufacturing and assembly, to miniature robotic devices and sensors for remote sensing and micro-surgery. This paper describes six activities in the large and small scale that are underway and either nearing technology transfer stage or seeking industrial partners to continue application development. The topics of the applications include multiple arm coordination for intuitively maneuvering large, ungainly work pieces; simulation, analysis and graphical training capability for CP-5 research reactor dismantlement; miniature robots with volumes of 16 cubic centimeters and less developed for inspection and sensor deployment; and biomedical sensors to enhance automated prosthetic device production and fill laparoscopic surgery information gap.

  4. Outcome Evaluation of Active Support Training in Taiwan

    ERIC Educational Resources Information Center

    Chou, Yueh-Ching; Harman, Anthony D.; Lin, Chwen-Jen; Lee, Wan-ping; Chang, Shu-chuan; Lin, Mei-Ling

    2011-01-01

    Active Support was implemented for the first time in Taiwan in March, 2009. This study aims to evaluate whether the supervisors and front line managers of residential services receiving Active Support Training (AST) caused a positive impact on their users with intellectual disabilities (ID) while comparing this with their counterparts with ID…

  5. Peer Listening in the Middle School: Training Activities for Students.

    ERIC Educational Resources Information Center

    Hazouri, Sandra Peyser; Smith, Miriam Frey

    This workbook presents activities for training middle school student peer listeners. The first of the workbook's 10 chapters contains an introduction to peer listening. Activities include a pretest on a series of true-false statements called the "Peer Listening Inventory," defining the meaning of the words that describe the qualities of a peer…

  6. Short-term Performance-based Error-augmentation versus Error-reduction Robotic Gait Training for Individuals with Chronic Stroke: A Pilot Study

    PubMed Central

    Kao, PC; Srivastava, S; Higginson, JS; Agrawal, SK; Scholz, JP

    2016-01-01

    The success of locomotion training with robotic exoskeletons requires identifying control algorithms that effectively retrain gait patterns in neurologically impaired individuals. Here we report how the two training paradigms, performance-based error-augmentation versus error-reduction, modified walking patterns in four chronic post-stroke individuals as a proof-of-concept for future locomotion training following stroke. Stroke subjects were instructed to match a prescribed walking pattern template derived from neurologically intact individuals. Target templates based on the spatial paths of lateral ankle malleolus positions during walking were created for each subject. Robotic forces were applied that either decreased (error-reduction) or increased (error-augmentation) the deviation between subjects' instantaneous malleolus positions and their target template. Subjects' performance was quantified by the amount of deviation between their actual and target malleolus paths. After the error-reduction training, S1 showed a malleolus path with reduced deviation from the target template by 16%. In contrast, S4 had a malleolus path further away from the template with increased deviation by 12%. After the error-augmentation training, S2 had a malleolus path greatly approximating the template with reduced deviation by 58% whereas S3 walked with higher steps than his baseline with increased deviation by 37%. These findings suggest that an error-reduction force field has minimal effects on modifying subject's gait patterns whereas an error-augmentation force field may promote a malleolus path either approximating or exceeding the target walking template. Future investigation will need to evaluate the long-term training effects on over-ground walking and functional capacity. PMID:27336075

  7. Deploying the ODIS robot in Iraq and Afghanistan

    NASA Astrophysics Data System (ADS)

    Smuda, Bill; Schoenherr, Edward; Andrusz, Henry; Gerhart, Grant

    2005-05-01

    The wars in Iraq and Afghanistan have shown the importance of robotic technology as a force multiplier and a tool for moving soldiers out of harms way. Situations on the ground make soldiers performing checkpoint operations easy targets for snipers and suicide bombers. Robotics technology reduces risk to soldiers and other personnel at checkpoints. Early user involvement in innovative and aggressive development and acquisition strategies are the key to moving robotic and associated technology into the hands of the user. This paper updates activity associated with rapid development of the Omni-Directional Inspection System (ODIS) robot for under vehicle inspection and reports on our field experience with robotics in Iraq and Afghanistan. In February of 2004, two TARDEC Engineers departed for a mission to Iraq and Afghanistan with ten ODIS Robots. Six robots were deployed in the Green Zone in Baghdad. Two Robots were deployed at Kandahar Army Airfield and two were deployed at Bagram Army Airfield in Afghanistan. The TARDEC Engineers who performed this mission trained the soldiers and provided initial on site support. They also trained Exponent employees assigned to the Rapid Equipping Force in ODIS repair. We will discuss our initial deployment, lessons learned and future plans.

  8. Motor modules in robot-aided walking

    PubMed Central

    2012-01-01

    Background It is hypothesized that locomotion is achieved by means of rhythm generating networks (central pattern generators) and muscle activation generating networks. This modular organization can be partly identified from the analysis of the muscular activity by means of factorization algorithms. The activity of rhythm generating networks is described by activation signals whilst the muscle intervention generating network is represented by motor modules (muscle synergies). In this study, we extend the analysis of modular organization of walking to the case of robot-aided locomotion, at varying speed and body weight support level. Methods Non Negative Matrix Factorization was applied on surface electromyographic signals of 8 lower limb muscles of healthy subjects walking in gait robotic trainer at different walking velocities (1 to 3km/h) and levels of body weight support (0 to 30%). Results The muscular activity of volunteers could be described by low dimensionality (4 modules), as for overground walking. Moreover, the activation signals during robot-aided walking were bursts of activation timed at specific phases of the gait cycle, underlying an impulsive controller, as also observed in overground walking. This modular organization was consistent across the investigated speeds, body weight support level, and subjects. Conclusions These results indicate that walking in a Lokomat robotic trainer is achieved by similar motor modules and activation signals as overground walking and thus supports the use of robotic training for re-establishing natural walking patterns. PMID:23043818

  9. Demonstration of a Spoken Dialogue Interface for Planning Activities of a Semi-autonomous Robot

    NASA Technical Reports Server (NTRS)

    Dowding, John; Frank, Jeremy; Hockey, Beth Ann; Jonsson, Ari; Aist, Gregory

    2002-01-01

    Planning and scheduling in the face of uncertainty and change pushes the capabilities of both planning and dialogue technologies by requiring complex negotiation to arrive at a workable plan. Planning for use of semi-autonomous robots involves negotiation among multiple participants with competing scientific and engineering goals to co-construct a complex plan. In NASA applications this plan construction is done under severe time pressure so having a dialogue interface to the plan construction tools can aid rapid completion of the process. But, this will put significant demands on spoken dialogue technology, particularly in the areas of dialogue management and generation. The dialogue interface will need to be able to handle the complex dialogue strategies that occur in negotiation dialogues, including hypotheticals and revisions, and the generation component will require an ability to summarize complex plans. This demonstration will describe a work in progress towards building a spoken dialogue interface to the EUROPA planner for the purposes of planning and scheduling the activities of a semi-autonomous robot. A prototype interface has been built for planning the schedule of the Personal Satellite Assistant (PSA), a mobile robot designed for micro-gravity environments that is intended for use on the Space Shuttle and International Space Station. The spoken dialogue interface gives the user the capability to ask for a description of the plan, ask specific questions about the plan, and update or modify the plan. We anticipate that a spoken dialogue interface to the planner will provide a natural augmentation or alternative to the visualization interface, in situations in which the user needs very targeted information about the plan, in situations where natural language can express complex ideas more concisely than GUI actions, or in situations in which a graphical user interface is not appropriate.

  10. PMN cell counts and phagocytic activity of highly trained athletes depend on training period.

    PubMed

    Hack, V; Strobel, G; Weiss, M; Weicker, H

    1994-10-01

    We tested the hypothesis that polymorphonuclear leukocyte (PMN) cell counts and phagocytic activity determined by latex ingestion and superoxide anion production are influenced by different training periods. We investigated long-distance runners before and up to 24 h after a graded exercise test to exhaustion during moderate training (MT) and intense training (IT) and compared them with untrained (control) subjects. Cell counts and phagocytic activity at rest and after exercise did not differ significantly between MT and control. On the contrary, IT showed a significant (P < or = 0.05) decrease in PMN cell count at rest (2.55 +/- 0.3 cells/nl) compared with MT (3.63 +/- 0.2 cells/nl) and control (3.41 +/- 0.8 cells/nl). Furthermore, phagocytic activity was significantly reduced (P < or = 0.05) in IT at rest and after exercise compared with MT and control. A strong inverse correlation (r = -0.75; P < or = 0.01) between epinephrine and superoxide anion production was found. These results provide evidence that the phagocytic activity depends on the training period and indicate impaired PMN functions during IT, which might lead to increased susceptibility to infection.

  11. Development of wrist rehabilitation robot and interface system.

    PubMed

    Yamamoto, Ikuo; Matsui, Miki; Inagawa, Naohiro; Hachisuka, Kenji; Wada, Futoshi; Hachisuka, Akiko; Saeki, Satoru

    2015-01-01

    The authors have developed a practical wrist rehabilitation robot for hemiplegic patients. It consists of a mechanical rotation unit, sensor, grip, and computer system. A myoelectric sensor is used to monitor the extensor carpi radialis longus/brevis muscle and flexor carpi radialis muscle activity during training. The training robot can provoke training through myoelectric sensors, a biological signal detector and processor in advance, so that patients can undergo effective training of extention and flexion in an excited condition. In addition, both-wrist system has been developed for mirror effect training, which is the most effective function of the system, so that autonomous training using both wrists is possible. Furthermore, a user-friendly screen interface with easily recognizable touch panels has been developed to give effective training for patients. The developed robot is small size and easy to carry. The developed aspiring interface system is effective to motivate the training of patients. The effectiveness of the robot system has been verified in hospital trails. PMID:26409544

  12. Robotic surgery

    MedlinePlus

    Robot-assisted surgery; Robotic-assisted laparoscopic surgery; Laparoscopic surgery with robotic assistance ... Robotic surgery is similar to laparoscopic surgery. It can be performed through smaller cuts than open surgery. ...

  13. Predicting space telerobotic operator training performance from human spatial ability assessment

    NASA Astrophysics Data System (ADS)

    Liu, Andrew M.; Oman, Charles M.; Galvan, Raquel; Natapoff, Alan

    2013-11-01

    Our goal was to determine whether existing tests of spatial ability can predict an astronaut's qualification test performance after robotic training. Because training astronauts to be qualified robotics operators is so long and expensive, NASA is interested in tools that can predict robotics performance before training begins. Currently, the Astronaut Office does not have a validated tool to predict robotics ability as part of its astronaut selection or training process. Commonly used tests of human spatial ability may provide such a tool to predict robotics ability. We tested the spatial ability of 50 active astronauts who had completed at least one robotics training course, then used logistic regression models to analyze the correlation between spatial ability test scores and the astronauts' performance in their evaluation test at the end of the training course. The fit of the logistic function to our data is statistically significant for several spatial tests. However, the prediction performance of the logistic model depends on the criterion threshold assumed. To clarify the critical selection issues, we show how the probability of correct classification vs. misclassification varies as a function of the mental rotation test criterion level. Since the costs of misclassification are low, the logistic models of spatial ability and robotic performance are reliable enough only to be used to customize regular and remedial training. We suggest several changes in tracking performance throughout robotics training that could improve the range and reliability of predictive models.

  14. Comprehensive School Physical Activity Programs: Characteristics of Trained Teachers

    ERIC Educational Resources Information Center

    Centeio, Erin E.; Erwin, Heather; Castelli, Darla M.

    2014-01-01

    As public health concerns about physical inactivity and childhood obesity continue to rise, researchers are calling for interventions that comprehensively lead to more opportunities to participate in physical activity (PA). The purpose of this study was to examine the characteristics and attitudes of trained physical education teachers during the…

  15. Visual and somatic sensory feedback of brain activity for intuitive surgical robot manipulation.

    PubMed

    Miura, Satoshi; Matsumoto, Yuya; Kobayashi, Yo; Kawamura, Kazuya; Nakashima, Yasutaka; Fujie, Masakatsu G

    2015-01-01

    This paper presents a method to evaluate the hand-eye coordination of the master-slave surgical robot by measuring the activation of the intraparietal sulcus in users brain activity during controlling virtual manipulation. The objective is to examine the changes in activity of the intraparietal sulcus when the user's visual or somatic feedback is passed through or intercepted. The hypothesis is that the intraparietal sulcus activates significantly when both the visual and somatic sense pass feedback, but deactivates when either visual or somatic is intercepted. The brain activity of three subjects was measured by the functional near-infrared spectroscopic-topography brain imaging while they used a hand controller to move a virtual arm of a surgical simulator. The experiment was performed several times with three conditions: (i) the user controlled the virtual arm naturally under both visual and somatic feedback passed, (ii) the user moved with closed eyes under only somatic feedback passed, (iii) the user only gazed at the screen under only visual feedback passed. Brain activity showed significantly better control of the virtual arm naturally (p<;0.05) when compared with moving with closed eyes or only gazing among all participants. In conclusion, the brain can activate according to visual and somatic sensory feedback agreement.

  16. Beyond Robotics

    ERIC Educational Resources Information Center

    Tally, Beth; Laverdure, Nate

    2006-01-01

    Chantilly High School Academy Robotics Team Number 612 from Chantilly, Virginia, is an award-winning team of high school students actively involved with FIRST (For Inspiration and Recognition of Science and Technology), a multinational nonprofit organization that inspires students to transform culture--making science, math, engineering and…

  17. Diffusion tensor and volumetric magnetic resonance imaging using an MR-compatible hand-induced robotic device suggests training-induced neuroplasticity in patients with chronic stroke

    PubMed Central

    LAZARIDOU, ASIMINA; ASTRAKAS, LOUKAS; MINTZOPOULOS, DIONYSSIOS; KHANICHEH, AZADEH; SINGHAL, ANEESH B.; MOSKOWITZ, MICHAEL A.; ROSEN, BRUCE; TZIKA, ARIA A.

    2013-01-01

    Stroke is the third leading cause of mortality and a frequent cause of long-term adult impairment. Improved strategies to enhance motor function in individuals with chronic disability from stroke are thus required. Post-stroke therapy may improve rehabilitation and reduce long-term disability; however, objective methods for evaluating the specific impact of rehabilitation are rare. Brain imaging studies on patients with chronic stroke have shown evidence for reorganization of areas showing functional plasticity after a stroke. In this study, we hypothesized that brain mapping using a novel magnetic resonance (MR)-compatible hand device in conjunction with state-of-the-art magnetic resonance imaging (MRI) can serve as a novel biomarker for brain plasticity induced by rehabilitative motor training in patients with chronic stroke. This hypothesis is based on the premises that robotic devices, by stimulating brain plasticity, can assist in restoring movement compromised by stroke-induced pathological changes in the brain and that these changes can then be monitored by advanced MRI. We serially examined 15 healthy controls and 4 patients with chronic stroke. We employed a combination of diffusion tensor imaging (DTI) and volumetric MRI using a 3-tesla (3T) MRI system using a 12-channel Siemens Tim coil and a novel MR-compatible hand-induced robotic device. DTI data revealed that the number of fibers and the average tract length significantly increased after 8 weeks of hand training by 110% and 64%, respectively (p<0.001). New corticospinal tract (CST) fibers projecting progressively closer to the motor cortex appeared during training. Volumetric data analysis showed a statistically significant increase in the cortical thickness of the ventral postcentral gyrus areas of patients after training relative to pre-training cortical thickness (p<0.001). We suggest that rehabilitation is possible for a longer period of time after stroke than previously thought, showing that

  18. An Exploration of Developing Active Exploring and Problem Solving Skill Lego Robot Course by the Application of Anchored Instruction Theory

    ERIC Educational Resources Information Center

    Chen, Chen-Yuan

    2013-01-01

    In recent years, researches had shown that the development of problem solving skill became important for education, and the educational robots are capable for promoting students not only understand the physical and mathematical concepts, but also have active and constructive learning. Meanwhile, the importance of situation in education is rising,…

  19. The Ideal Science Student: Exploring the Relationship of Students' Perceptions to Their Problem Solving Activity in a Robotics Context

    ERIC Educational Resources Information Center

    Sullivan, Florence; Lin, Xiadong

    2012-01-01

    The purpose of this study is to examine the relationship of middle school students' perceptions of the ideal science student to their problem solving activity and conceptual understanding in the applied science area of robotics. Twenty-six 11 and 12 year-olds (22 boys) attending a summer camp for academically advanced students participated in the…

  20. Robotic assistance that encourages the generation of stepping rather than fully assisting movements is best for learning to step in spinally contused rats.

    PubMed

    Lee, Connie; Won, Deborah; Cantoria, Mary Jo; Hamlin, Marvin; de Leon, Ray D

    2011-06-01

    Robotic devices have been developed to assist body weight-supported treadmill training (BWSTT) in individuals with spinal cord injuries (SCIs) and stroke. Recent findings have raised questions about the effectiveness of robotic training that fully assisted (FA) stepping movements. The purpose of this study was to examine whether assist-as-needed robotic (AAN) training was better than FA movements in rats with incomplete SCI. Electromyography (EMG) electrodes were implanted in the tibialis anterior and medial gastrocnemius hindlimb muscles of 14 adult rats. Afterward, the rats received a severe midthoracic spinal cord contusion and began daily weight-supported treadmill training 1 wk later using a rodent robotic system. During training, assistive forces were applied to the ankle when it strayed from a desired stepping trajectory. The amount of force was proportional to the magnitude of the movement error, and this was multiplied by either a high or low scale factor to implement the FA (n = 7) or AAN algorithms (n = 7), respectively. Thus FA training drove the ankle along the desired trajectory, whereas greater variety in ankle movements occurred during AAN training. After 4 wk of training, locomotor recovery was greater in the AAN group, as demonstrated by the ability to generate steps without assistance, more normal-like kinematic characteristics, and greater EMG activity. The findings suggested that flexible robotic assistance facilitated learning to step after a SCI. These findings support the rationale for the use of AAN robotic training algorithms in human robotic-assisted BWSTT.

  1. Design and control of active vision based mechanisms for intelligent robots

    NASA Technical Reports Server (NTRS)

    Wu, Liwei; Marefat, Michael M.

    1994-01-01

    In this paper, we propose a design of an active vision system for intelligent robot application purposes. The system has the degrees of freedom of pan, tilt, vergence, camera height adjustment, and baseline adjustment with a hierarchical control system structure. Based on this vision system, we discuss two problems involved in the binocular gaze stabilization process: fixation point selection and vergence disparity extraction. A hierarchical approach to determining point of fixation from potential gaze targets using evaluation function representing human visual behavior to outside stimuli is suggested. We also characterize different visual tasks in two cameras for vergence control purposes, and a phase-based method based on binarized images to extract vergence disparity for vergence control is presented. A control algorithm for vergence control is discussed.

  2. A system to integrate electrical stimulation with robotically controlled treadmill training to rehabilitate stepping after spinal cord injury.

    PubMed

    Chao, Tekang; Askari, Sina; De Leon, Ray; Won, Deborah

    2012-09-01

    A functional electrical stimulation (FES) system was engineered to integrate information from a robotically controlled position during stepping in order to time stimulation to continuous gait information in a rodent model of spinal cord injury (SCI). In contrast to conventional FES systems which have a fixed timing pattern relative to gait cycle onset (i.e., toe off/heel off or paw contact/heel strike), this system allows adaptation of stimulation to a robotically controlled position. Rationale for the system design is presented along with bench-test results verifying the timing of the stimulation with respect to hindlimb position. This robotically timed FES system will enable studies investigating the capability of this FES therapy to encourage rehabilitation by way of spinal plasticity.

  3. Private Training Providers in Australia: Their Characteristics and Training Activities. A National Vocational Education and Training Research and Evaluation Program Report

    ERIC Educational Resources Information Center

    Harris, Roger; Simons, Michele; McCarthy, Carmel

    2006-01-01

    This study examines the nature of the training activity of private registered training organisations (RTOs) offered to Australian students in 2003, based on data from a national sample of 330 RTOs. The study also provides estimates of the private sector's overall contribution to the total vocational education and training (VET) effort in Australia…

  4. Pediatric robotic urologic surgery-2014.

    PubMed

    Kearns, James T; Gundeti, Mohan S

    2014-07-01

    We seek to provide a background of the current state of pediatric urologic surgery including a brief history, procedural outcomes, cost considerations, future directions, and the state of robotic surgery in India. Pediatric robotic urology has been shown to be safe and effective in cases ranging from pyeloplasty to bladder augmentation with continent urinary diversion. Complication rates are in line with other methods of performing the same procedures. The cost of robotic surgery continues to decrease, but setting up pediatric robotic urology programs can be costly in terms of both monetary investment and the training of robotic surgeons. The future directions of robot surgery include instrument and system refinements, augmented reality and haptics, and telesurgery. Given the large number of children in India, there is huge potential for growth of pediatric robotic urology in India. Pediatric robotic urologic surgery has been established as safe and effective, and it will be an important tool in the future of pediatric urologic surgery worldwide. PMID:25197187

  5. Robotic surgery in Italy national survey (2011).

    PubMed

    Santoro, Eugenio; Pansadoro, Vito

    2013-03-01

    Robotic surgery in Italy has become a clinical reality that is gaining increasing acceptance. As of 2011 after the United States, Italy together with Germany is the country with the largest number of active Robotic centers, 46, and da Vinci Robots installed, with at least 116 operators already trained. The number of interventions performed in Italy in 2011 exceeded 6,000 and in 2010 were 4,784, with prevalence for urology, general surgery and gynecology, however these interventions have also begun to be applied in other fields such as cervicofacial, cardiothoracic and pediatric surgery. In Italy Robotic centers are mostly located in Northern Italy, while in the South there are only a few centers, and four regions are lacking altogether. Of the 46 centers which were started in 1999, the vast majority is still operational and almost half handle over 200 cases a year. The quality of the work is also especially high with large diffusion of radical prostatectomy in urology and liver resection and colic in general surgery. The method is very well accepted among operators, over 80 %, and among patients, over 95 %. From the analysis of world literature and a survey carried out in Italy, Robotic surgery, which at the moment could be better defined as telesurgery, represents a significant advantage for operators and a consistent gain for the patient. However, it still has important limits such as high cost and non-structured training of operators.

  6. Teaching Human Poses Interactively to a Social Robot

    PubMed Central

    Gonzalez-Pacheco, Victor; Malfaz, Maria; Fernandez, Fernando; Salichs, Miguel A.

    2013-01-01

    The main activity of social robots is to interact with people. In order to do that, the robot must be able to understand what the user is saying or doing. Typically, this capability consists of pre-programmed behaviors or is acquired through controlled learning processes, which are executed before the social interaction begins. This paper presents a software architecture that enables a robot to learn poses in a similar way as people do. That is, hearing its teacher's explanations and acquiring new knowledge in real time. The architecture leans on two main components: an RGB-D (Red-, Green-, Blue- Depth) -based visual system, which gathers the user examples, and an Automatic Speech Recognition (ASR) system, which processes the speech describing those examples. The robot is able to naturally learn the poses the teacher is showing to it by maintaining a natural interaction with the teacher. We evaluate our system with 24 users who teach the robot a predetermined set of poses. The experimental results show that, with a few training examples, the system reaches high accuracy and robustness. This method shows how to combine data from the visual and auditory systems for the acquisition of new knowledge in a natural manner. Such a natural way of training enables robots to learn from users, even if they are not experts in robotics. PMID:24048336

  7. Teaching human poses interactively to a social robot.

    PubMed

    Gonzalez-Pacheco, Victor; Malfaz, Maria; Fernandez, Fernando; Salichs, Miguel A

    2013-09-17

    The main activity of social robots is to interact with people. In order to do that, the robot must be able to understand what the user is saying or doing. Typically, this capability consists of pre-programmed behaviors or is acquired through controlled learning processes, which are executed before the social interaction begins. This paper presents a software architecture that enables a robot to learn poses in a similar way as people do. That is, hearing its teacher's explanations and acquiring new knowledge in real time. The architecture leans on two main components: an RGB-D (Red-, Green-, Blue- Depth) -based visual system, which gathers the user examples, and an Automatic Speech Recognition (ASR) system, which processes the speech describing those examples. The robot is able to naturally learn the poses the teacher is showing to it by maintaining a natural interaction with the teacher. We evaluate our system with 24 users who teach the robot a predetermined set of poses. The experimental results show that, with a few training examples, the system reaches high accuracy and robustness. This method shows how to combine data from the visual and auditory systems for the acquisition of new knowledge in a natural manner. Such a natural way of training enables robots to learn from users, even if they are not experts in robotics.

  8. Ambulatory physical activity during United States Army basic combat training.

    PubMed

    Knapik, J J; Darakjy, S; Hauret, K G; Canada, S; Marin, R; Jones, B H

    2007-02-01

    Electronic pedometers were used to quantify locomotor physical activity during an entire 9-week United States Army Basic Combat Training (BCT) cycle. Pedometers were worn on the hips of 4 trainees in each of 10 BCT companies during all BCT activities. Investigators obtained pedometer readings (steps) on a daily basis, and estimated travel distances were obtained by multiplying steps by the average individual step length. A short questionnaire was administered daily to assure trainees wore the pedometers and trained with their companies all day. Trainees performed an average +/- SD of 16 311 +/- 5826 steps/day and traveled an estimated 11.7 +/- 4.4 kilometers/day. The highest daily locomotor activity was during the field training exercise in which trainees took an average +/- SD of 22 372 +/- 12 517 steps/day traveling an estimated 16.2 +/- 9.7 kilometers/day. Differences among the 10 companies ranged from 14 720 +/- 6649 steps/day to 18 729 +/- 6328 steps/day. This survey provided the first examination of locomotor physical activity during an entire BCT cycle.

  9. Robot and robot system

    NASA Technical Reports Server (NTRS)

    Behar, Alberto E. (Inventor); Marzwell, Neville I. (Inventor); Wall, Jonathan N. (Inventor); Poole, Michael D. (Inventor)

    2011-01-01

    A robot and robot system that are capable of functioning in a zero-gravity environment are provided. The robot can include a body having a longitudinal axis and having a control unit and a power source. The robot can include a first leg pair including a first leg and a second leg. Each leg of the first leg pair can be pivotally attached to the body and constrained to pivot in a first leg pair plane that is substantially perpendicular to the longitudinal axis of the body.

  10. Not all instability training devices enhance muscle activation in highly resistance-trained individuals.

    PubMed

    Wahl, Michael J; Behm, David G

    2008-07-01

    The objective of this study was to measure the electromyographic (EMG) activity of the soleus, bicep femoris, rectus femoris, lower abdominal, and lumbosacral erector spinae (LSES) muscles with a variety of (a) instability devices, (b) stable and unstable (Dyna Disc) exercises, and (c) a fatiguing exercise in 16 highly conditioned individuals. The device protocol had participants assume standing and squatting postures while balancing on a variety of unstable platforms (Dyna Disc, BOSU ball, wobble board, and a Swiss ball) and a stable floor. The exercise protocol had subjects performing, static front lunges, static side lunges, 1-leg hip extensions, 1-leg reaches, and calf raises on a floor or an unstable Dyna Disc. For the fatigue experiment, a wall sit position was undertaken under stable and unstable (BOSU ball) conditions. Results for the device experiment demonstrated increased activity for all muscles when standing on a Swiss ball and all muscles other than the rectus femoris when standing on a wobble board. Only lower abdominals and soleus EMG activity increased while squatting on a Swiss ball and wobble board. Devices such as the Dyna Disc and BOSU ball did not exhibit significant differences in muscle activation under any conditions, except the LSES in the standing Dyna Disc conditions. During the exercise protocol, there were no significant changes in muscle activity between stable and unstable (Dyna Disc) conditions. With the fatigue protocol, soleus EMG activity was 51% greater with a stable base. These results indicate that the use of moderately unstable training devices (i.e., Dyna Disc, BOSU ball) did not provide sufficient challenges to the neuromuscular system in highly resistance-trained individuals. Since highly trained individuals may already possess enhanced stability from the use of dynamic free weights, a greater degree of instability may be necessary.

  11. Aerobic training in rats increases skeletal muscle sphingomyelinase and serine palmitoyltransferase activity, while decreasing ceramidase activity.

    PubMed

    Błachnio-Zabielska, Agnieszka; Zabielski, Piotr; Baranowski, Marcin; Gorski, Jan

    2011-03-01

    Sphingolipids are important components of cell membranes that may also serve as cell signaling molecules; ceramide plays a central role in sphingolipid metabolism. The aim of this study was to examine the effect of 5 weeks of aerobic training on key enzymes and intermediates of ceramide metabolism in skeletal muscles. The experiments were carried out on rats divided into two groups: (1) sedentary and (2) trained for 5 weeks (on a treadmill). The activity of serine palmitoyltransferase (SPT), neutral and acid sphingomyelinase (nSMase and aSMase), neutral and alkaline ceramidases (nCDase and alCDase) and the content of sphingolipids was determined in three types of skeletal muscle. We also measured the fasting plasma insulin and glucose concentration for calculating HOMA-IR (homeostasis model assessment) for estimating insulin resistance. We found that the activities of aSMase and SPT increase in muscle in the trained group. These changes were followed by elevation in the content of sphinganine. The activities of both isoforms of ceramidase were reduced in muscle in the trained group. Although the activities of SPT and SMases increased and the activity of CDases decreased, the ceramide content did not change in any of the studied muscle. Although ceramide level did not change, we noticed increased insulin sensitivity in trained animals. It is concluded that training affects the activity of key enzymes of ceramide metabolism but also activates other metabolic pathways which affect ceramide metabolism in skeletal muscles.

  12. Combining Robotic Training and Non-Invasive Brain Stimulation in Severe Upper Limb-Impaired Chronic Stroke Patients

    PubMed Central

    Di Lazzaro, Vincenzo; Capone, Fioravante; Di Pino, Giovanni; Pellegrino, Giovanni; Florio, Lucia; Zollo, Loredana; Simonetti, Davide; Ranieri, Federico; Brunelli, Nicoletta; Corbetto, Marzia; Miccinilli, Sandra; Bravi, Marco; Milighetti, Stefano; Guglielmelli, Eugenio; Sterzi, Silvia

    2016-01-01

    Previous studies suggested that both robot-assisted rehabilitation and non-invasive brain stimulation can produce a slight improvement in severe chronic stroke patients. It is still unknown whether their combination can produce synergistic and more consistent improvements. Safety and efficacy of this combination has been assessed within a proof-of-principle, double-blinded, semi-randomized, sham-controlled trial. Inhibitory continuous Theta Burst Stimulation (cTBS) was delivered on the affected hemisphere, in order to improve the response to the following robot-assisted therapy via a homeostatic increase of learning capacity. Twenty severe upper limb-impaired chronic stroke patients were randomized to robot-assisted therapy associated with real or sham cTBS, delivered for 10 working days. Eight real and nine sham patients completed the study. Change in Fugl-Meyer was chosen as primary outcome, while changes in several quantitative indicators of motor performance extracted by the robot as secondary outcomes. The treatment was well-tolerated by the patients and there were no adverse events. All patients achieved a small, but significant, Fugl-Meyer improvement (about 5%). The difference between the real and the sham cTBS groups was not significant. Among several secondary end points, only the Success Rate (percentage of targets reached by the patient) improved more in the real than in the sham cTBS group. This study shows that a short intensive robot-assisted rehabilitation produces a slight improvement in severe upper-limb impaired, even years after the stroke. The association with homeostatic metaplasticity-promoting non-invasive brain stimulation does not augment the clinical gain in patients with severe stroke. PMID:27013950

  13. Humanlike robot hands controlled by brain activity arouse illusion of ownership in operators

    NASA Astrophysics Data System (ADS)

    Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

    2013-08-01

    Operators of a pair of robotic hands report ownership for those hands when they hold image of a grasp motion and watch the robot perform it. We present a novel body ownership illusion that is induced by merely watching and controlling robot's motions through a brain machine interface. In past studies, body ownership illusions were induced by correlation of such sensory inputs as vision, touch and proprioception. However, in the presented illusion none of the mentioned sensations are integrated except vision. Our results show that during BMI-operation of robotic hands, the interaction between motor commands and visual feedback of the intended motions is adequate to incorporate the non-body limbs into one's own body. Our discussion focuses on the role of proprioceptive information in the mechanism of agency-driven illusions. We believe that our findings will contribute to improvement of tele-presence systems in which operators incorporate BMI-operated robots into their body representations.

  14. Active audition for humanoid robots that can listen to three simultaneous talkers

    NASA Astrophysics Data System (ADS)

    Okuno, Hiroshi G.; Nakadai, Kazuhiro

    2003-04-01

    The direction-pass filter (DPF) separates sounds originating from a particular direction by using a pair of microphones embedded in each ear of humanoid robot. DPF first extracts harmonic structures from each channel, finds a corresponding pair on right and left channels, and then calculates their interaural phase difference (IPD) and interaural intensity difference (IID). These IPD and IID are matched with reference data obtained by HRTF or by the geometrical relation to determine the sound source direction. The direction obtained by face detection may be used as a candidate for the direction. Finally, all subbands from the direction are collected to synthesize a wave form by inverse FFT. The allowance of collection depends on the direction; narrow (10 deg) at center, while wide (30 deg) at the periphery. This property is called ``auditory fovea'' and is exploited by DPF actively to improve performance of sound source separation. In addition, a humanoid actively turns its head toward the speaker to listen better. Real-time DPF is implemented by distributed processing with five PCs. Preliminary experiments of active audition in speech recognition of three simultaneous utterances of digits in a normal room is also reported. [Work supported by JSPS.

  15. Recognition of user's activity for adaptive cooperative assistance in robotic surgery.

    PubMed

    Nessi, Federico; Beretta, Elisa; Ferrigno, Giancarlo; De Momi, Elena

    2015-01-01

    During hands-on robotic surgery it is advisable to know how and when to provide the surgeon with different assistance levels with respect to the current performed activity. Gesteme-based on-line classification requires the definition of a complete set of primitives and the observation of large signal percentage. In this work an on-line, gesteme-free activity recognition method is addressed. The algorithm models the guidance forces and the resulting trajectory of the manipulator with 26 low-level components of a Gaussian Mixture Model (GMM). Temporal switching among the components is modeled with a Hidden Markov Model (HMM). Tests are performed in a simplified scenario over a pool of 5 non-surgeon users. Classification accuracy resulted higher than 89% after the observation of a 300 ms-long signal. Future work will address the use of the current detected activity to on-line trigger different strategies to control the manipulator and adapt the level of assistance. PMID:26737482

  16. Contextual action recognition and target localization with an active allocation of attention on a humanoid robot.

    PubMed

    Ognibene, Dimitri; Chinellato, Eris; Sarabia, Miguel; Demiris, Yiannis

    2013-09-01

    Exploratory gaze movements are fundamental for gathering the most relevant information regarding the partner during social interactions. Inspired by the cognitive mechanisms underlying human social behaviour, we have designed and implemented a system for a dynamic attention allocation which is able to actively control gaze movements during a visual action recognition task exploiting its own action execution predictions. Our humanoid robot is able, during the observation of a partner's reaching movement, to contextually estimate the goal position of the partner's hand and the location in space of the candidate targets. This is done while actively gazing around the environment, with the purpose of optimizing the gathering of information relevant for the task. Experimental results on a simulated environment show that active gaze control, based on the internal simulation of actions, provides a relevant advantage with respect to other action perception approaches, both in terms of estimation precision and of time required to recognize an action. Moreover, our model reproduces and extends some experimental results on human attention during an action perception.

  17. Single pellet grasping following cervical spinal cord injury in adult rat using an automated full-time training robot.

    PubMed

    Fenrich, Keith K; May, Zacincte; Torres-Espín, Abel; Forero, Juan; Bennett, David J; Fouad, Karim

    2016-02-15

    Task specific motor training is a common form of rehabilitation therapy in individuals with spinal cord injury (SCI). The single pellet grasping (SPG) task is a skilled forelimb motor task used to evaluate recovery of forelimb function in rodent models of SCI. The task requires animals to obtain food pellets located on a shelf beyond a slit at the front of an enclosure. Manually training and testing rats in the SPG task requires extensive time and often yields results with high outcome variability and small therapeutic windows (i.e., the difference between pre- and post-SCI success rates). Recent advances in automated SPG training using automated pellet presentation (APP) systems allow rats to train ad libitum 24h a day, 7 days a week. APP trained rats have improved success rates, require less researcher time, and have lower outcome variability compared to manually trained rats. However, it is unclear whether APP trained rats can perform the SPG task using the APP system after SCI. Here we show that rats with cervical SCI can successfully perform the SPG task using the APP system. We found that SCI rats with APP training performed significantly more attempts, had slightly lower and less variable final score success rates, and larger therapeutic windows than SCI rats with manual training. These results demonstrate that APP training has clear advantages over manual training for evaluating reaching performance of SCI rats and represents a new tool for investigating rehabilitative motor training following CNS injury.

  18. Single pellet grasping following cervical spinal cord injury in adult rat using an automated full-time training robot.

    PubMed

    Fenrich, Keith K; May, Zacincte; Torres-Espín, Abel; Forero, Juan; Bennett, David J; Fouad, Karim

    2016-02-15

    Task specific motor training is a common form of rehabilitation therapy in individuals with spinal cord injury (SCI). The single pellet grasping (SPG) task is a skilled forelimb motor task used to evaluate recovery of forelimb function in rodent models of SCI. The task requires animals to obtain food pellets located on a shelf beyond a slit at the front of an enclosure. Manually training and testing rats in the SPG task requires extensive time and often yields results with high outcome variability and small therapeutic windows (i.e., the difference between pre- and post-SCI success rates). Recent advances in automated SPG training using automated pellet presentation (APP) systems allow rats to train ad libitum 24h a day, 7 days a week. APP trained rats have improved success rates, require less researcher time, and have lower outcome variability compared to manually trained rats. However, it is unclear whether APP trained rats can perform the SPG task using the APP system after SCI. Here we show that rats with cervical SCI can successfully perform the SPG task using the APP system. We found that SCI rats with APP training performed significantly more attempts, had slightly lower and less variable final score success rates, and larger therapeutic windows than SCI rats with manual training. These results demonstrate that APP training has clear advantages over manual training for evaluating reaching performance of SCI rats and represents a new tool for investigating rehabilitative motor training following CNS injury. PMID:26611563

  19. Self-organization via active exploration in robotic applications. Phase 2: Hybrid hardware prototype

    NASA Technical Reports Server (NTRS)

    Oegmen, Haluk

    1993-01-01

    In many environments human-like intelligent behavior is required from robots to assist and/or replace human operators. The purpose of these robots is to reduce human time and effort in various tasks. Thus the robot should be robust and as autonomous as possible in order to eliminate or to keep to a strict minimum its maintenance and external control. Such requirements lead to the following properties: fault tolerance, self organization, and intelligence. A good insight into implementing these properties in a robot can be gained by considering human behavior. In the first phase of this project, a neural network architecture was developed that captures some fundamental aspects of human categorization, habit, novelty, and reinforcement behavior. The model, called FRONTAL, is a 'cognitive unit' regulating the exploratory behavior of the robot. In the second phase of the project, FRONTAL was interfaced with an off-the-shelf robotic arm and a real-time vision system. The components of this robotic system, a review of FRONTAL, and simulation studies are presented in this report.

  20. Laparoscopic gastric bypass to robotic gastric bypass: time and cost commitment involved in training and transitioning an academic surgical practice.

    PubMed

    Lyn-Sue, Jerome R; Winder, Josh S; Kotch, Shannon; Colello, Jacob; Docimo, Salvatore

    2016-06-01

    The Roux-en-Y gastric bypass is the gold standard procedure for weight loss. This relatively complex procedure has excellent outcomes when performed via laparoscopy. The advent of the DaVinci robotic platform has been a technological advancement. Our goal is to provide information regarding the cost, time commitment, and advantages of transitioning an LRYGB program to an RRYGB program in an academic setting. We retrospectively reviewed the last 25 laparoscopic gastric bypass procedures and the first 25 robotic gastric bypass procedures performed by a single surgeon. We compared clinical outcomes and focused on time and hospital cost during this transition phase. There was no significant demographic difference between the groups. The mean age was 41.7 (RRYGB) years vs 43.4 (LRYGM) years. The mean BMI were similar between groups, 45.3 vs 46.5 kg/m(2) for RRYGB and LRYGB. No anastomotic leaks or mortalities were noted. There was one anastomotic stricture in both groups. Excess weight loss was similar in both groups at 1 year. There was a significant increase in operative time with RRYGB, mean 241 min vs mean 174 min (p = 0.0005). Operative time fell by 25 min after the first 10 cases. The hospital cost was also increased with RRYGB mean $5922 vs $4395 (p = 0.03). Transitioning from a laparoscopic to a robotic practice can be done safely, however, the initial operative times were longer and the hospital cost was higher for robotic gastric bypass. We hope in the future that these will decrease after overcoming the learning and as the technology becomes widespread.

  1. Requirements for and impact of a serious game for neuro-pediatric robot-assisted gait training.

    PubMed

    Labruyère, Rob; Gerber, Corinna N; Birrer-Brütsch, Karin; Meyer-Heim, Andreas; van Hedel, Hubertus J A

    2013-11-01

    We investigated whether children with neurological gait disorders who walked in a driven gait orthosis could adjust their participation level according to the demands of a newly developed rehabilitation game. We further investigated if cognitive capacity and motor impairment influenced game performance. Nineteen children with neurological gait disorders (mean age: 13.4 y, 42% girls) participated. To quantify game participation, electromyographic muscle activity (M. rectus femoris) and heart rate were compared in a demanding part and a less demanding part of the game. Cognitive capacity was assessed with the Test of Nonverbal Intelligence (TONI-4). Furthermore, the Functional Independence Measure for Children (WeeFIM), Manual Muscle Tests and a therapist-derived score of how well the child was able to train were assessed. Results showed that muscle activity and heart rate were higher during the demanding part of the game (30.7 ± 22.6 μV; 129.4 ± 15.7 bpm) compared to the less demanding part (16.0 ± 13.4 μV; 124.1 ± 15.9 bpm; p<0.01 for both measures). Game performance correlated moderately with the TONI-4 (r=0.50, p=0.04) and the cognition subscale of the WeeFIM (ρ=0.59, p=0.01). The therapist-derived score correlated significantly with game performance (p=0.75, p<0.01) and the ability to modify muscle activity to the demands of the game (p=-0.72, p<0.01). Receiver operating characteristic analyses revealed that the latter factor differentiated well between those children suitable for the game and those not. We conclude that children with neurological gait disorders are able to modify their activity to the demands of the VR-scenario. However, cognitive function and motor impairment determine to which extent. These results are important for clinical decision-making.

  2. Dense range map reconstruction from a versatile robotic sensor system with an active trinocular vision and a passive binocular vision

    NASA Astrophysics Data System (ADS)

    Kim, Min Young; Lee, Hyunkee; Cho, Hyungsuck

    2008-04-01

    One major research issue associated with 3D perception by robotic systems is the creation of efficient sensor systems that can generate dense range maps reliably. A visual sensor system for robotic applications is developed that is inherently equipped with two types of sensor, an active trinocular vision and a passive stereo vision. Unlike in conventional active vision systems that use a large number of images with variations of projected patterns for dense range map acquisition or from conventional passive vision systems that work well on specific environments with sufficient feature information, a cooperative bidirectional sensor fusion method for this visual sensor system enables us to acquire a reliable dense range map using active and passive information simultaneously. The fusion algorithms are composed of two parts, one in which the passive stereo vision helps active vision and the other in which the active trinocular vision helps the passive one. The first part matches the laser patterns in stereo laser images with the help of intensity images; the second part utilizes an information fusion technique using the dynamic programming method in which image regions between laser patterns are matched pixel-by-pixel with help of the fusion results obtained in the first part. To determine how the proposed sensor system and fusion algorithms can work in real applications, the sensor system is implemented on a robotic system, and the proposed algorithms are applied. A series of experimental tests is performed for a variety of configurations of robot and environments. The performance of the sensor system is discussed in detail.

  3. Dense range map reconstruction from a versatile robotic sensor system with an active trinocular vision and a passive binocular vision.

    PubMed

    Kim, Min Young; Lee, Hyunkee; Cho, Hyungsuck

    2008-04-10

    One major research issue associated with 3D perception by robotic systems is the creation of efficient sensor systems that can generate dense range maps reliably. A visual sensor system for robotic applications is developed that is inherently equipped with two types of sensor, an active trinocular vision and a passive stereo vision. Unlike in conventional active vision systems that use a large number of images with variations of projected patterns for dense range map acquisition or from conventional passive vision systems that work well on specific environments with sufficient feature information, a cooperative bidirectional sensor fusion method for this visual sensor system enables us to acquire a reliable dense range map using active and passive information simultaneously. The fusion algorithms are composed of two parts, one in which the passive stereo vision helps active vision and the other in which the active trinocular vision helps the passive one. The first part matches the laser patterns in stereo laser images with the help of intensity images; the second part utilizes an information fusion technique using the dynamic programming method in which image regions between laser patterns are matched pixel-by-pixel with help of the fusion results obtained in the first part. To determine how the proposed sensor system and fusion algorithms can work in real applications, the sensor system is implemented on a robotic system, and the proposed algorithms are applied. A series of experimental tests is performed for a variety of configurations of robot and environments. The performance of the sensor system is discussed in detail.

  4. Husar-8 Rover Swarm Collective Activity Around Hunveyor-8: Planetary Robotics at the Kecskemét College, GAMF Faculty, Hungary

    NASA Astrophysics Data System (ADS)

    Pasztor, A.; Simon, T.; Nagy, Sz.; Bérczi, Sz.

    2009-03-01

    By constructing the HUSAR-8 model the GAMF Faculty at Kecskemét College began student robotics program with swarm strategy for navigation on the field trip in order to develop teaching programming and trigger student personal activity.

  5. Memory Training in the ACTIVE study: How Much is Needed and Who Benefits?

    PubMed Central

    Rebok, George W.; Langbaum, Jessica B.S.; Jones, Richard N.; Gross, Alden L.; Parisi, Jeanine M.; Spira, Adam P.; Kueider, Alexandra; Petras, Hanno; Brandt, Jason

    2013-01-01

    Objectives and Methods Data from the memory training arm (n = 629) of the Advanced Cognitive Training for Independent and Vital Elderly (ACTIVE) trial were examined to characterize change in memory performance through five years of follow-up as a function of memory training, booster training, adherence to training, and other characteristics. Results Latent growth model analyses revealed that memory training was associated with improved memory performance through year five, but that neither booster training nor training adherence significantly influenced this effect. Baseline age was associated with change in memory performance attributable to the passage of time alone (i.e., to aging). Higher education and better self-rated health were associated with greater change in memory performance after training. Discussion These findings confirm that memory training can aid in maintaining long-term improvements in memory performance. Booster training and adherence to training do not appear to attenuate rates of normal age-related memory decline. PMID:23103452

  6. [Robotic surgery: toy or tool?].

    PubMed

    Vallancien, Guy; Cathelineau, Xavier; Rozet, François; Barret, Eric

    2005-05-01

    Telemanipulation has been developed for industrial purposes since the 1970s. More recently, telemanipulated arms entered the operating room. This paper briefly describes the history of surgical robotics and discusses the advantages and disadvantages for both patients and surgeons. The authors advocate the development of robotic surgery, as it facilitates the training of young surgeons and can be useful during certain phases of an operation. Thus, robotic surgery is more a promising tool than a simple toy.

  7. 34 CFR 642.10 - Activities the Secretary assists under the Training Program.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... Training Program projects must provide training for new project directors. (d) Each year, one or more... 34 Education 3 2010-07-01 2010-07-01 false Activities the Secretary assists under the Training... (Continued) OFFICE OF POSTSECONDARY EDUCATION, DEPARTMENT OF EDUCATION TRAINING PROGRAM FOR FEDERAL...

  8. 78 FR 40551 - Agency Information Collection (Monthly Certification of Flight Training) Activity Under OMB Review

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-07-05

    ... AFFAIRS Agency Information Collection (Monthly Certification of Flight Training) Activity Under OMB Review...: Title: Monthly Certification of Flight Training, VA Form 22-6553c. OMB Control Number: 2900-0162. Type... vocational flight training. VA Form 22-6553c serves as a report of flight training pursued and termination...

  9. Rapid changes in arousal states of healthy volunteers during robot-assisted gait training: a quantitative time-series electroencephalography study

    PubMed Central

    2014-01-01

    Background Robot-assisted gait training (RAGT) is expected to be an effective rehabilitative intervention for patients with gait disturbances. However, the monotonous gait pattern provided by robotic guidance tends to induce sleepiness, and the resultant decreased arousal during RAGT may negatively affect gait training progress. This study assessed electroencephalography (EEG)-based, objective sleepiness during RAGT and examined whether verbal or nonverbal warning sounds are effective stimuli for counteracting such sleepiness. Methods Twelve healthy men walked on a treadmill for 6 min, while being guided by a Gait-Assistance Robot, under 3 experimental conditions: with sine-wave sound stimulation (SS), verbal sound stimulation (VS), and no sound stimulation (NS). The volunteers were provided with warning sound stimulation at 4 min (ST1), 4 min 20 s (ST2), 4 min 40 s (ST3), and 5 min (ST4) after the start of RAGT. EEGs were recorded at the central (Cz) and occipital (O1 and O2) regions (International 10–20 system) before and during RAGT, and 4-s segments of EEG data were extracted from the filtered data during the 8 experimental periods: middle of the eyes-closed condition; middle of the eyes-open condition; beginning of RAGT; immediately before ST1; immediately after ST1, ST2, ST3, and ST4. According to the method used in the Karolinska drowsiness test, the power densities of the theta, alpha 1, and alpha 2 bands were calculated as indices of objective sleepiness. Results Comparisons of the findings between baseline and before ST showed that the power densities of the alpha 1 and 2 bands tended to increase, whereas the theta power density increased significantly (P < .05). During NS, the power densities remained at a constant high level until after ST4. During SS and VS, the power densities were attenuated immediately to the same degree and maintained at a constant low level until after ST4. Conclusions This study is the first to demonstrate that EEG

  10. Applying robotics to HAZMAT

    NASA Technical Reports Server (NTRS)

    Welch, Richard V.; Edmonds, Gary O.

    1994-01-01

    The use of robotics in situations involving hazardous materials can significantly reduce the risk of human injuries. The Emergency Response Robotics Project, which began in October 1990 at the Jet Propulsion Laboratory, is developing a teleoperated mobile robot allowing HAZMAT (hazardous materials) teams to remotely respond to incidents involving hazardous materials. The current robot, called HAZBOT III, can assist in locating characterizing, identifying, and mitigating hazardous material incidents without risking entry team personnel. The active involvement of the JPL Fire Department HAZMAT team has been vital in developing a robotic system which enables them to perform remote reconnaissance of a HAZMAT incident site. This paper provides a brief review of the history of the project, discusses the current system in detail, and presents other areas in which robotics can be applied removing people from hazardous environments/operations.

  11. Applying robotics to HAZMAT

    NASA Astrophysics Data System (ADS)

    Welch, Richard V.; Edmonds, Gary O.

    1994-02-01

    The use of robotics in situations involving hazardous materials can significantly reduce the risk of human injuries. The Emergency Response Robotics Project, which began in October 1990 at the Jet Propulsion Laboratory, is developing a teleoperated mobile robot allowing HAZMAT (hazardous materials) teams to remotely respond to incidents involving hazardous materials. The current robot, called HAZBOT III, can assist in locating characterizing, identifying, and mitigating hazardous material incidents without risking entry team personnel. The active involvement of the JPL Fire Department HAZMAT team has been vital in developing a robotic system which enables them to perform remote reconnaissance of a HAZMAT incident site. This paper provides a brief review of the history of the project, discusses the current system in detail, and presents other areas in which robotics can be applied removing people from hazardous environments/operations.

  12. Behavior analysis and training-a methodology for behavior engineering.

    PubMed

    Colombetti, M; Dorigo, M; Borghi, G

    1996-01-01

    We propose Behavior Engineering as a new technological area whose aim is to provide methodologies and tools for developing autonomous robots. Building robots is a very complex engineering enterprise that requires the exact definition and scheduling of the activities which a designer, or a team of designers, should follow. Behavior Engineering is, within the autonomous robotics realm, the equivalent of more established disciplines like Software Engineering and Knowledge Engineering. In this article we first give a detailed presentation of a Behavior Engineering methodology, which we call Behavior Analysis and Training (BAT), where we stress the role of learning and training. Then we illustrate the application of the BAT methodology to three cases involving different robots: two mobile robots and a manipulator. Results show the feasibility of the proposed approach.

  13. Environmental impacts of training activities at an air weapons range.

    PubMed

    Bordeleau, Geneviève; Martel, Richard; Ampleman, Guy; Thiboutot, Sonia

    2008-01-01

    Within Canada, it has been recognized in the last decade that military training activities may have impacts on the environmental quality of training ranges. However, impacts of activities specific to Air Force Bases have not yet been intensely documented. A hydrogeological study was accomplished at the Cold Lake Air Weapons Range, Alberta, to evaluate the environmental impacts of using bombs, rockets, strafing, and open burning/open detonation (OB/OD) on the quality of soil, ground water, surface water, and lake sediments. Samples were analyzed for metals, anions, ammonium perchlorate (NH(4)ClO(4)), and energetic materials (EM). It was found that training activities did not result in measured values being exceeded on the basis of guidance values for surface water and lake sediments. Contamination by metals was mostly limited to soils, and some metals may be related to the use of bombs (Cd, Cu, Pb), strafe (Cu), and rockets (As, Ba, Cd, Cr, Cu, Fe, Ni, Pb, U, V, Zn). TNT (2,4,6-trinitrotoluene) was the main EM found in soils, while RDX (hexahydro-1,3,5-trinitro-1,3,5-triazine) was more common in ground water. Both are related to live bombing, while nitroglycerine (NG) is related to rocket use and was detected in soils only. Aluminum, nitrate, and ammonium perchlorate detected in ground water may be related to live bombing or rockets. OB/OD operations resulted in the presence of various EM in soils, and of perchlorate and nitrate in ground water. Contamination by metals and explosives in soils was localized around the targets and varied significantly in time; however, in ground water it was more constant and may persist for a period of several years after a target has been removed. PMID:18268292

  14. Environmental impacts of training activities at an air weapons range.

    PubMed

    Bordeleau, Geneviève; Martel, Richard; Ampleman, Guy; Thiboutot, Sonia

    2008-01-01

    Within Canada, it has been recognized in the last decade that military training activities may have impacts on the environmental quality of training ranges. However, impacts of activities specific to Air Force Bases have not yet been intensely documented. A hydrogeological study was accomplished at the Cold Lake Air Weapons Range, Alberta, to evaluate the environmental impacts of using bombs, rockets, strafing, and open burning/open detonation (OB/OD) on the quality of soil, ground water, surface water, and lake sediments. Samples were analyzed for metals, anions, ammonium perchlorate (NH(4)ClO(4)), and energetic materials (EM). It was found that training activities did not result in measured values being exceeded on the basis of guidance values for surface water and lake sediments. Contamination by metals was mostly limited to soils, and some metals may be related to the use of bombs (Cd, Cu, Pb), strafe (Cu), and rockets (As, Ba, Cd, Cr, Cu, Fe, Ni, Pb, U, V, Zn). TNT (2,4,6-trinitrotoluene) was the main EM found in soils, while RDX (hexahydro-1,3,5-trinitro-1,3,5-triazine) was more common in ground water. Both are related to live bombing, while nitroglycerine (NG) is related to rocket use and was detected in soils only. Aluminum, nitrate, and ammonium perchlorate detected in ground water may be related to live bombing or rockets. OB/OD operations resulted in the presence of various EM in soils, and of perchlorate and nitrate in ground water. Contamination by metals and explosives in soils was localized around the targets and varied significantly in time; however, in ground water it was more constant and may persist for a period of several years after a target has been removed.

  15. Field Training Activities for Hydrologic Science in West Java, Indonesia

    NASA Astrophysics Data System (ADS)

    Agustina, C.; Fajri, P. N.; Fathoni, F.; Gusti, T. P.; Harifa, A. C.; Hendra, Y.; Hertanti, D. R.; Lusiana, N.; Rohmat, F. I.; Agouridis, C.; Fryar, A. E.; Milewski, A.; Pandjaitan, N.; Santoso, R.; Suharyanto, A.

    2013-12-01

    In hydrologic science and engineering, one challenge is establishing a common framework for discussion among workers from different disciplines. As part of the 'Building Opportunity Out of Science and Technology: Helping Hydrologic Outreach (BOOST H2O)' project, which is supported by the U.S. Department of State, nine current or recent graduate students from four Indonesian universities participated in a week of training activities during June 2013. Students had backgrounds in agricultural engineering, civil and environmental engineering, water resources engineering, natural resources management, and soil science. Professors leading the training, which was based at Bogor Agricultural University (IPB) in west Java, included an agricultural engineer, civil engineers, and geologists. Activities in surface-water hydrology included geomorphic assessment of streams (measuring slope, cross-section, and bed-clast size) and gauging stream flow (wading with top-setting rods and a current meter for a large stream, and using a bucket and stopwatch for a small stream). Groundwater-hydrology activities included measuring depth to water in wells, conducting a pumping test with an observation well, and performing vertical electrical soundings to infer hydrostratigraphy. Students also performed relatively simple water-quality measurements (temperature, electrical conductivity, pH, and alkalinity) in streams, wells, and springs. The group analyzed data with commercially-available software such as AQTESOLV for well hydraulics, freeware such as the U.S. Geological Survey alkalinity calculator, and Excel spreadsheets. Results were discussed in the context of landscape position, lithology, and land use.

  16. Firefighter noise exposure during training activities and general equipment use.

    PubMed

    Root, Kyle S; Schwennker, Catherine; Autenrieth, Daniel; Sandfort, Delvin R; Lipsey, Tiffany; Brazile, William J

    2013-01-01

    Multiple noise measurements were taken on 6 types of fire station equipment and 15 types of emergency response vehicle-related equipment used by firefighters during routine and emergency operations at 10 fire stations. Five of the six types of fire station equipment, when measured at a distance of one meter and ear level, emitted noise equal to or greater than 85 dBA, including lawn maintenance equipment, snow blowers, compressors, and emergency alarms. Thirteen of 15 types of equipment located on the fire engines emitted noise levels equal to or greater than 85 dBA, including fans, saws, alarms, and extrication equipment. In addition, noise measurements were taken during fire engine operations, including the idling vehicle, vehicle sirens, and water pumps. Results indicated that idling fire-engine noise levels were below 85 dBA; however, during water pump and siren use, noise levels exceeded 85 dBA, in some instances, at different locations around the trucks where firefighters would be stationed during emergency operations. To determine if the duration and use of fire fighting equipment was sufficient to result in overexposures to noise during routine training activities, 93 firefighter personal noise dosimetry samples were taken during 10 firefighter training activities. Two training activities per sampling day were monitored during each sampling event, for a mean exposure time of 70 min per day. The noise dosimetry samples were grouped based on job description to compare noise exposures between the different categories of job tasks commonly associated with fire fighting. The three job categories were interior, exterior, and engineering. Mean personal dosimetry results indicated that the average noise exposure was 78 dBA during the training activities that lasted 70 min on average. There was no significant difference in noise exposure between each of the three job categories. Although firefighters routinely use equipment and emergency response vehicles that

  17. Firefighter noise exposure during training activities and general equipment use.

    PubMed

    Root, Kyle S; Schwennker, Catherine; Autenrieth, Daniel; Sandfort, Delvin R; Lipsey, Tiffany; Brazile, William J

    2013-01-01

    Multiple noise measurements were taken on 6 types of fire station equipment and 15 types of emergency response vehicle-related equipment used by firefighters during routine and emergency operations at 10 fire stations. Five of the six types of fire station equipment, when measured at a distance of one meter and ear level, emitted noise equal to or greater than 85 dBA, including lawn maintenance equipment, snow blowers, compressors, and emergency alarms. Thirteen of 15 types of equipment located on the fire engines emitted noise levels equal to or greater than 85 dBA, including fans, saws, alarms, and extrication equipment. In addition, noise measurements were taken during fire engine operations, including the idling vehicle, vehicle sirens, and water pumps. Results indicated that idling fire-engine noise levels were below 85 dBA; however, during water pump and siren use, noise levels exceeded 85 dBA, in some instances, at different locations around the trucks where firefighters would be stationed during emergency operations. To determine if the duration and use of fire fighting equipment was sufficient to result in overexposures to noise during routine training activities, 93 firefighter personal noise dosimetry samples were taken during 10 firefighter training activities. Two training activities per sampling day were monitored during each sampling event, for a mean exposure time of 70 min per day. The noise dosimetry samples were grouped based on job description to compare noise exposures between the different categories of job tasks commonly associated with fire fighting. The three job categories were interior, exterior, and engineering. Mean personal dosimetry results indicated that the average noise exposure was 78 dBA during the training activities that lasted 70 min on average. There was no significant difference in noise exposure between each of the three job categories. Although firefighters routinely use equipment and emergency response vehicles that

  18. Introducing the potential of antimicrobial materials for human and robotic spaceflight activities

    NASA Astrophysics Data System (ADS)

    Hahn, Claudia; Reitz, Guenther; Moeller, Ralf; Rettberg, Petra; Hans, Michael; Muecklich, Frank

    their relative short reaction time, long efficiency and functionality, broad application to reduce (micro-)biological contamination, high inactivation rates, sustainability, and avoidance of microbial resistance. Methods like contact killing measurement are one of the reliable ways to examine the effect of metal surfaces on the inactivation of microorganisms. We conducted contact killing experiments, in which we exposed human-associated microorganisms like Escherichia coli and Staphylococcus sp. on copper and stainless steel to detect and evaluate the potential incorporation of those materials in future spacecraft components. In contrast to an exposure on stainless steel microorganisms exposed on copper died within a few hours and therefore do not have the ability to proliferate, build protecting biofilms or even survive. The application of different surfaces and antimicrobial substances such as copper and silver, as well as testing other model organisms are still under examination. The results of our experiments are also very promising to other research areas, e.g., clinical application. Here, we would like to present our first data and ideas on the utilization of antimicrobial metal-based surfaces for human and robotic spaceflight activities as a beneficial method to reduce microbial contamination. \\underline{References} Horneck G et al. (2010) Space microbiology. Microbiol. Mol. Biol. Rev. 74:121-156. Vaishampayan P et al. (2013) New perspectives on viable microbial communities in low-biomass cleanroom environments. ISME J. 7:312-324. van Houdt R et al. (2012) Microbial contamination monitoring and control during human space missions. Planet. Space Sci. 60:115-120.

  19. An Overview of Propulsion Concept Studies and Risk Reduction Activities for Robotic Lunar Landers

    NASA Technical Reports Server (NTRS)

    Trinh, Huu P.; Story, George; Burnside, Chris; Kudlach, Al

    2010-01-01

    In support of designing robotic lunar lander concepts, the propulsion team at NASA Marshall Space Flight Center (MSFC) and the Johns Hopkins University Applied Physics Laboratory (APL), with participation from industry, conducted a series of trade studies on propulsion concepts with an emphasis on light-weight, advanced technology components. The results suggest a high-pressure propulsion system may offer some benefits in weight savings and system packaging. As part of the propulsion system, a solid rocket motor was selected to provide a large impulse to reduce the spacecraft s velocity prior to the lunar descent. In parallel to this study effort, the team also began technology risk reduction testing on a high thrust-to-weight descent thruster and a high-pressure regulator. A series of hot-fire tests was completed on the descent thruster in vacuum conditions at NASA White Sands Test Facility (WSTF) in New Mexico in 2009. Preparations for a hot-fire test series on the attitude control thruster at WSTF and for pressure regulator testing are now underway. This paper will provide an overview of the concept trade study results along with insight into the risk mitigation activities conducted to date.

  20. Effects of bail activation sequence and feed availability on cow traffic and milk harvesting capacity in a robotic rotary dairy.

    PubMed

    Kolbach, R; Kerrisk, K L; Garcia, S C; Dhand, N K

    2013-04-01

    This study was conducted to investigate the effects of different bail activation sequences in combination with feed availability on cow traffic and harvesting capacity in a novel prototype robotic rotary (RR; DeLaval AMR, Tumba, Sweden). The RR can milk up to 50 cows/h. However, in voluntary cow traffic systems, the number of cows presenting may be low at certain times of the day (or during certain months or seasons in seasonal calving systems). In these circumstances, the ratio of active bails to the number of cows available may be undesirably high, with consequential negative effects on system efficiency and milk quality (the RR does not flush individual units automatically after each milking). Activating only 50% of the bails may be a management strategy chosen to cope with periods of underutilization. Four treatments with a total activation of 50% of bails [8 bails with activation sequences of 8, 4, 2, or 1 consecutive bail(s)], with or without the presence of feed on the RR, were observed during sixteen 4-h observation periods after a system wash. The absence of feed resulted in a significant increase in the proportion of available bails remaining idle, but no significant differences were observed across the 4 bail activation sequences. Overall, the effect of bail activation sequence on cow traffic was negligible, but the sequences that had more consecutive bail activations resulted in more robot operations being conducted simultaneously and more milk being harvested per minute of robot operation time. A feeding function upon entry to the RR platform, in combination with bails activated sequentially, would lead to a more efficient use of the RR. PMID:23415530

  1. An overview of artificial intelligence and robotics. Volume 2: Robotics

    NASA Technical Reports Server (NTRS)

    Gevarter, W. B.

    1982-01-01

    This report provides an overview of the rapidly changing field of robotics. The report incorporates definitions of the various types of robots, a summary of the basic concepts, utilized in each of the many technical areas, review of the state of the art and statistics of robot manufacture and usage. Particular attention is paid to the status of robot development, the organizations involved, their activities, and their funding.

  2. Robot Technicians: Is There a Need?

    ERIC Educational Resources Information Center

    Minty, Gordon

    1987-01-01

    The study attempted to determine needs for training robotic technicians in Michigan. The survey had three parts: (1) needed technical specialities, (2) current problems with robot maintenance and repair, and (3) number of robots needed to keep a full-time technician occupied. (CH)

  3. Humans and Robots. Educational Brief.

    ERIC Educational Resources Information Center

    National Aeronautics and Space Administration, Washington, DC.

    This brief discusses human movement and robotic human movement simulators. The activity for students in grades 5-12 provides a history of robotic movement and includes making an End Effector for the robotic arms used on the Space Shuttle and the International Space Station (ISS). (MVL)

  4. Active vision system for planning and programming of industrial robots in one-of-a-kind manufacturing

    NASA Astrophysics Data System (ADS)

    Berger, Ulrich; Schmidt, Achim

    1995-10-01

    The aspects of automation technology in industrial one-of-a-kind manufacturing are discussed. An approach to improve the quality and cost relation is developed and an overview of an 3D- vision supported automation system is given. This system is based on an active vision sensor for 3D-geometry feedback. Its measurement principle, the coded light approach, is explained. The experimental environment for the technical validation of the automation approach is demonstrated, where robot based processes (assembly, arc welding and flame cutting) are graphically simulated and off-line programmed. A typical process sequence for automated one- of-a-kind manufacturing is described. The results of this research development are applied to a project on the automated disassembling of car parts for recycling using industrial robots.

  5. Robotic surgery.

    PubMed

    Oleynikov, Dmitry

    2008-10-01

    This article discusses the developments that led up to robotic surgical systems as well as what is on the horizon for new robotic technology. Topics include how robotics is enabling new types of procedures, including natural orifice endoscopic translumenal surgery in which one cannot reach by hand under any circumstances, and how these developments will drive the next generation of robots. PMID:18790158

  6. Put Your Robot In, Put Your Robot Out: Sequencing through Programming Robots in Early Childhood

    ERIC Educational Resources Information Center

    Kazakoff, Elizabeth R.; Bers, Marina Umaschi

    2014-01-01

    This article examines the impact of programming robots on sequencing ability in early childhood. Thirty-four children (ages 4.5-6.5 years) participated in computer programming activities with a developmentally appropriate tool, CHERP, specifically designed to program a robot's behaviors. The children learned to build and program robots over three…

  7. Hiding robot inertia using resonance.

    PubMed

    Vallery, Heike; Duschau-Wicke, Alexander; Riener, Robert

    2010-01-01

    To enable compliant training modes with a rehabilitation robot, an important prerequisite is that any undesired human-robot interaction forces caused by robot dynamics must be avoided, either by an appropriate mechanical design or by compensating control strategies. Our recently proposed control scheme of "Generalized Elasticities" employs potential fields to compensate for robot dynamics, including inertia, beyond what can be done using closed-loop force control. In this paper, we give a simple mechanical equivalent using the example of the gait rehabilitation robot Lokomat. The robot consists of an exoskeleton that is attached to a frame around the patient's pelvis. This frame is suspended by a springloaded parallelogram structure. The mechanism allows vertical displacement while providing almost constant robot gravity compensation. However, inertia of the device when the patient's pelvis moves up and down remains a source of large interaction forces, which are reflected in increased ground reaction forces. Here, we investigate an alternative suspension: To hide not only gravity, but also robot inertia during vertical pelvis motion, we suspend the robot frame by a stiff linear spring that allows the robot to oscillate vertically at an eigenfrequency close to the natural gait frequency. This mechanism reduces human-robot interaction forces, which is demonstrated in pilot experimental results. PMID:21095916

  8. Hiding robot inertia using resonance.

    PubMed

    Vallery, Heike; Duschau-Wicke, Alexander; Riener, Robert

    2010-01-01

    To enable compliant training modes with a rehabilitation robot, an important prerequisite is that any undesired human-robot interaction forces caused by robot dynamics must be avoided, either by an appropriate mechanical design or by compensating control strategies. Our recently proposed control scheme of "Generalized Elasticities" employs potential fields to compensate for robot dynamics, including inertia, beyond what can be done using closed-loop force control. In this paper, we give a simple mechanical equivalent using the example of the gait rehabilitation robot Lokomat. The robot consists of an exoskeleton that is attached to a frame around the patient's pelvis. This frame is suspended by a springloaded parallelogram structure. The mechanism allows vertical displacement while providing almost constant robot gravity compensation. However, inertia of the device when the patient's pelvis moves up and down remains a source of large interaction forces, which are reflected in increased ground reaction forces. Here, we investigate an alternative suspension: To hide not only gravity, but also robot inertia during vertical pelvis motion, we suspend the robot frame by a stiff linear spring that allows the robot to oscillate vertically at an eigenfrequency close to the natural gait frequency. This mechanism reduces human-robot interaction forces, which is demonstrated in pilot experimental results.

  9. Clinical application of a modular ankle robot for stroke rehabilitation

    PubMed Central

    Forrester, Larry W.; Roy, Anindo; Goodman, Ronald N.; Rietschel, Jeremy; Barton, Joseph E.; Krebs, Hermano Igo; Macko, Richard F.

    2015-01-01

    Background Advances in our understanding of neuroplasticity and motor learning post-stroke are now being leveraged with the use of robotics technology to enhance physical rehabilitation strategies. Major advances have been made with upper extremity robotics, which have been tested for efficacy in multi-site trials across the subacute and chronic phases of stroke. In contrast, use of lower extremity robotics to promote locomotor re-learning has been more recent and presents unique challenges by virtue of the complex multi-segmental mechanics of gait. Objectives Here we review a programmatic effort to develop and apply the concept of joint-specific modular robotics to the paretic ankle as a means to improve underlying impairments in distal motor control that may have a significant impact on gait biomechanics and balance. Methods An impedance controlled ankle robot module (anklebot) is described as a platform to test the idea that a modular approach can be used to modify training and measure the time profile of treatment response. Results Pilot studies using seated visuomotor anklebot training with chronic patients are reviewed, along with results from initial efforts to evaluate the anklebot's utility as a clinical tool for assessing intrinsic ankle stiffness. The review includes a brief discussion of future directions for using the seated anklebot training in the earliest phases of sub-acute therapy, and to incorporate neurophysiological measures of cerebro-cortical activity as a means to reveal underlying mechanistic processes of motor learning and brain plasticity associated with robotic training. Conclusions Finally we conclude with an initial control systems strategy for utilizing the anklebot as a gait training tool that includes integrating an Internal Model-based adaptive controller to both accommodate individual deficit severities and adapt to changes in patient performance. PMID:23949045

  10. Robotic Arms. A Contribution to the Curriculum. An Occasional Paper.

    ERIC Educational Resources Information Center

    Arnold, W. F.; Carpenter, C. J.

    This report examines ways of providing technician training in the operating principles of robotic devices. The terms "robotics" and "robotic arms" are first defined. Some background information on the principal features of robotic arms is given, including their geometric arrangement, type of actuator used, control method, and software and teaching…

  11. Advanced robot locomotion.

    SciTech Connect

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

    2007-01-01

    This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

  12. 77 FR 22602 - Information Collection Activities: Well Control and Production Safety Training, Submitted for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-04-16

    ... paperwork requirements in the regulations under Subpart O, ``Well Control and Production Safety Training... Bureau of Safety and Environmental Enforcement (BSEE) Information Collection Activities: Well Control and Production Safety Training, Submitted for Office of Management and Budget (OMB) Review; Comment...

  13. Energy Efficient Legged Robotics at Sandia Labs

    SciTech Connect

    Buerger, Steve

    2014-12-16

    Sandia is developing energy efficient actuation and drive train technologies to dramatically improve the charge life of legged robots. The work is supported by DARPA, and Sandia will demonstrate an energy efficient bipedal robot at the technology exposition section of the DARPA Robotics Challenge Finals in June, 2015. This video, the first in a series, describes early development and initial integration of the Sandia Transmission Efficient Prototype Promoting Research (STEPPR) robot.

  14. Field studies of safety security rescue technologies through training and response activities

    NASA Astrophysics Data System (ADS)

    Murphy, Robin R.; Stover, Sam

    2006-05-01

    This paper describes the field-oriented philosophy of the Institute for Safety Security Rescue Technology (iSSRT) and summarizes the activities and lessons learned during calendar year 2005 of its two centers: the Center for Robot-Assisted Search and Rescue and the NSF Safety Security Rescue industry/university cooperative research center. In 2005, iSSRT participated in four responses (La Conchita, CA, Mudslides, Hurricane Dennis, Hurricane Katrina, Hurricane Wilma) and conducted three field experiments (NJTF-1, Camp Hurricane, Richmond, MO). The lessons learned covered mobility, operator control units, wireless communications, and general reliability. The work has collectively identified six emerging issues for future work. Based on these studies, a 10-hour, 1 continuing education unit credit course on rescue robotics has been created and is available. Rescue robots and sensors are available for loan upon request.

  15. Toward cognitive robotics

    NASA Astrophysics Data System (ADS)

    Laird, John E.

    2009-05-01

    Our long-term goal is to develop autonomous robotic systems that have the cognitive abilities of humans, including communication, coordination, adapting to novel situations, and learning through experience. Our approach rests on the recent integration of the Soar cognitive architecture with both virtual and physical robotic systems. Soar has been used to develop a wide variety of knowledge-rich agents for complex virtual environments, including distributed training environments and interactive computer games. For development and testing in robotic virtual environments, Soar interfaces to a variety of robotic simulators and a simple mobile robot. We have recently made significant extensions to Soar that add new memories and new non-symbolic reasoning to Soar's original symbolic processing, which should significantly improve Soar abilities for control of robots. These extensions include episodic memory, semantic memory, reinforcement learning, and mental imagery. Episodic memory and semantic memory support the learning and recalling of prior events and situations as well as facts about the world. Reinforcement learning provides the ability of the system to tune its procedural knowledge - knowledge about how to do things. Mental imagery supports the use of diagrammatic and visual representations that are critical to support spatial reasoning. We speculate on the future of unmanned systems and the need for cognitive robotics to support dynamic instruction and taskability.

  16. Future of robotic surgery.

    PubMed

    Lendvay, Thomas Sean; Hannaford, Blake; Satava, Richard M

    2013-01-01

    In just over a decade, robotic surgery has penetrated almost every surgical subspecialty and has even replaced some of the most commonly performed open oncologic procedures. The initial reports on patient outcomes yielded mixed results, but as more medical centers develop high-volume robotics programs, outcomes appear comparable if not improved for some applications. There are limitations to the current commercially available system, and new robotic platforms, some designed to compete in the current market and some to address niche surgical considerations, are being developed that will change the robotic landscape in the next decade. Adoption of these new systems will be dependent on overcoming barriers to true telesurgery that range from legal to logistical. As additional surgical disciplines embrace robotics and open surgery continues to be replaced by robotic approaches, it will be imperative that adequate education and training keep pace with technology. Methods to enhance surgical performance in robotics through the use of simulation and telementoring promise to accelerate learning curves and perhaps even improve surgical readiness through brief virtual-reality warm-ups and presurgical rehearsal. All these advances will need to be carefully and rigorously validated through not only patient outcomes, but also cost efficiency.

  17. Outreach Training Activities: Results from a Survey of UAP Outreach Training Directors.

    ERIC Educational Resources Information Center

    Wallace, Teri; And Others

    This survey of 39 University Affiliated Program (UAP) Outreach Training Directors describes UAP outreach training efforts to improve services to people with developmental disabilities. The survey examined the influence of different staffing strategies on the structure of outreach training programs, and the degree of participation by various groups…

  18. Robot-assisted gait training improves brachial–ankle pulse wave velocity and peak aerobic capacity in subacute stroke patients with totally dependent ambulation

    PubMed Central

    Han, Eun Young; Im, Sang Hee; Kim, Bo Ryun; Seo, Min Ji; Kim, Myeong Ok

    2016-01-01

    Abstract Objective: Brachial–ankle pulse wave velocity (baPWV) evaluates arterial stiffness and also predicts early outcome in stroke patients. The objectives of this study were to investigate arterial stiffness of subacute nonfunctional ambulatory stroke patients and to compare the effects of robot-assisted gait therapy (RAGT) combined with rehabilitation therapy (RT) on arterial stiffness and functional recovery with those of RT alone. Method: The RAGT group (N = 30) received 30 minutes of robot-assisted gait therapy and 30 minutes of conventional RT, and the control group (N = 26) received 60 minutes of RT, 5 times a week for 4 weeks. baPWV was measured and calculated using an automated device. The patients also performed a symptom-limited graded exercise stress test using a bicycle ergometer, and parameters of cardiopulmonary fitness were recorded. Clinical outcome measures were categorized into 4 categories: activities of daily living, balance, ambulatory function, and paretic leg motor function and were evaluated before and after the 4-week intervention. Results: Both groups exhibited significant functional recovery in all clinical outcome measures after the 4-week intervention. However, peak aerobic capacity, peak heart rate, exercise tolerance test duration, and baPWV improved only in the RAGT group, and the improvements in baPWV and peak aerobic capacity were more noticeable in the RAGT group than in the control group. Conclusion: Robot-assisted gait therapy combined with conventional rehabilitation therapy represents an effective method for reversing arterial stiffness and improving peak aerobic capacity in subacute stroke patients with totally dependent ambulation. However, further large-scale studies with longer term follow-up periods are warranted to measure the effects of RAGT on secondary prevention after stroke. PMID:27741123

  19. Robot-Aided Neurorehabilitation: A Robot for Wrist Rehabilitation

    PubMed Central

    Krebs, Hermano Igo; Volpe, Bruce T.; Williams, Dustin; Celestino, James; Charles, Steven K.; Lynch, Daniel; Hogan, Neville

    2009-01-01

    In 1991, a novel robot, MIT-MANUS, was introduced to study the potential that robots might assist in and quantify the neuro-rehabilitation of motor function. MIT-MANUS proved an excellent tool for shoulder and elbow rehabilitation in stroke patients, showing in clinical trials a reduction of impairment in movements confined to the exercised joints. This successful proof of principle as to additional targeted and intensive movement treatment prompted a test of robot training examining other limb segments. This paper focuses on a robot for wrist rehabilitation designed to provide three rotational degrees-of-freedom. The first clinical trial of the device will enroll 200 stroke survivors. Ultimately 160 stroke survivors will train with both the proximal shoulder and elbow MIT-MANUS robot, as well as with the novel distal wrist robot, in addition to 40 stroke survivor controls. So far 52 stroke patients have completed the robot training (ongoing protocol). Here, we report on the initial results on 36 of these volunteers. These results demonstrate that further improvement should be expected by adding additional training to other limb segments. PMID:17894265

  20. Human-robot-interaction control for orthoses with pneumatic soft-actuators--concept and initial trails.

    PubMed

    Baiden, David; Ivlev, Oleg

    2013-06-01

    The purpose of this paper is to present a concept of human-robot-interaction control for robots with compliant pneumatic soft-actuators which are directly attached to the human body. Backdrivability of this type of actuators is beneficial for comfort and safety and they are well suitable to design rehabilitation robots for training of activities of daily living (ADL). The concept is verified with an application example of sit-to-stand tasks taking conventional treatment in neurology as reference. The focus is on stroke patients with a target group suffering from hemiplegia and paralysis in one half of the body. A 2 DOF exoskeleton robot was used as testbed to implement the control concept for supporting rising based on a master-slave position control such that movements from the fit leg are transferred to the affected leg. Furthermore the wearer of the robot has the possibility to adjust support for stabilizing the knee joint manually. Preliminary results are presented.

  1. Automatic learning by an autonomous mobile robot

    SciTech Connect

    de Saussure, G.; Spelt, P.F.; Killough, S.M.; Pin, F.G.; Weisbin, C.R.

    1989-01-01

    This paper describes recent research in automatic learning by the autonomous mobile robot HERMIES-IIB at the Center for Engineering Systems Advanced Research (CESAR). By acting on the environment and observing the consequences during a set of training examples, the robot learns a sequence of successful manipulations on a simulated control panel. The robot learns to classify panel configurations in order to deal with new configurations that are not part of the original training set. 5 refs., 2 figs.

  2. Group Tasks, Activities, Dynamics, and Interactions in Collaborative Robotics Projects with Elementary and Middle School Children

    ERIC Educational Resources Information Center

    Yuen, Timothy T.; Boecking, Melanie; Stone, Jennifer; Tiger, Erin Price; Gomez, Alvaro; Guillen, Adrienne; Arreguin, Analisa

    2014-01-01

    Robotics provide the opportunity for students to bring their individual interests, perspectives and areas of expertise together in order to work collaboratively on real-world science, technology, engineering and mathematics (STEM) problems. This paper examines the nature of collaboration that manifests in groups of elementary and middle school…

  3. Self-Administered, Home-Based SMART (Sensorimotor Active Rehabilitation Training) Arm Training: A Single-Case Report.

    PubMed

    Hayward, Kathryn S; Neibling, Bridee A; Barker, Ruth N

    2015-01-01

    This single-case, mixed-method study explored the feasibility of self-administered, home-based SMART (sensorimotor active rehabilitation training) Arm training for a 57-yr-old man with severe upper-limb disability after a right frontoparietal hemorrhagic stroke 9 mo earlier. Over 4 wk of self-administered, home-based SMART Arm training, the participant completed 2,100 repetitions unassisted. His wife provided support for equipment set-up and training progressions. Clinically meaningful improvements in arm impairment (strength), activity (arm and hand tasks), and participation (use of arm in everyday tasks) occurred after training (at 4 wk) and at follow-up (at 16 wk). Areas for refinement of SMART Arm training derived from thematic analysis of the participant's and researchers' journals focused on enabling independence, ensuring home and user friendliness, maintaining the motivation to persevere, progressing toward everyday tasks, and integrating practice into daily routine. These findings suggest that further investigation of self-administered, home-based SMART Arm training is warranted for people with stroke who have severe upper-limb disability.

  4. Swarm Robotics

    NASA Astrophysics Data System (ADS)

    Şahin, Erol; Girgin, Sertan; Bayindir, Levent; Turgut, Ali Emre

    Swarm robotics is a novel approach to the coordination of large numbers of robots and has emerged as the application of swarm intelligence to multi-robot systems. Different from other swarm intelligence studies, swarm robotics puts emphases on the physical embodiment of individuals and realistic interactions among the individuals and between the individuals and the environment. In this chapter, we present a brief review of this new approach. We first present its definition, discuss the main motivations behind the approach, as well as its distinguishing characteristics and major coordination mechanisms. Then we present a brief review of swarm robotics research along four axes; namely design, modelling and analysis, robots and problems.

  5. Robotic surgery.

    PubMed

    Stoianovici, D

    2000-09-01

    The industrial revolution demonstrated the capability of robotic systems to facilitate and improve manufacturing. As a result, robotics extended to various other domains, including the delivery of health care. Hence, robots have been developed to assist hospital staff, to facilitate laboratory analyses, to augment patient rehabilitation, and even to advance surgical performance. As robotics lead usefulness and gain wider acceptance among the surgical community, the urologist should become familiar with this new interdisciplinary field and its "URobotics" subset: robotics applied to urology. This article reviews the current applications and experience, issues and debates in surgical robotics, and highlights future directions in the field.

  6. 78 FR 13158 - Proposed Information Collection (Monthly Certification of Flight Training) Activity: Comment Request

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-02-26

    ... AFFAIRS Proposed Information Collection (Monthly Certification of Flight Training) Activity: Comment... flight training is correct. DATES: Written comments and recommendations on the proposed collection of... information technology. Title: Monthly Certification of Flight Training, VA Form 22-6553c. OMB Control...

  7. 76 FR 73019 - Proposed Information Collection (Agreement To Train on the Job Disabled Veterans) Activity...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-11-28

    ... AFFAIRS Proposed Information Collection (Agreement To Train on the Job Disabled Veterans) Activity... comments on information needed to assure that on the job training establishments are providing veterans... use of other forms of information technology. Title: Agreement to Train on the Job Disabled...

  8. 77 FR 7242 - Agency Information Collection (Agreement To Train on the Job Disabled Veterans): Activity Under...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-02-10

    ... AFFAIRS Agency Information Collection (Agreement To Train on the Job Disabled Veterans): Activity Under....'' SUPPLEMENTARY INFORMATION: Title: Agreement to Train on the Job Disabled Veterans, VA Form 28- 1904. OMB Control...-1904 is a written agreement between an on the job training (OJT) establishments and VA. The...

  9. 75 FR 17832 - Proposed Information Collection (Monthly Certification of Flight Training) Activity: Comment Request

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-04-07

    ... AFFAIRS Proposed Information Collection (Monthly Certification of Flight Training) Activity: Comment... flight training is correct. DATES: Written comments and recommendations on the proposed collection of... information technology. Title: Monthly Certification of Flight Training, VA Form 22-6553c. OMB Control...

  10. 75 FR 33898 - Agency Information Collection (Monthly Certification of Flight Training) Activity Under OMB Review

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-06-15

    ... AFFAIRS Agency Information Collection (Monthly Certification of Flight Training) Activity Under OMB Review....'' SUPPLEMENTARY INFORMATION: Title: Monthly Certification of Flight Training (under Chapters 30 and 32, Title 38 U... enrolling in or pursuing approved vocational flight training. VA Form 22-6553c serves as a report of...

  11. Architecture for robot intelligence

    NASA Technical Reports Server (NTRS)

    Peters, II, Richard Alan (Inventor)

    2004-01-01

    An architecture for robot intelligence enables a robot to learn new behaviors and create new behavior sequences autonomously and interact with a dynamically changing environment. Sensory information is mapped onto a Sensory Ego-Sphere (SES) that rapidly identifies important changes in the environment and functions much like short term memory. Behaviors are stored in a DBAM that creates an active map from the robot's current state to a goal state and functions much like long term memory. A dream state converts recent activities stored in the SES and creates or modifies behaviors in the DBAM.

  12. CASSY Robot

    NASA Astrophysics Data System (ADS)

    Pittman, Anna; Wright, Ann; Rice, Aaron; Shyaka, Claude

    2014-03-01

    The CASSY Robot project involved two square robots coded in RobotC. The goal was to code a robot to do a certain set of tasks autonomously. To begin with, our task was to code the robot so that it would roam a certain area, marked off by black tape. When the robot hit the black tape, it knew to back up and turn around. It was able to do this thanks to the light sensor that was attached to the bottom of the robot. Also, whenever the robot hit an obstacle, it knew to stop, back up, and turn around. This was primarily to prevent the robot from hurting itself if it hit an obstacle. This was accomplished by using touch sensors set up as bumpers. Once that was accomplished, we attached sonar sensors and created code so that one robot was able to find and track the other robot in a sort of intruder/police scenario. The overall goal of this project was to code the robot so that we can test it against a robot coded exactly the same, but using Layered Mode Selection Logic. Professor.

  13. Learning emergent behaviours for a hierarchical Bayesian framework for active robotic perception.

    PubMed

    Ferreira, João Filipe; Tsiourti, Christiana; Dias, Jorge

    2012-08-01

    In this research work, we contribute with a behaviour learning process for a hierarchical Bayesian framework for multimodal active perception, devised to be emergent, scalable and adaptive. This framework is composed by models built upon a common spatial configuration for encoding perception and action that is naturally fitting for the integration of readings from multiple sensors, using a Bayesian approach devised in previous work. The proposed learning process is shown to reproduce goal-dependent human-like active perception behaviours by learning model parameters (referred to as "attentional sets") for different free-viewing and active search tasks. Learning was performed by presenting several 3D audiovisual virtual scenarios using a head-mounted display, while logging the spatial distribution of fixations of the subject (in 2D, on left and right images, and in 3D space), data which are consequently used as the training set for the framework. As a consequence, the hierarchical Bayesian framework adequately implements high-level behaviour resulting from low-level interaction of simpler building blocks by using the attentional sets learned for each task, and is able to change these attentional sets "on the fly," allowing the implementation of goal-dependent behaviours (i.e., top-down influences).

  14. Stellar activity cycles from long-term data by robotic telescopes

    NASA Astrophysics Data System (ADS)

    Oláh, K.

    2014-03-01

    All results about stellar activity cycles stem from decades-long systematic observations that were done by small telescopes. Without these equipments we would not know much, if anything, about stellar activity cycles, like those we see and observe easily on the nearest star, the Sun. In the early 80's of the last century systematic photometric monitoring of active stars began with automated photometric telescopes (APTs), some of which continue the observations to date. The Vienna-Potsdam APT now works for about two decades (Strassmeier et al. 1997), similarly to the 4-College Consortium APT (Dukes et al. 1995), while the Catania APT (Rodono et al. 2001) was closed down a few years ago. These small tools with the same setups for decades do not cost much and are relatively cheap to maintain. The longest continuous photometric datasets of a few objects from APTs span now over 30 years, which, together with earlier, manually-obtained data allow to study those activity cycles of stars which are in the order of 10 years or shorter: to be sure in the timescale of a cycle it should be observed repeatedly at least 2-3 times. The spectroscopic automated telescope STELLA (Strassmeier et al. 2004), built in the first decade of this century, measured already a few dozens of radial velocity curves for long-period binary stars and measured their activity levels (Strassmeier et al. 2012); these results can be gathered only by robotic telescopes. Only with STELLA it is possible to study the decades-long behavior of starspots on active giants with long rotational periods via Doppler Imaging. As the databases were growing it became clear that stars, just as the Sun, had multiple cycles. It was also found that stellar cycles showed systematic changes and that the cycle lengths correlated with the rotational periods of the stars. Extensive summaries of stellar activity cycles are found in Baliunas et al. (1995) using the Mt. Wilson Ca-index survey, and Oláh et al. (2009) based on

  15. 75 FR 61452 - Notice of Intent To Prepare an Environmental Impact Statement for Military Training Activities at...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-10-05

    ... Demolition Training Range, construction of a joint range administration/Unmanned Aerial System (UAS... systems, vehicles, and aircraft, in addition to accommodating training activities currently conducted...

  16. On the asynchronously continuous control of mobile robot movement by motor cortical spiking activity.

    PubMed

    Xu, Zhiming; So, Rosa Q; Toe, Kyaw Kyar; Ang, Kai Keng; Guan, Cuntai

    2014-01-01

    This paper presents an asynchronously intracortical brain-computer interface (BCI) which allows the subject to continuously drive a mobile robot. This system has a great implication for disabled patients to move around. By carefully designing a multiclass support vector machine (SVM), the subject's self-paced instantaneous movement intents are continuously decoded to control the mobile robot. In particular, we studied the stability of the neural representation of the movement directions. Experimental results on the nonhuman primate showed that the overt movement directions were stably represented in ensemble of recorded units, and our SVM classifier could successfully decode such movements continuously along the desired movement path. However, the neural representation of the stop state for the self-paced control was not stably represented and could drift. PMID:25570634

  17. On the asynchronously continuous control of mobile robot movement by motor cortical spiking activity.

    PubMed

    Xu, Zhiming; So, Rosa Q; Toe, Kyaw Kyar; Ang, Kai Keng; Guan, Cuntai

    2014-01-01

    This paper presents an asynchronously intracortical brain-computer interface (BCI) which allows the subject to continuously drive a mobile robot. This system has a great implication for disabled patients to move around. By carefully designing a multiclass support vector machine (SVM), the subject's self-paced instantaneous movement intents are continuously decoded to control the mobile robot. In particular, we studied the stability of the neural representation of the movement directions. Experimental results on the nonhuman primate showed that the overt movement directions were stably represented in ensemble of recorded units, and our SVM classifier could successfully decode such movements continuously along the desired movement path. However, the neural representation of the stop state for the self-paced control was not stably represented and could drift.

  18. Robotics and Automation Activities at the Savannah River Site: A Site Report for SUBWOG 39F

    SciTech Connect

    Teese, G.D.

    1995-09-28

    The Savannah River Site has successfully used robots, teleoperators, and remote video to reduce exposure to ionizing radiation, improve worker safety, and improve the quality of operations. Previous reports have described the use of mobile teleoperators in coping with a high level liquid waste spill, the removal of highly contaminated equipment, and the inspection of nuclear reactor vessels. This report will cover recent applications at the Savannah River, as well as systems which SRS has delivered to other DOE site customers.

  19. Industrial Robots.

    ERIC Educational Resources Information Center

    Reed, Dean; Harden, Thomas K.

    Robots are mechanical devices that can be programmed to perform some task of manipulation or locomotion under automatic control. This paper discusses: (1) early developments of the robotics industry in the United States; (2) the present structure of the industry; (3) noneconomic factors related to the use of robots; (4) labor considerations…

  20. Basic Robotics.

    ERIC Educational Resources Information Center

    Mullen, Frank

    This curriculum outline consists of instructional materials and information concerning resources for use in teaching a course in robotics. Addressed in the individual sections of the outline are the following topics: the nature of an industrial robot; the parts of an industrial robot (the manipulator, the power structure, and the control system);…

  1. (Robotic hands)

    SciTech Connect

    Mann, R.C.

    1988-09-23

    The traveler attended the International Workshop on Robot Hands at the Palace Hotel in Dubrovnik, Yugoslavia. The traveler presented a lecture on An integrated sensor system for the ORNL mobile robot.'' The traveler obtained important information on current R D efforts in multi-fingered robot hands and object recognition using touch sensing.

  2. Active targeting in a random porous medium by chemical swarm robots with secondary chemical signaling

    NASA Astrophysics Data System (ADS)

    Grančič, Peter; Štěpánek, František

    2011-08-01

    The multibody dynamics of a system of chemical swarm robots in a porous environment is investigated. The chemical swarm robots are modeled as Brownian particles capable of delivering an encapsulated chemical payload toward a given target location and releasing it in response to an external stimulus. The presence of chemical signals (chemo-attractant) in the system plays a crucial role in coordinating the collective movement of the particles via chemotaxis. For a number of applications, such as distributed chemical processing and targeted drug delivery, the understanding of factors that govern the collective behavior of the particles, especially their ability to localize a given target, is of immense importance. A hybrid modeling methodology based on the combination of the Brownian dynamics method and diffusion problem coupled through the chemotaxis phenomena is used to analyze the impact of a varying signaling threshold and the strength of chemotaxis on the ability of the chemical robots to fulfill their target localization mission. The results demonstrate that the selected performance criteria (the localization half time and the success rate) can be improved when an appropriate signaling process is chosen. Furthermore, for an optimum target localization strategy, the topological complexity of the porous environment needs to be reflected.

  3. Motor-response learning at a process control panel by an autonomous robot

    SciTech Connect

    Spelt, P.F.; de Saussure, G.; Lyness, E.; Pin, F.G.; Weisbin, C.R.

    1988-01-01

    The Center for Engineering Systems Advanced Research (CESAR) was founded at Oak Ridge National Laboratory (ORNL) by the Department of Energy's Office of Energy Research/Division of Engineering and Geoscience (DOE-OER/DEG) to conduct basic research in the area of intelligent machines. Therefore, researchers at the CESAR Laboratory are engaged in a variety of research activities in the field of machine learning. In this paper, we describe our approach to a class of machine learning which involves motor response acquisition using feedback from trial-and-error learning. Our formulation is being experimentally validated using an autonomous robot, learning tasks of control panel monitoring and manipulation for effect process control. The CLIPS Expert System and the associated knowledge base used by the robot in the learning process, which reside in a hypercube computer aboard the robot, are described in detail. Benchmark testing of the learning process on a robot/control panel simulation system consisting of two intercommunicating computers is presented, along with results of sample problems used to train and test the expert system. These data illustrate machine learning and the resulting performance improvement in the robot for problems similar to, but not identical with, those on which the robot was trained. Conclusions are drawn concerning the learning problems, and implications for future work on machine learning for autonomous robots are discussed. 16 refs., 4 figs., 1 tab.

  4. Improving Emergency Response and Human-Robotic Performance

    SciTech Connect

    David I. Gertman; David J. Bruemmer; R. Scott Hartley

    2007-08-01

    Preparedness for chemical, biological, and radiological/nuclear incidents at nuclear power plants (NPPs) includes the deployment of well trained emergency response teams. While teams are expected to do well, data from other domains suggests that the timeliness and accuracy associated with incident response can be improved through collaborative human-robotic interaction. Many incident response scenarios call for multiple, complex procedure-based activities performed by personnel wearing cumbersome personal protective equipment (PPE) and operating under high levels of stress and workload. While robotic assistance is postulated to reduce workload and exposure, limitations associated with communications and the robot’s ability to act independently have served to limit reliability and reduce our potential to exploit human –robotic interaction and efficacy of response. Recent work at the Idaho National Laboratory (INL) on expanding robot capability has the potential to improve human-system response during disaster management and recovery. Specifically, increasing the range of higher level robot behaviors such as autonomous navigation and mapping, evolving new abstractions for sensor and control data, and developing metaphors for operator control have the potential to improve state-of-the-art in incident response. This paper discusses these issues and reports on experiments underway intelligence residing on the robot to enhance emergency response.

  5. Teaching Scholarly Activity in Psychiatric Training: Years 6 and 7

    ERIC Educational Resources Information Center

    Zisook, Sidney; Boland, Robert; Cowley, Deborah; Cyr, Rebecca L.; Pato, Michele T.; Thrall, Grace

    2013-01-01

    Objective: To address nationally recognized needs for increased numbers of psychiatric clinician-scholars and physician-scientists, the American Association of Directors of Psychiatric Residency Training (AADPRT) has provided a series of full-day conferences of psychiatry residency training directors designed to increase their competence in…

  6. A Guide for Perceptual-Motor Training Activities.

    ERIC Educational Resources Information Center

    South Euclid - Lyndhurst City Schools, Lyndhurst, OH.

    This document has been prepared as part of a kindergarten perceptual-training program of the South Euclid-Lyndhurst City School District near Cleveland, Ohio. The guide contains information on training and procedures related to perceptual-motor learning. This information is structured primarily into 150 lesson plans, devised as 30-minute sessions…

  7. Collecting "Total" Vocational Education and Training Activity. Position Paper

    ERIC Educational Resources Information Center

    Karmel, Tom

    2011-01-01

    In this position paper, NCVER's Managing Director, Dr Tom Karmel, argues that the submission of vocational education and training student data should be mandated as a condition of registration for all registered training organisations, including private providers. This will ensure a comprehensive data collection that gives a realistic view of…

  8. 20 CFR 633.302 - Training activities and services.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... AND SEASONAL FARMWORKER PROGRAMS Program Design and Administrative Procedures § 633.302 Training...) Job search assistance, including job clubs; (2) Job development; (3) Training, such as classroom, on-the-job, work experience, and tryout employment, in jobs skills for which demand exceeds supply;...

  9. Fixed Foot Balance Training Increases Rectus Femoris Activation During Landing and Jump Height in Recreationally Active Women

    PubMed Central

    Kean, Crystal O.; Behm, David G.; Young, Warren B.

    2006-01-01

    The objective of this study was to determine the effects of fixed foot and functionally directed balance training on static balance time, muscle activation during landing, vertical jump height and sprint time. Twenty-four recreationally active females were tested pre- and post-training (fixed foot balance training, n= 11, functionally directed balance training, n = 7 and control group, n = 6). Experimental subjects completed either fixed foot or functionally directed balance exercises 4 times/week for 6 weeks. Surface electromyography (EMG) was used to assess preparatory and reactive muscle activity of the rectus femoris (RF), biceps femoris (BF), and the soleus during one- and two-foot landings following a jump. Maximum vertical jump height, static balance and 20-meter sprint times were also examined. The fixed foot balance-training group showed a 33% improvement (p < 0.05) in static balance time and 9% improvement in jump height. Neither type of training improved sprint times. Further analysis revealed significant (p < 0.05) overall (data collapsed over groups and legs) increases in reactive RF activity when landing. Independently, the fixed foot balance group showed a 33% increase in reactive RF activity (p < 0.01). Overall, there was also significantly less reactive co-activation following training (p < 0.05). It appears that fixed foot balance training for recreationally active women may provide greater RF activity when landing and increased countermovement jump height. Key points Balance training increased rectus femoris EMG activity upon landing from a stride. Fixed foot balance training improved countermovement jump height. Neither fixed foot nor functionally directed balance training elicited changes in sprint times. PMID:24198691

  10. Robotics and ergonomics.

    PubMed

    Stylopoulos, Nicholas; Rattner, David

    2003-12-01

    Industrial robotics have proven the benefit of using an untiring machine to perform precise repetitive tasks in uncomfortable or dangerous for humans environments. Highly skilled surgeons are trained to operate and adapt to difficult conditions. They are even capable of developing intelligent mechanisms to exploit a variety of tactile, visual, and other cues. The robotic systems, however, can enhance the surgeon's capability to perform a wide variety of tasks. They cannot replace the surgeon's problem-solving ability. Instead, they will redefine his role. They will significantly enhance the surgeon's skills and dexterity by providing their complementary capabilities and an ergonomically efficient and more user-friendly working environment.

  11. Efficacy of robotic rehabilitation of ankle impairments in children with cerebral palsy.

    PubMed

    Wu, Yi-Ning; Ren, Yupeng; Hwang, Miriam; Gaebler-Spira, Deborah J; Zhang, Li-Qun

    2010-01-01

    The current study introduces a novel rehabilitation robot for treatment of impaired ankle in children with cerebral palsy (CP). The treatment consisted of passive stretching under intelligent control and active movement training with motivating game-playing using the portable robot. After 18 sessions of training (3 sessions/week for 6 weeks), we found significant improvement in 12 children with CP in terms of improved passive and active ranges of motion, selective motor control and mobility functions. The positive outcomes of this study along with the improvements in motor control and functional activities suggest that robotic rehabilitation provides a useful and convenient option of treatment in clinic or patient home for more accessible and frequent rehabilitation. PMID:21095776

  12. Cognitive training-related changes in hippocampal activity associated with recollection in older adults

    PubMed Central

    Kirchhoff, Brenda A.; Anderson, Benjamin A.; Smith, Staci E.; Barch, Deanna M.; Jacoby, Larry L.

    2013-01-01

    Impairments in the ability to recollect specific details of personally experienced events are one of the main cognitive changes associated with aging. Cognitive training can improve older adults’ recollection. However, little is currently known regarding the neural correlates of these training-related changes in recollection. Prior research suggests that the hippocampus plays a central role in supporting recollection in young and older adults, and that age-related changes in hippocampal function may lead to age-related changes in recollection. The present study investigated whether cognitive training-related increases in older adults’ recollection are associated with changes in their hippocampal activity during memory retrieval. Older adults’ hippocampal activity during retrieval was examined before and after they were trained to use semantic encoding strategies to intentionally encode words. Training-related changes in recollection were positively correlated with training-related changes in activity for old words in the hippocampus bilaterally. Positive correlations were also found between training-related changes in activity in prefrontal and left lateral temporal regions associated with self-initiated semantic strategy use during encoding and training-related changes in right hippocampal activity associated with recollection during retrieval. These results suggest that cognitive training-related improvements in older adults’ recollection can be supported by changes in their hippocampal activity during retrieval. They also suggest that age differences in cognitive processes engaged during encoding are a significant contributor to age differences in recollection during retrieval. PMID:22728150

  13. Project CRAFT: Culturally Responsive and Family Focused Training: A Learning Activities Guide.

    ERIC Educational Resources Information Center

    Chen, Deborah; Chan, Sam; Brekken, Linda; Lynch, Eleanor W.; Valverde, Aracelly

    This learning activities guide was developed as part of Project CRAFT (Culturally Responsive and Family Focused Training), an effort to train service providers in California in ways of working with young children (particularly those with disabilities) and their families from diverse cultural backgrounds. The learning activities are intended to be…

  14. 34 CFR 350.22 - What activities must a Rehabilitation Research and Training Center conduct?

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... DISABILITY AND REHABILITATION RESEARCH PROJECTS AND CENTERS PROGRAM What Rehabilitation Research and Training Centers Does the Secretary Assist? § 350.22 What activities must a Rehabilitation Research and Training... 34 Education 2 2010-07-01 2010-07-01 false What activities must a Rehabilitation Research...

  15. Capacity Building as a Tool for Assessing Training and Development Activity: An Indian Case Study

    ERIC Educational Resources Information Center

    Krishnaveni, R.; Sripirabaa, B.

    2008-01-01

    In recognition of its increasing importance, many organizations make periodic assessments of their training and development activity. The objective of the present study was to extend the concept of capacity building to the assessment of training and development activity in an automobile component manufacturing organization, using a developed and…

  16. 75 FR 79342 - Taking and Importing Marine Mammals; Navy Training Activities Conducted Within the Northwest...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-12-20

    ... preamble to the final rule (75 FR 69296, November 10, 2010), that the taking resulting from the activities... findings, described in the preamble to the final rule (75 FR 45527, August 3, 2010), that the taking... Training Activities Conducted Within the Northwest Training Range Complex (NWTRC) and Military...

  17. Robot programming

    SciTech Connect

    Lozano-Perez, T.

    1982-12-01

    The industrial robot's principal advantage over traditional automation is programmability. Robots can perform arbitrary sequences of pre-stored motions or of motions computed as functions of sensory input. This paper reviews requirements for and developments in robot programming systems. The key requirements for robot programming systems examined in the paper are in the areas of sensing, world modeling, motion specification, flow of control, and programming support. Existing and proposed robot programming systems fall into three broad categories: guiding systems in which the user leads a robot through the motions to be performed, robot-level programming systems in which the user writes a computer program specifying motion and sensing, and task-level programming systems in which the user writes a computer program specifying motion and sensing, and task-level programming systems in which the user specifies operations by their desired effect on objects. A representative sample of systems in each of these categories is surveyed in the paper.

  18. 32 CFR Appendix D to Subpart M of... - Unauthorized Activities in Maneuver Training Areas

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... of alcoholic beverages. 2. Yakima Training Center: Civilian paramilitary activities and combat games... Center. Consumption of alcoholic beverages. 3. Camp Bonneville: Civilian paramilitary activities and... permits, obtained through the DEH Real Estate Office. Overnight camping. Consumption of...

  19. 32 CFR Appendix D to Subpart M of... - Unauthorized Activities in Maneuver Training Areas

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... of alcoholic beverages. 2. Yakima Training Center: Civilian paramilitary activities and combat games... Center. Consumption of alcoholic beverages. 3. Camp Bonneville: Civilian paramilitary activities and... permits, obtained through the DEH Real Estate Office. Overnight camping. Consumption of...

  20. 32 CFR Appendix D to Subpart M of... - Unauthorized Activities in Maneuver Training Areas

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... of alcoholic beverages. 2. Yakima Training Center: Civilian paramilitary activities and combat games... Center. Consumption of alcoholic beverages. 3. Camp Bonneville: Civilian paramilitary activities and... permits, obtained through the DEH Real Estate Office. Overnight camping. Consumption of...

  1. 32 CFR Appendix D to Subpart M of... - Unauthorized Activities in Maneuver Training Areas

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... of alcoholic beverages. 2. Yakima Training Center: Civilian paramilitary activities and combat games... Center. Consumption of alcoholic beverages. 3. Camp Bonneville: Civilian paramilitary activities and... permits, obtained through the DEH Real Estate Office. Overnight camping. Consumption of...

  2. The effects of electromechanical wrist robot assistive system with neuromuscular electrical stimulation for stroke rehabilitation.

    PubMed

    Hu, X L; Tong, K Y; Li, R; Xue, J J; Ho, S K; Chen, P

    2012-06-01

    An electromyography (EMG)-driven electromechanical robot system integrated with neuromuscular electrical stimulation (NMES) was developed for wrist training after stroke. The performance of the system in assisting wrist flexion/extension tracking was evaluated on five chronic stroke subjects, when the system provided five different schemes with or without NMES and robot assistance. The tracking performances were measured by range of motion (ROM) of the wrist and root mean squared error (RMSE). The performance is better when both NMES and robot assisted in the tracking than those with either NMES or robot only (P<0.05). The muscle co-contractions in the upper limb measured by EMG were reduced when NMES provided assistance (P<0.05). All subjects also attended a 20-session wrist training for evaluating the training effects (3-5 times/week). The results showed improvements on the voluntary motor functions in the hand, wrist and elbow functions after the training, as indicated by the clinical scores of Fugl-Meyer Assessment, Action Research Arm Test, Wolf Motor Function Test; and also showed reduced spasticity in the wrist and the elbow as measured by the Modified Ashworth Score of each subject. After the training, the co-contractions were reduced between the flexor carpi radialis and extensor carpi radialis, and between the biceps brachii and triceps brachii. Assistance from the robot helped improve the movement accuracy; and the NMES helped increase the muscle activation for the wrist joint and suppress the excessive muscular activities from the elbow joint. The NMES-robot assisted wrist training could improve the hand, wrist, and elbow functions.

  3. Assessment of hindlimb locomotor strength in spinal cord transected rats through animal-robot contact force.

    PubMed

    Nessler, Jeff A; Moustafa-Bayoumi, Moustafa; Soto, Dalziel; Duhon, Jessica; Schmitt, Ryan

    2011-12-01

    measurement of animal-robot contact forces using the instrumented rat stepper can provide a sensitive and reliable measure of hindlimb locomotor strength and control of flexor and extensor muscle activity in neurologically impaired animals. Additionally, these measures may be useful as a means to quantify training intensity or dose-related functional outcomes of automated training.

  4. Robotic systems in surgery.

    PubMed

    Bargar, W L; Carbone, E J

    1993-10-01

    Computer-driven robots and medical imaging technology may soon enable surgeons to plan and execute intricate procedures with unprecedented precision. Our experience in introducing a robotic system for use in an active role in cementless total hip replacement surgery has convinced us that the marriage of these two technologies-robotics and medical imaging-is likely to change the way many types of surgical procedures are performed. The ability to link an image-based preoperative plan with its surgical execution by a robot may be the key to improved outcomes. Research and development of robotic systems for a wide variety of medical applications is underway at a number of prestigious institutions. Grenoble University has developed the IGOR (Imaged Guided Operating Robot) system. This six-axis robot has performed more than 400 interventions, acting as a positioner for brain surgery in both biopsy and therapeutic procedures. AlephMed and Digital are currently assisting the developers in integrating image analysis into the system. Future development plans include an application for spinal surgery. PMID:25951597

  5. Effects of high intensity training and continuous endurance training on aerobic capacity and body composition in recreationally active runners.

    PubMed

    Hottenrott, Kuno; Ludyga, Sebastian; Schulze, Stephan

    2012-01-01

    The aim of the study was to examine the effects of two different training programs (high-intensity-training vs. continuous endurance training) on aerobic power and body composition in recreationally active men and women and to test whether or not participants were able to complete a half marathon after the intervention period. Thirty-four recreational endurance runners were randomly assigned either to a Weekend-Group (WE, n = 17) or an After-Work- Group (AW, n = 17) for a 12 week-intervention period. WE weekly completed 2 h 30 min of continuous endurance running composed of 2 sessions on the weekend. In contrast, AW performed 4 30 min sessions of high intensity training and an additional 30 min endurance run weekly, always after work. During an exhaustive treadmill test aerobic power was measured and heart rate was continuously recorded. Body composition was assessed using bio-impedance. Following the intervention period all subjects took part in a half-marathon. AW significantly improved peak oxygen uptake (VO2 peak) from 36.8 ± 4.5 to 43.6 ± 6.5 [mL.min(-1).kg(-1)], velocity at lactate threshold (VLT) from 9.7 ± 2.2 to 11.7 ± 1.8 [km.h(-1)] and visceral fat from 5.6 ± 2.2 to 4.7 ± 1.9 In WE VO2 peak signifi-cantly increased from 38.8 ± 5.0 to 41.5 ± 6.0 [mL.min(-1).kg(-1)], VLT from 9.9 ± 1.3 to 11.2 ± 1.7 [km.h(-1)] and visceral fat was reduced from 5.7 ± 2.1 to 5.4 ± 1.9 (p < 0.01). Only the improvements of VO2 peak were significantly greater in AW compared with WE (pre/post group interaction: F=15.4, p = 0.01, η(2) = 0.36). Both groups completed a half marathon with no significant differences in performance (p = 0.63). Short, intensive endurance training sessions of about 30 min are effective in improving aerobic fitness in recreationally active runners. Key pointsContinuous endurance training and high intensity training lead to significant improvements of aerobic capacity and body compositionBoth training methods enable recreationally active

  6. Effects of High Intensity Training and Continuous Endurance Training on Aerobic Capacity and Body Composition in Recreationally Active Runners

    PubMed Central

    Hottenrott, Kuno; Ludyga, Sebastian; Schulze, Stephan

    2012-01-01

    The aim of the study was to examine the effects of two different training programs (high-intensity-training vs. continuous endurance training) on aerobic power and body composition in recreationally active men and women and to test whether or not participants were able to complete a half marathon after the intervention period. Thirty-four recreational endurance runners were randomly assigned either to a Weekend-Group (WE, n = 17) or an After-Work- Group (AW, n = 17) for a 12 week-intervention period. WE weekly completed 2 h 30 min of continuous endurance running composed of 2 sessions on the weekend. In contrast, AW performed 4 30 min sessions of high intensity training and an additional 30 min endurance run weekly, always after work. During an exhaustive treadmill test aerobic power was measured and heart rate was continuously recorded. Body composition was assessed using bio-impedance. Following the intervention period all subjects took part in a half-marathon. AW significantly improved peak oxygen uptake (VO2 peak) from 36.8 ± 4.5 to 43.6 ± 6.5 [mL.min-1.kg-1], velocity at lactate threshold (VLT) from 9.7 ± 2.2 to 11.7 ± 1.8 [km.h-1] and visceral fat from 5.6 ± 2.2 to 4.7 ± 1.9 In WE VO2 peak signifi-cantly increased from 38.8 ± 5.0 to 41.5 ± 6.0 [mL.min-1.kg-1], VLT from 9.9 ± 1.3 to 11.2 ± 1.7 [km.h-1] and visceral fat was reduced from 5.7 ± 2.1 to 5.4 ± 1.9 (p < 0.01). Only the improvements of VO2 peak were significantly greater in AW compared with WE (pre/post group interaction: F=15.4, p = 0.01, η2 = 0.36). Both groups completed a half marathon with no significant differences in performance (p = 0.63). Short, intensive endurance training sessions of about 30 min are effective in improving aerobic fitness in recreationally active runners. Key pointsContinuous endurance training and high intensity training lead to significant improvements of aerobic capacity and body compositionBoth training methods enable recreationally active runners to finish

  7. Classroom Challenge: Designing a Firefighting Robot

    ERIC Educational Resources Information Center

    Roman, Harry T.

    2007-01-01

    Robots provide teachers with opportunities to teach multidimensional thinking and critical thinking skills. In this article, the author presents a classroom activity wherein students are required to design a firefighting robot. This activity aims to demonstrate the complexity and interdisciplinary nature of the robotics technology.

  8. External locus of control contributes to racial disparities in memory and reasoning training gains in ACTIVE

    PubMed Central

    Zahodne, Laura B.; Meyer, Oanh L.; Choi, Eunhee; Thomas, Michael L.; Willis, Sherry L.; Marsiske, Michael; Gross, Alden L.; Rebok, George W.; Parisi, Jeanine M.

    2015-01-01

    Racial disparities in cognitive outcomes may be partly explained by differences in locus of control. African Americans report more external locus of control than non-Hispanic Whites, and external locus of control is associated with poorer health and cognition. The aims of this study were to compare cognitive training gains between African American and non-Hispanic White participants in the Advanced Cognitive Training for Independent and Vital Elderly (ACTIVE) study and determine whether racial differences in training gains are mediated by locus of control. The sample comprised 2,062 (26% African American) adults aged 65 and older who participated in memory, reasoning, or speed training. Latent growth curve models evaluated predictors of 10-year cognitive trajectories separately by training group. Multiple group modeling examined associations between training gains and locus of control across racial groups. Compared to non-Hispanic Whites, African Americans evidenced less improvement in memory and reasoning performance after training. These effects were partially mediated by locus of control, controlling for age, sex, education, health, depression, testing site, and initial cognitive ability. African Americans reported more external locus of control, which was associated with smaller training gains. External locus of control also had a stronger negative association with reasoning training gain for African Americans than for Whites. No racial difference in training gain was identified for speed training. Future intervention research with African Americans should test whether explicitly targeting external locus of control leads to greater cognitive improvement following cognitive training. PMID:26237116

  9. Needs for Robotic Assessments of Nuclear Disasters

    SciTech Connect

    Victor Walker; Derek Wadsworth

    2012-06-01

    Following the nuclear disaster at the Fukushima nuclear reactor plant in Japan, the need for systems which can assist in dynamic high-radiation environments such as nuclear incidents has become more apparent. The INL participated in delivering robotic technologies to Japan and has identified key components which are needed for success and obstacles to their deployment. In addition, we are proposing new work and methods to improve assessments and reactions to such events in the future. Robotics needs in disaster situations include phases such as: Assessment, Remediation, and Recovery Our particular interest is in the initial assessment activities. In assessment we need collection of environmental parameters, determination of conditions, and physical sample collection. Each phase would require key tools and efforts to develop. This includes study of necessary sensors and their deployment methods, the effects of radiation on sensors and deployment, and the development of training and execution systems.

  10. Active Motor Training Has Long-term Effects on Infants’ Object Exploration

    PubMed Central

    Wiesen, Sarah E.; Watkins, Rachel M.; Needham, Amy Work

    2016-01-01

    Long-term changes in infants’ behavior as a result of active motor training were studied. Thirty-two infants completed three visits to the laboratory. At the first visit, infants were 3 months old and completed an object exploration assessment. Then the experimenter demonstrated the motor training procedures appropriate for the infant’s experimental condition, and parents took home custom infant mittens (either sticky or non-sticky) and a bag of lightweight toys to practice with their infants. Over the course of the following 2 weeks, infants participated in 10 sessions of either active (sticky) or passive (non-sticky) mittens training at home with their parents. Infants who participated in active mittens training wore mittens with the palms covered in Velcro, allowing them to pick up and move around small toys. Infants who participated in passive mittens training wore non-sticky mittens, and their parents moved the toys through their visual fields on their behalf. After completing the training, infants returned to the lab for the second visit. At visit two, infants participated in another object exploration assessment as well as a reaching assessment. Parents returned the training materials to the lab at the second visit, and were told not to continue any specific training regimen from this point forward. Two months later, when infants were about 5.5 months of age, they returned to the lab for a third visit. At the third visit, infants completed the same two assessments as during the second visit. The results of this study indicate that infants who participated in active motor training engaged in more sophisticated object exploration when compared to infants who received passive training. These findings are consistent with others in the literature showing that active motor training at 3 months of age facilitates the processes of object exploration and engagement. The current results and others reveal that the effects of early experience can last long after

  11. Active Motor Training Has Long-term Effects on Infants' Object Exploration.

    PubMed

    Wiesen, Sarah E; Watkins, Rachel M; Needham, Amy Work

    2016-01-01

    Long-term changes in infants' behavior as a result of active motor training were studied. Thirty-two infants completed three visits to the laboratory. At the first visit, infants were 3 months old and completed an object exploration assessment. Then the experimenter demonstrated the motor training procedures appropriate for the infant's experimental condition, and parents took home custom infant mittens (either sticky or non-sticky) and a bag of lightweight toys to practice with their infants. Over the course of the following 2 weeks, infants participated in 10 sessions of either active (sticky) or passive (non-sticky) mittens training at home with their parents. Infants who participated in active mittens training wore mittens with the palms covered in Velcro, allowing them to pick up and move around small toys. Infants who participated in passive mittens training wore non-sticky mittens, and their parents moved the toys through their visual fields on their behalf. After completing the training, infants returned to the lab for the second visit. At visit two, infants participated in another object exploration assessment as well as a reaching assessment. Parents returned the training materials to the lab at the second visit, and were told not to continue any specific training regimen from this point forward. Two months later, when infants were about 5.5 months of age, they returned to the lab for a third visit. At the third visit, infants completed the same two assessments as during the second visit. The results of this study indicate that infants who participated in active motor training engaged in more sophisticated object exploration when compared to infants who received passive training. These findings are consistent with others in the literature showing that active motor training at 3 months of age facilitates the processes of object exploration and engagement. The current results and others reveal that the effects of early experience can last long after

  12. Monitoring Project CANAL Training Activities: Student Training Activities for 70 Project CANAL Schools (October 17, 1990 through June 6, 1991). Progress Report.

    ERIC Educational Resources Information Center

    Davidson, Mary E.; Kurtz, Norman R.

    An evaluation was done to assess the participation of students from the 70 Creating a New Approach to Learning Project (Project CANAL) schools in training activities organized by Project CANAL. Two activities were included. The first, titled "student Workshops," consisted of a series of five 1-day workshops that sought to provide students with…

  13. Low-Cost Educational Robotics Applied to Physics Teaching in Brazil

    ERIC Educational Resources Information Center

    Souza, Marcos A. M.; Duarte, José R. R.

    2015-01-01

    In this paper, we propose some of the strategies and methodologies for teaching high-school physics topics through an educational robotics show. This exhibition was part of a set of actions promoted by a Brazilian government program of incentive for teaching activities, whose primary focus is the training of teachers, the improvement of teaching…

  14. Home-based tele-assisted robotic rehabilitation of joint impairments in children with cerebral palsy.

    PubMed

    Chen, Kai; Ren, Yupeng; Gaebler-Spira, Deborah; Zhang, Li-Qun

    2014-01-01

    A portable rehabilitation robot incorporating intelligent stretching, robot-guided voluntary movement training with motivating games and tele-rehabilitation was developed to provide convenient and cost-effective rehabilitation to children with cerebral palsy (CP) and extend rehabilitation care beyond hospital. Clinicians interact with the patients remotely for periodic evaluations and updated guidance. The tele-assisted stretching and active movement training was done over 6-week 18 sessions on the impaired ankle of 23 children with CP in their home setting. Treatment effectiveness was evaluated using biomechanical measures and clinical outcome measures. After the tele-assisted home robotic rehabilitation intervention, there were significant increases in the ankle passive and active range of motion, muscle strength, a decrease in spasticity, and increases in balance and selective control assessment of lower-extremity.

  15. Robots in operating theatres.

    PubMed Central

    Buckingham, R. A.; Buckingham, R. O.

    1995-01-01

    Robots designed for surgery have three main advantages over humans. They have greater three dimensional spatial accuracy, are more reliable, and can achieve much greater precision. Although few surgical robots are yet in clinical trials one or two have advanced to the stage of seeking approval from the UK's Medical Devices Agency and the US Federal Drug Administration. Safety is a key concern. A robotic device can be designed in an intrinsically safe way by restricting its range of movement to an area where it can do no damage. Furthermore, safety can be increased by making it passive, guided at all times by a surgeon. Nevertheless, some of the most promising developments may come from robots that are active (monitored rather than controlled by the surgeon) and not limited to intrinsically safe motion. Images Fig 1 Fig 3 Fig 4 PMID:8520340

  16. Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms.

    PubMed

    Beom, Jaewon; Koh, Sukgyu; Nam, Hyung Seok; Kim, Wonshik; Kim, Yoonjae; Seo, Han Gil; Oh, Byung-Mo; Chung, Sun Gun; Kim, Sungwan

    2016-08-15

    Mirror therapy has been performed as effective occupational therapy in a clinical setting for functional recovery of a hemiplegic arm after stroke. It is conducted by eliciting an illusion through use of a mirror as if the hemiplegic arm is moving in real-time while moving the healthy arm. It can facilitate brain neuroplasticity through activation of the sensorimotor cortex. However, conventional mirror therapy has a critical limitation in that the hemiplegic arm is not actually moving. Thus, we developed a real-time 2-axis mirror robot system as a simple add-on module for conventional mirror therapy using a closed feedback mechanism, which enables real-time movement of the hemiplegic arm. We used 3 Attitude and Heading Reference System sensors, 2 brushless DC motors for elbow and wrist joints, and exoskeletal frames. In a feasibility study on 6 healthy subjects, robotic mirror therapy was safe and feasible. We further selected tasks useful for activities of daily living training through feedback from rehabilitation doctors. A chronic stroke patient showed improvement in the Fugl-Meyer assessment scale and elbow flexor spasticity after a 2-week application of the mirror robot system. Robotic mirror therapy may enhance proprioceptive input to the sensory cortex, which is considered to be important in neuroplasticity and functional recovery of hemiplegic arms. The mirror robot system presented herein can be easily developed and utilized effectively to advance occupational therapy.

  17. Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms.

    PubMed

    Beom, Jaewon; Koh, Sukgyu; Nam, Hyung Seok; Kim, Wonshik; Kim, Yoonjae; Seo, Han Gil; Oh, Byung-Mo; Chung, Sun Gun; Kim, Sungwan

    2016-01-01

    Mirror therapy has been performed as effective occupational therapy in a clinical setting for functional recovery of a hemiplegic arm after stroke. It is conducted by eliciting an illusion through use of a mirror as if the hemiplegic arm is moving in real-time while moving the healthy arm. It can facilitate brain neuroplasticity through activation of the sensorimotor cortex. However, conventional mirror therapy has a critical limitation in that the hemiplegic arm is not actually moving. Thus, we developed a real-time 2-axis mirror robot system as a simple add-on module for conventional mirror therapy using a closed feedback mechanism, which enables real-time movement of the hemiplegic arm. We used 3 Attitude and Heading Reference System sensors, 2 brushless DC motors for elbow and wrist joints, and exoskeletal frames. In a feasibility study on 6 healthy subjects, robotic mirror therapy was safe and feasible. We further selected tasks useful for activities of daily living training through feedback from rehabilitation doctors. A chronic stroke patient showed improvement in the Fugl-Meyer assessment scale and elbow flexor spasticity after a 2-week application of the mirror robot system. Robotic mirror therapy may enhance proprioceptive input to the sensory cortex, which is considered to be important in neuroplasticity and functional recovery of hemiplegic arms. The mirror robot system presented herein can be easily developed and utilized effectively to advance occupational therapy. PMID:27583794

  18. Isometric handgrip training reduces arterial pressure at rest without changes in sympathetic nerve activity

    NASA Technical Reports Server (NTRS)

    Ray, C. A.; Carrasco, D. I.

    2000-01-01

    The purpose of this study was to determine whether isometric handgrip (IHG) training reduces arterial pressure and whether reductions in muscle sympathetic nerve activity (MSNA) mediate this drop in arterial pressure. Normotensive subjects were assigned to training (n = 9), sham training (n = 7), or control (n = 8) groups. The training protocol consisted of four 3-min bouts of IHG exercise at 30% of maximal voluntary contraction (MVC) separated by 5-min rest periods. Training was performed four times per week for 5 wk. Subjects' resting arterial pressure and heart rate were measured three times on 3 consecutive days before and after training, with resting MSNA (peroneal nerve) recorded on the third day. Additionally, subjects performed IHG exercise at 30% of MVC to fatigue followed by muscle ischemia. In the trained group, resting diastolic (67 +/- 1 to 62 +/- 1 mmHg) and mean arterial pressure (86 +/- 1 to 82 +/- 1 mmHg) significantly decreased, whereas systolic arterial pressure (116 +/- 3 to 113 +/- 2 mmHg), heart rate (67 +/- 4 to 66 +/- 4 beats/min), and MSNA (14 +/- 2 to 15 +/- 2 bursts/min) did not significantly change following training. MSNA and cardiovascular responses to exercise and postexercise muscle ischemia were unchanged by training. There were no significant changes in any variables for the sham training and control groups. The results indicate that IHG training is an effective nonpharmacological intervention in lowering arterial pressure.

  19. Effects of resistance training on cardiovascular health in non-obese active adolescents

    PubMed Central

    Yu, Clare Chung-Wah; McManus, Alison Mary; So, Hung-Kwan; Chook, Ping; Au, Chun-Ting; Li, Albert Martin; Kam, Jack Tat-Chi; So, Raymond Chi-Hung; Lam, Christopher Wai-Kei; Chan, Iris Hiu-Shuen; Sung, Rita Yn-Tz

    2016-01-01

    AIM To determine the benefits of a 10-wk resistance training programme on cardiovascular health in non-obese and active adolescents. METHODS This is a pragmatic randomised controlled intervention. The study was carried out in a Hong Kong Government secondary school. Thirty-eight lean and active boys and girls were randomised to either the resistance training group or the control group. Students in the resistance training group received in-school 10-wk supervised resistance training twice per week, with each session lasting 70 min. Main outcome measures taken before and after training included brachial endothelial dependent flow-mediated dilation, body composition, fasting serum lipids, fasting glucose and insulin, high sensitive C-reactive protein, 24-h ambulatory blood pressure and aerobic fitness. RESULTS The only training related change was in endothelial dependent flow-mediated dilation which increased from 8.5% to 9.8%. A main effect of time and an interaction (P < 0.005) indicated that this improvement was a result of the 10-wk resistance training. Main effects for time (P < 0.05) in a number of anthropometric, metabolic and vascular variables were noted; however, there were no significant interactions indicating the change was more likely an outcome of normal growth and development as opposed to a training effect. CONCLUSION Ten weeks of resistance training in school appears to have some vascular benefit in active, lean children PMID:27610345

  20. Effects of resistance training on cardiovascular health in non-obese active adolescents

    PubMed Central

    Yu, Clare Chung-Wah; McManus, Alison Mary; So, Hung-Kwan; Chook, Ping; Au, Chun-Ting; Li, Albert Martin; Kam, Jack Tat-Chi; So, Raymond Chi-Hung; Lam, Christopher Wai-Kei; Chan, Iris Hiu-Shuen; Sung, Rita Yn-Tz

    2016-01-01

    AIM To determine the benefits of a 10-wk resistance training programme on cardiovascular health in non-obese and active adolescents. METHODS This is a pragmatic randomised controlled intervention. The study was carried out in a Hong Kong Government secondary school. Thirty-eight lean and active boys and girls were randomised to either the resistance training group or the control group. Students in the resistance training group received in-school 10-wk supervised resistance training twice per week, with each session lasting 70 min. Main outcome measures taken before and after training included brachial endothelial dependent flow-mediated dilation, body composition, fasting serum lipids, fasting glucose and insulin, high sensitive C-reactive protein, 24-h ambulatory blood pressure and aerobic fitness. RESULTS The only training related change was in endothelial dependent flow-mediated dilation which increased from 8.5% to 9.8%. A main effect of time and an interaction (P < 0.005) indicated that this improvement was a result of the 10-wk resistance training. Main effects for time (P < 0.05) in a number of anthropometric, metabolic and vascular variables were noted; however, there were no significant interactions indicating the change was more likely an outcome of normal growth and development as opposed to a training effect. CONCLUSION Ten weeks of resistance training in school appears to have some vascular benefit in active, lean children

  1. Hopping robot

    DOEpatents

    Spletzer, Barry L.; Fischer, Gary J.; Marron, Lisa C.; Martinez, Michael A.; Kuehl, Michael A.; Feddema, John T.

    2001-01-01

    The present invention provides a hopping robot that includes a misfire tolerant linear actuator suitable for long trips, low energy steering and control, reliable low energy righting, miniature low energy fuel control. The present invention provides a robot with hopping mobility, capable of traversing obstacles significant in size relative to the robot and capable of operation on unpredictable terrain over long range. The present invention further provides a hopping robot with misfire-tolerant combustion actuation, and with combustion actuation suitable for use in oxygen-poor environments.

  2. Plasma lactic dehydrogenase activities in men during bed rest with exercise training

    NASA Technical Reports Server (NTRS)

    Greenleaf, J. E.; Juhos, L. T.; Young, H. L.

    1985-01-01

    Peak oxygen uptake and the activity of lactic dehydrogenase (LDH-T) and its five isoenzymes were measured by spectrophotometer in seven men before, during, and after bed rest and exercise training. Exercise training consisted of isometric leg exercises of 250 kcal/hr for a period of one hour per day. It is found that LDH-T was reduced by 0.05 percent in all three regimens by day 10 of bed rest, and that the decrease occurred at different rates. The earliest reduction in LDH-T activity in the no-exercise regimen was associated with a decrease in peak oxygen uptake of 12.3 percent. It is concluded that isometric (aerobic) muscular strength training appear to maintain skeletal muscle integrity better during bed rest than isotonic exercise training. Reduced hydrostatic pressure during bed rest, however, ultimately counteracts the effects of both moderate isometric and isotonic exercise training, and may result in decreased LDH-T activity.

  3. 2010 FIRST Robotics Bayou Regional Tournament

    NASA Technical Reports Server (NTRS)

    2010-01-01

    Student-built robots maneuver the course during the 2010 Bayou Regional FIRST (For Inspiration and Recognition of Science and Technology) Robotics competition in Westwego on March 5-6. The annual competition drew 36 high school teams from eight states. NASA's John C. Stennis Space Center supports FIRST Robotics by providing financing, mentors and training, as well as competition judges and referees, audiovisual staff and other volunteer personnel.

  4. Aerobic and resistance training do not influence plasma carnosinase content or activity in type 2 diabetes.

    PubMed

    Stegen, Sanne; Sigal, Ronald J; Kenny, Glen P; Khandwala, Farah; Yard, Benito; De Heer, Emile; Baelde, Hans; Peersman, Wim; Derave, Wim

    2015-10-01

    A particular allele of the carnosinase gene (CNDP1) is associated with reduced plasma carnosinase activity and reduced risk for nephropathy in diabetic patients. On the one hand, animal and human data suggest that hyperglycemia increases plasma carnosinase activity. On the other hand, we recently reported lower carnosinase activity levels in elite athletes involved in high-intensity exercise compared with untrained controls. Therefore, this study investigates whether exercise training and the consequent reduction in hyperglycemia can suppress carnosinase activity and content in adults with type 2 diabetes. Plasma samples were taken from 243 males and females with type 2 diabetes (mean age = 54.3 yr, SD = 7.1) without major microvascular complications before and after a 6-mo exercise training program [4 groups: sedentary control (n = 61), aerobic exercise (n = 59), resistance exercise (n = 63), and combined exercise training (n = 60)]. Plasma carnosinase content and activity, hemoglobin (Hb) A1c, lipid profile, and blood pressure were measured. A 6-mo exercise training intervention, irrespective of training modality, did not decrease plasma carnosinase content or activity in type 2 diabetic patients. Plasma carnosinase content and activity showed a high interindividual but very low intraindividual variability over the 6-mo period. Age and sex, but not Hb A1c, were significantly related to the activity or content of this enzyme. It can be concluded that the beneficial effects of exercise training on the incidence of diabetic complications are probably not related to a lowering effect on plasma carnosinase content or activity.

  5. Decoding Sensorimotor Rhythms during Robotic-Assisted Treadmill Walking for Brain Computer Interface (BCI) Applications.

    PubMed

    García-Cossio, Eliana; Severens, Marianne; Nienhuis, Bart; Duysens, Jacques; Desain, Peter; Keijsers, Nöel; Farquhar, Jason

    2015-01-01

    Locomotor malfunction represents a major problem in some neurological disorders like stroke and spinal cord injury. Robot-assisted walking devices have been used during rehabilitation of patients with these ailments for regaining and improving walking ability. Previous studies showed the advantage of brain-computer interface (BCI) based robot-assisted training combined with physical therapy in the rehabilitation of the upper limb after stroke. Therefore, stroke patients with walking disorders might also benefit from using BCI robot-assisted training protocols. In order to develop such BCI, it is necessary to evaluate the feasibility to decode walking intention from cortical patterns during robot-assisted gait training. Spectral patterns in the electroencephalogram (EEG) related to robot-assisted active and passive walking were investigated in 10 healthy volunteers (mean age 32.3±10.8, six female) and in three acute stroke patients (all male, mean age 46.7±16.9, Berg Balance Scale 20±12.8). A logistic regression classifier was used to distinguish walking from baseline in these spectral EEG patterns. Mean classification accuracies of 94.0±5.4% and 93.1±7.9%, respectively, were reached when active and passive walking were compared against baseline. The classification performance between passive and active walking was 83.4±7.4%. A classification accuracy of 89.9±5.7% was achieved in the stroke patients when comparing walking and baseline. Furthermore, in the healthy volunteers modulation of low gamma activity in central midline areas was found to be associated with the gait cycle phases, but not in the stroke patients. Our results demonstrate the feasibility of BCI-based robotic-assisted training devices for gait rehabilitation. PMID:26675472

  6. Decoding Sensorimotor Rhythms during Robotic-Assisted Treadmill Walking for Brain Computer Interface (BCI) Applications

    PubMed Central

    García-Cossio, Eliana; Severens, Marianne; Nienhuis, Bart; Duysens, Jacques; Desain, Peter

    2015-01-01

    Locomotor malfunction represents a major problem in some neurological disorders like stroke and spinal cord injury. Robot-assisted walking devices have been used during rehabilitation of patients with these ailments for regaining and improving walking ability. Previous studies showed the advantage of brain-computer interface (BCI) based robot-assisted training combined with physical therapy in the rehabilitation of the upper limb after stroke. Therefore, stroke patients with walking disorders might also benefit from using BCI robot-assisted training protocols. In order to develop such BCI, it is necessary to evaluate the feasibility to decode walking intention from cortical patterns during robot-assisted gait training. Spectral patterns in the electroencephalogram (EEG) related to robot-assisted active and passive walking were investigated in 10 healthy volunteers (mean age 32.3±10.8, six female) and in three acute stroke patients (all male, mean age 46.7±16.9, Berg Balance Scale 20±12.8). A logistic regression classifier was used to distinguish walking from baseline in these spectral EEG patterns. Mean classification accuracies of 94.0±5.4% and 93.1±7.9%, respectively, were reached when active and passive walking were compared against baseline. The classification performance between passive and active walking was 83.4±7.4%. A classification accuracy of 89.9±5.7% was achieved in the stroke patients when comparing walking and baseline. Furthermore, in the healthy volunteers modulation of low gamma activity in central midline areas was found to be associated with the gait cycle phases, but not in the stroke patients. Our results demonstrate the feasibility of BCI-based robotic-assisted training devices for gait rehabilitation. PMID:26675472

  7. Decoding Sensorimotor Rhythms during Robotic-Assisted Treadmill Walking for Brain Computer Interface (BCI) Applications.

    PubMed

    García-Cossio, Eliana; Severens, Marianne; Nienhuis, Bart; Duysens, Jacques; Desain, Peter; Keijsers, Nöel; Farquhar, Jason

    2015-01-01

    Locomotor malfunction represents a major problem in some neurological disorders like stroke and spinal cord injury. Robot-assisted walking devices have been used during rehabilitation of patients with these ailments for regaining and improving walking ability. Previous studies showed the advantage of brain-computer interface (BCI) based robot-assisted training combined with physical therapy in the rehabilitation of the upper limb after stroke. Therefore, stroke patients with walking disorders might also benefit from using BCI robot-assisted training protocols. In order to develop such BCI, it is necessary to evaluate the feasibility to decode walking intention from cortical patterns during robot-assisted gait training. Spectral patterns in the electroencephalogram (EEG) related to robot-assisted active and passive walking were investigated in 10 healthy volunteers (mean age 32.3±10.8, six female) and in three acute stroke patients (all male, mean age 46.7±16.9, Berg Balance Scale 20±12.8). A logistic regression classifier was used to distinguish walking from baseline in these spectral EEG patterns. Mean classification accuracies of 94.0±5.4% and 93.1±7.9%, respectively, were reached when active and passive walking were compared against baseline. The classification performance between passive and active walking was 83.4±7.4%. A classification accuracy of 89.9±5.7% was achieved in the stroke patients when comparing walking and baseline. Furthermore, in the healthy volunteers modulation of low gamma activity in central midline areas was found to be associated with the gait cycle phases, but not in the stroke patients. Our results demonstrate the feasibility of BCI-based robotic-assisted training devices for gait rehabilitation.

  8. 20 CFR 633.302 - Training activities and services.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... AND SEASONAL FARMWORKER PROGRAMS Program Design and Administrative Procedures § 633.302 Training...-the-job, work experience, and tryout employment, in jobs skills for which demand exceeds supply; (4... enrollment in work experience shall not exceed 1,000 hours in a one-year period....

  9. Evaluation of an Outreach Activity of Pediatric Clerkship Training

    ERIC Educational Resources Information Center

    Parcel, Guy S.; And Others

    1977-01-01

    An opportunity for medical students to observe and interact with children in a setting outside the clinical environment was introduced as part of ambulatory pediatric clerkship training. Evaluation of the program indicated its overall effectiveness as well as areas for which changes are suggested. (LBH)

  10. A National Study of Training Content and Activities for Faculty Development for Online Teaching

    ERIC Educational Resources Information Center

    Meyer, Katrina A.; Murrell, Vicki S.

    2014-01-01

    This article presents the results of a national study of 39 higher education institutions that collected information about their practices for faculty development for online teaching and particularly the content and training activities used during 2011-2012. This study found that the most frequently offered training content (97% of the…

  11. 32 CFR Appendix C to Subpart M of... - Authorized Activities for Maneuver Training Area Access

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ..., blackberries, apples and other vegetation Photography Hiking 2. Yakima Training Center: Military Training (FL... activities Observation of wildlife and vegetation Photography Hiking Camping, per Paragraph 6 3. Camp...-commercial picking of ferns, mushrooms, blackberries, apples and other vegetation Photography Hiking...

  12. 32 CFR Appendix C to Subpart M of... - Authorized Activities for Maneuver Training Area Access

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ..., blackberries, apples and other vegetation Photography Hiking 2. Yakima Training Center: Military Training (FL... activities Observation of wildlife and vegetation Photography Hiking Camping, per Paragraph 6 3. Camp...-commercial picking of ferns, mushrooms, blackberries, apples and other vegetation Photography Hiking...

  13. 32 CFR Appendix C to Subpart M of... - Authorized Activities for Maneuver Training Area Access

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ..., blackberries, apples and other vegetation Photography Hiking 2. Yakima Training Center: Military Training (FL... activities Observation of wildlife and vegetation Photography Hiking Camping, per Paragraph 6 3. Camp...-commercial picking of ferns, mushrooms, blackberries, apples and other vegetation Photography Hiking...

  14. 32 CFR Appendix C to Subpart M of... - Authorized Activities for Maneuver Training Area Access

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ..., blackberries, apples and other vegetation Photography Hiking 2. Yakima Training Center: Military Training (FL... activities Observation of wildlife and vegetation Photography Hiking Camping, per Paragraph 6 3. Camp...-commercial picking of ferns, mushrooms, blackberries, apples and other vegetation Photography Hiking...

  15. 32 CFR Appendix C to Subpart M of... - Authorized Activities for Maneuver Training Area Access

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ..., blackberries, apples and other vegetation Photography Hiking 2. Yakima Training Center: Military Training (FL... activities Observation of wildlife and vegetation Photography Hiking Camping, per Paragraph 6 3. Camp...-commercial picking of ferns, mushrooms, blackberries, apples and other vegetation Photography Hiking...

  16. Changes in Muscle Activation after Reach Training with Gravity Compensation in Chronic Stroke Patients

    ERIC Educational Resources Information Center

    Prange, Gerdienke B.; Krabben, Thijs; Renzenbrink, Gerbert J.; Ijzerman, Maarten J.; Hermens, Hermie J.; Jannink, Michiel J. A.

    2012-01-01

    The objective of this study is to examine the effect of gravity compensation training on reaching and underlying changes in muscle activation. In this clinical trial, eight chronic stroke patients with limited arm function received 18 sessions (30 min) of gravity-compensated reach training (during 6 weeks) in combination with a rehabilitation…

  17. 77 FR 7242 - Agency Information Collection (Contract for Training and Employment): Activity Under OMB Review

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-02-10

    ... AFFAIRS Agency Information Collection (Contract for Training and Employment): Activity Under OMB Review...-0487 or email denise.mclamb@va.gov . Please refer to ``OMB Control No. 2900-0677.'' SUPPLEMENTARY INFORMATION: Title: Contract for Training and Employment (Chapter 31, Title 38 U.S. Code), VA Form...

  18. Annual Summary. Training and Technology Experimentation, Demonstration, and Utilization Program Activities (January 1-December 31, 1971).

    ERIC Educational Resources Information Center

    Oak Ridge Associated Universities, TN.

    Directed primarily toward increasing utilization of industrial resources for training and development of disadvantaged persons, Training and Technology (TAT) activities for 1971 included: (1) development and implementation of experimental approaches to program development and operation, (2) technical support for university-conducted related…

  19. 77 FR 2350 - Agency Information Collection (Request for Change of Program or Place of Training): Activity...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-01-17

    ....Regulations.gov or to VA's OMB Desk Officer, OMB Human Resources and Housing Branch, New Executive Office... AFFAIRS Agency Information Collection (Request for Change of Program or Place of Training): Activity Under... INFORMATION: Title: Request for Change of Program or Place of Training, VA Form 22-1995. OMB Control...

  20. 78 FR 6850 - Agency Information Collection (Monthly Record of Training and Wages) Activities Under OMB

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-01-31

    ... OMB Desk Officer, OMB Human Resources and Housing Branch, New Executive Office Building, Room 10235... AFFAIRS Agency Information Collection (Monthly Record of Training and Wages) Activities Under OMB AGENCY... Record of Training and Wages, VA Form 28-1905c. OMB Control Number: 2900-0176. Type of Review:...

  1. Robotics. Guidance for Further Education. FEU/PICKUP Project Report.

    ERIC Educational Resources Information Center

    Further Education Unit, London (England).

    This report contains materials to assist teachers and others in designing curricula in robotics. The first section includes the results of a survey of technicians and supervisors in nine companies involved with robots that was designed to gather information concerning the education and training needed to prepare for a career in robotics. The…

  2. Robotics: Using Technology to Teach New Technologies.

    ERIC Educational Resources Information Center

    Cohen, Karen C.; Meyer, Carol D.

    1984-01-01

    Discusses the development of industrial robotics training materials, considering the need for such materials, preliminary curriculum design, the Piagetian approach followed, and the uses of computer assisted instruction. A list of robotics curriculum courses (with content and audience indicated) is included. (JN)

  3. Rapid Prototyping Platform for Robotics Applications

    ERIC Educational Resources Information Center

    Hwang, Kao-Shing; Hsiao, Wen-Hsu; Shing, Gaung-Ting; Chen, Kim-Joan

    2011-01-01

    For the past several years, a team in the Department of Electrical Engineering (EE), National Chung Cheng University, Taiwan, has been establishing a pedagogical approach to embody embedded systems in the context of robotics. To alleviate the burden on students in the robotics curriculum in their junior and senior years, a training platform on…

  4. Crew/Robot Coordinated Planetary EVA Operations at a Lunar Base Analog Site

    NASA Technical Reports Server (NTRS)

    Diftler, M. A.; Ambrose, R. O.; Bluethmann, W. J.; Delgado, F. J.; Herrera, E.; Kosmo, J. J.; Janoiko, B. A.; Wilcox, B. H.; Townsend, J. A.; Matthews, J. B.; Fong, T. W.; Bualat, M. G.; Lee, S. Y.; Dorsey, J. T.; Doggett, W. R.

    2007-01-01

    Under the direction of NASA's Exploration Technology Development Program, robots and space suited subjects from several NASA centers recently completed a very successful demonstration of coordinated activities indicative of base camp operations on the lunar surface. For these activities, NASA chose a site near Meteor Crater, Arizona close to where Apollo Astronauts previously trained. The main scenario demonstrated crew returning from a planetary EVA (extra-vehicular activity) to a temporary base camp and entering a pressurized rover compartment while robots performed tasks in preparation for the next EVA. Scenario tasks included: rover operations under direct human control and autonomous modes, crew ingress and egress activities, autonomous robotic payload removal and stowage operations under both local control and remote control from Houston, and autonomous robotic navigation and inspection. In addition to the main scenario, participants had an opportunity to explore additional robotic operations: hill climbing, maneuvering heaving loads, gathering geo-logical samples, drilling, and tether operations. In this analog environment, the suited subjects and robots experienced high levels of dust, rough terrain, and harsh lighting.

  5. Students Learn Programming Faster through Robotic Simulation

    ERIC Educational Resources Information Center

    Liu, Allison; Newsom, Jeff; Schunn, Chris; Shoop, Robin

    2013-01-01

    Schools everywhere are using robotics education to engage kids in applied science, technology, engineering, and mathematics (STEM) activities, but teaching programming can be challenging due to lack of resources. This article reports on using Robot Virtual Worlds (RVW) and curriculum available on the Internet to teach robot programming. It also…

  6. Robotic system

    NASA Technical Reports Server (NTRS)

    Ambrose, Robert O. (Inventor)

    2003-01-01

    A robot having a plurality of interconnected sections is disclosed. Each of the sections includes components which are moveable relative to components of an adjacent section. A plurality of electric motors are operably connected to at least two of said relatively moveable components to effect relative movement. A fitted, removable protective covering surrounds the sections to protect the robot.

  7. Robotics 101

    ERIC Educational Resources Information Center

    Sultan, Alan

    2011-01-01

    Robots are used in all kinds of industrial settings. They are used to rivet bolts to cars, to move items from one conveyor belt to another, to gather information from other planets, and even to perform some very delicate types of surgery. Anyone who has watched a robot perform its tasks cannot help but be impressed by how it works. This article…

  8. 45 CFR 235.64 - FFP rates, and activities and costs matchable as training expenditures.

    Code of Federal Regulations, 2014 CFR

    2014-10-01

    ... activities and costs matchable as training expenditures. Under title I, IV-A, X, XIV, or XVI(AABD) of the Act... engaged to develop or conduct special programs; and (4) Costs of space, postage, teaching...

  9. Attitude Changes of Specialist Students of Physical Education towards Physical Activity during Teacher-Training Courses.

    ERIC Educational Resources Information Center

    Barrell, G. V.; Holt, D.

    1982-01-01

    A longitudinal investigation of the attitudes towards physical activity of specialist students of physical education was undertaken during a course of training teachers. Significant changes of attitude with time were noted, particularly in the Vertigo and Ascetic dimensions. (Author)

  10. Can 8-weeks of Training Affect Active Drag in Young Swimmers?

    PubMed Central

    Marinho, Daniel A.; Barbosa, Tiago M.; Costa, Mário J.; Figueiredo, Catarina; Reis, Victor M.; Silva, António J.; Marques, Mário C.

    2010-01-01

    The aim of this study was to assess the effects of 8-weeks of training on active drag in young swimmers of both genders. Eight girls and twelve boys’ belonging to the same swimming team and with regular competitive participation in national and regional events for the previous two seasons participated in this study. Active drag measurements were conducted in two different evaluation moments: at the beginning of the season and after 8 weeks of training (6.0 ± 0.15 training units per week, 21.00 ± 3.23 km per week and 3.50 ± 0.23 km per training unit). The maximal swimming velocity at the distance of 13 m, active drag and drag coefficient were measured on both trials by the method of small perturbations with the help of an additional hydrodynamic body. After 8 weeks of training, mean active drag (drag force and drag coefficient) decreased in girls and boys, although no significant differences were found between the two trials. It seems that 8 weeks of swimming training were not sufficient to allow significant improvements on swimming technique. Key points The velocity perturbation method seems to be a good, simple and reliable approach to assess active drag in young swimmers. Eight weeks of swimming training were not sufficient to allow significant improvements on swimming hydrodynamics. There were no differences between boys and girls concerning active drag. A possible explanation may be related to the similar values of body mass and height in boys and girls found in this study. Specific training sets concerning technique correction and improvement in young swimmers might be a main aim during training planning. PMID:24149388

  11. Robot Design

    NASA Technical Reports Server (NTRS)

    1988-01-01

    Martin Marietta Aero and Naval Systems has advanced the CAD art to a very high level at its Robotics Laboratory. One of the company's major projects is construction of a huge Field Material Handling Robot for the Army's Human Engineering Lab. Design of FMR, intended to move heavy and dangerous material such as ammunition, was a triumph in CAD Engineering. Separate computer problems modeled the robot's kinematics and dynamics, yielding such parameters as the strength of materials required for each component, the length of the arms, their degree of freedom and power of hydraulic system needed. The Robotics Lab went a step further and added data enabling computer simulation and animation of the robot's total operational capability under various loading and unloading conditions. NASA computer program (IAC), integrated Analysis Capability Engineering Database was used. Program contains a series of modules that can stand alone or be integrated with data from sensors or software tools.

  12. Robotic Surgery

    NASA Technical Reports Server (NTRS)

    2000-01-01

    The Automated Endoscopic System for Optimal Positioning, or AESOP, was developed by Computer Motion, Inc. under a SBIR contract from the Jet Propulsion Lab. AESOP is a robotic endoscopic positioning system used to control the motion of a camera during endoscopic surgery. The camera, which is mounted at the end of a robotic arm, previously had to be held in place by the surgical staff. With AESOP the robotic arm can make more precise and consistent movements. AESOP is also voice controlled by the surgeon. It is hoped that this technology can be used in space repair missions which require precision beyond human dexterity. A new generation of the same technology entitled the ZEUS Robotic Surgical System can make endoscopic procedures even more successful. ZEUS allows the surgeon control various instruments in its robotic arms, allowing for the precision the procedure requires.

  13. A psychology based approach for longitudinal development in cognitive robotics

    PubMed Central

    Law, J.; Shaw, P.; Earland, K.; Sheldon, M.; Lee, M.

    2014-01-01

    A major challenge in robotics is the ability to learn, from novel experiences, new behavior that is useful for achieving new goals and skills. Autonomous systems must be able to learn solely through the environment, thus ruling out a priori task knowledge, tuning, extensive training, or other forms of pre-programming. Learning must also be cumulative and incremental, as complex skills are built on top of primitive skills. Additionally, it must be driven by intrinsic motivation because formative experience is gained through autonomous activity, even in the absence of extrinsic goals or tasks. This paper presents an approach to these issues through robotic implementations inspired by the learning behavior of human infants. We describe an approach to developmental learning and present results from a demonstration of longitudinal development on an iCub humanoid robot. The results cover the rapid emergence of staged behavior, the role of constraints in development, the effect of bootstrapping between stages, and the use of a schema memory of experiential fragments in learning new skills. The context is a longitudinal experiment in which the robot advanced from uncontrolled motor babbling to skilled hand/eye integrated reaching and basic manipulation of objects. This approach offers promise for further fast and effective sensory-motor learning techniques for robotic learning. PMID:24478693

  14. Information Robots and Manipulators.

    ERIC Educational Resources Information Center

    Katys, G. P.; And Others

    In the modern concept a robot is a complex automatic cybernetics system capable of executing various operations in the sphere of human activity and in various respects combining the imitative capacity of the physical and mental activity of man. They are a class of automatic information systems intended for search, collection, processing, and…

  15. Web teleoperation of robots with simulation feedback

    NASA Astrophysics Data System (ADS)

    Torres Medina, Fernando; Puente Mendez, Santiago; Canovas, J.; Mangas, J.; Martinez-Larraz, C.

    2002-02-01

    The use of a robot arm for industry is a very common problem. A great quantity of these robots have to have a remote human controller to achieve its task successfully. The user knows what is happening with the robot arm through sensors. This information has to arrive to the user and if it consists of a video then the system needs a high bandwidth to carry it to the user in real-time. The present system uses a simulation feedback instead of video information; this type of feedback gets as much information as a video with a lower bandwidth. The simulation of the system is based on virtual reality modeling feedback language (VRML) to model the robot arm which reproduces the movements of the real robot. This method of feedback has the advantage of required little information to afford the user a real approach to the system. The proposed system lets the user move the robot arm with different point-to-point trajectories and different possibilities of movement. The aim of this kind of laboratory is to facilitate the access for students and professionals in the field of robotics. This system is used for teaching university students the themes of robotics. It improves the training of the students permitting them access to a real robot which would be impossible for universities to afford if each student needed his own robot to practice. This paper presents a remote laboratory approach for experimentation with a real robot, which uses the communication techniques of the web.

  16. Control and Guidance of Low-Cost Robots via Gesture Perception for Monitoring Activities in the Home.

    PubMed

    Sempere, Angel D; Serna-Leon, Arturo; Gil, Pablo; Puente, Santiago; Torres, Fernando

    2015-12-11

    This paper describes the development of a low-cost mini-robot that is controlled by visual gestures. The prototype allows a person with disabilities to perform visual inspections indoors and in domestic spaces. Such a device could be used as the operator's eyes obviating the need for him to move about. The robot is equipped with a motorised webcam that is also controlled by visual gestures. This camera is used to monitor tasks in the home using the mini-robot while the operator remains quiet and motionless. The prototype was evaluated through several experiments testing the ability to use the mini-robot's kinematics and communication systems to make it follow certain paths. The mini-robot can be programmed with specific orders and can be tele-operated by means of 3D hand gestures to enable the operator to perform movements and monitor tasks from a distance.

  17. Control and Guidance of Low-Cost Robots via Gesture Perception for Monitoring Activities in the Home.

    PubMed

    Sempere, Angel D; Serna-Leon, Arturo; Gil, Pablo; Puente, Santiago; Torres, Fernando

    2015-01-01

    This paper describes the development of a low-cost mini-robot that is controlled by visual gestures. The prototype allows a person with disabilities to perform visual inspections indoors and in domestic spaces. Such a device could be used as the operator's eyes obviating the need for him to move about. The robot is equipped with a motorised webcam that is also controlled by visual gestures. This camera is used to monitor tasks in the home using the mini-robot while the operator remains quiet and motionless. The prototype was evaluated through several experiments testing the ability to use the mini-robot's kinematics and communication systems to make it follow certain paths. The mini-robot can be programmed with specific orders and can be tele-operated by means of 3D hand gestures to enable the operator to perform movements and monitor tasks from a distance. PMID:26690448

  18. Feasibility and efficacy of high-speed gait training with a voluntary driven exoskeleton robot for gait and balance dysfunction in patients with chronic stroke: nonrandomized pilot study with concurrent control.

    PubMed

    Yoshimoto, Takahiko; Shimizu, Issei; Hiroi, Yasuhiro; Kawaki, Masahiro; Sato, Daichi; Nagasawa, Makoto

    2015-12-01

    The aim of this pilot study was to investigate the feasibility of high-speed gait training with an exoskeleton robot hybrid assistive limb (HAL) in patients with chronic stroke, and to examine the efficacy of eight sessions (8 weeks) of gait training with a HAL compared with conventional physical therapy. Eighteen patients with chronic stroke were included in this study (nine each in the HAL and control groups). The HAL group underwent high-speed gait training with the HAL once a week for 8 weeks (20 min/session). The control group underwent conventional physical therapy for gait disturbance. Outcome measures were walking speed, number of steps, and cadence during a 10 m walking test, a timed up and go test, a functional reach test, and the Berg Balance Scale. Assessments were performed in the absence of the HAL before training and after the fourth and eighth training sessions. All patients in the HAL group completed the high-speed gait training without adverse events. The HAL group improved significantly in walking speed (55.9% increase, P<0.001), number of steps (17.6% decrease, P<0.01), and cadence (32.8% increase, P<0.001) during the 10 m walking test. The patients also exhibited significant improvements in the timed up and go test, the functional reach test, and the Berg Balance Scale after HAL training (P<0.01 in all). No statistical time-dependent changes were observed in any parameter in the control group. For chronic stroke patients, high-speed gait training with a HAL appears to be feasible and effective in improving gait and balance dysfunction despite the limitations of this nonrandomized pilot study.

  19. Robotic neurorehabilitation in patients with chronic stroke: psychological well-being beyond motor improvement.

    PubMed

    Calabrò, Rocco S; De Cola, Maria C; Leo, Antonino; Reitano, Simone; Balletta, Tina; Trombetta, Giovanni; Naro, Antonino; Russo, Margherita; Bertè, Francesco; De Luca, Rosaria; Bramanti, Placido

    2015-09-01

    Although gait abnormality is one of the most disabling events following stroke, cognitive, and psychological impairments can be devastating. The Lokomat is a robotic that has been used widely for gait rehabilitation in several movement disorders, especially in the acute and subacute phases. The aim of this study was to evaluate the effectiveness of gait robotic rehabilitation in patients affected by chronic stroke. Psychological impact was also taken into consideration. Thirty patients (13 women and 17 men) affected by chronic stroke entered the study. All participants underwent neurological examination with respect to ambulation, Ashworth, Functional Independence Measure, and Tinetti scales to assess their physical status, and Hamilton Rating Scale for Depression, Psychological General Well-being Index, and Coping Orientation to Problem Experienced to evaluate the Lokomat-related psychological impact before and after either a conventional treatment or the robotic training. During each rehabilitation period (separated by a no-treatment period), patients underwent a total of 40 1 h training sessions (i.e. five times a week for 8 weeks). After the conventional treatment, the patients did not achieve a significant improvement in the functional status, except balance (P<0.001) and walking ability (P<0.01), as per the Tinetti scale. Indeed, after the robotic rehabilitation, significant improvements were detected in almost all the motor and psychological scales that we investigated, particularly for Psychological General Well-being Index and Coping Orientation to Problem Experienced. Manual and robotic-assisted body weight-supported treadmill training optimizes the sensory inputs relevant to step training, repeated practice, as well as neuroplasticity. Several controlled trials have shown a superior effect of Lokomat treatment in stroke patients' walking ability and velocity in particular. Therefore, our preliminary results proved that active robotic training not only

  20. 20 CFR 641.630 - What private sector training activities are allowable under section 502(e)?

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 20 Employees' Benefits 3 2010-04-01 2010-04-01 false What private sector training activities are... activities are allowable under section 502(e)? Allowable activities authorized under section 502(e) include... employers; (3) Work experience with private-for-profit employers; (4) Adult basic education; (5)...

  1. Pedagogical Synergetics as the Activity Approach Basis in Professional and Pedagogical Training at the University

    ERIC Educational Resources Information Center

    Serezhnikova, Raisa Kuzminichna; Fishman, Boris Entilyevich; Abramenko, Natalya Yurevna; Zhoglo, Lyubov Yakovlevna; Fishbein, Miron Honevich

    2015-01-01

    The article considers an idea of activity approach realization in professional training assuming not only change of the contents, forms and methods of students' educational activities, but also not less radical transformation of teacher's activities oriented at the students' development of creative self-realization experience. The authors…

  2. Energy Efficient Legged Robotics at Sandia Labs, Part 2

    SciTech Connect

    Buerger, Steve; Mazumdar, Ani; Spencer, Steve

    2015-06-02

    Sandia is developing energy efficient actuation and drive train technologies to dramatically improve the charge life of legged robots. The work is supported by DARPA, and Sandia will demonstrate an energy efficient bipedal robot at the technology exposition section of the DARPA Robotics Challenge Finals in June, 2015. This video, the second in a series, describes the continued development and integration of the Sandia Transmission Efficient Prototype Promoting Research (STEPPR) robot.

  3. Impact of Inertial Training on Strength and Power Performance in Young Active Men.

    PubMed

    Naczk, Mariusz; Naczk, Alicja; Brzenczek-Owczarzak, Wioletta; Arlet, Jarosław; Adach, Zdzisław

    2016-08-01

    Naczk, M, Naczk, A, Brzenczek-Owczarzak, W, Arlet, J, and Adach, Z. Impact of inertial training on strength and power performance in young active men. J Strength Cond Res 30(8): 2107-2113, 2016-This study evaluated how 5 weeks of inertial training using 2 different loads influenced strength and power performance. Fifty-eight male physical education students were randomly divided into training and control groups. The 2 training groups (T0 and T10) performed inertial training 3 times per week for 5 weeks using the new Inertial Training and Measurement System (ITMS). Each training session included 3 exercise sets involving the knee extensors muscles. The T0 group used only the mass of the ITMS flywheel (19.4 kg), whereas the T10 group had an additional 10 kg on the flywheel. Before and after training, we evaluated maximum force and power of knee extensors muscles, countermovement jump (CMJ), squat jump (SJ), maximal power output achieved during ergometer test PVT, electromyography of quadriceps, and muscle mass. In T0 and T10, respectively, ITMS training induced significant increases in muscle force (25.2 and 23.3%), muscle power (33.2 and 27%), CMJ (3.8 and 6.7%), SJ (2.2 and 6.1%), PVT (8 and 7.4%), and muscle mass (9.8 and 15%). The changes did not significantly differ between T0 and T10. A 16% significant increase of electromyography amplitude (quadriceps muscle) was noted only in T0. The novel ITMS training method is effective for improving muscular strength and power. Improvements in PVT, CMJ, and SJ indicate that the increased strength and power elicited by ITMS training can translate to improvements in sport performance. The ITMS training can also be useful for building muscle mass. PMID:27457914

  4. Relationship between education and training activities and tuberculosis case detection in Fiji, 2008-2011.

    PubMed

    Delai, M Y; Gounder, S; Tayler-Smith, K; Van den Bergh, R; Harries, A D

    2012-12-21

    Due to concerns about under-reporting of the tuberculosis (TB) case burden in Fiji, efforts have been put into national training, education and awareness activities in the formal health sector and among village health workers, health volunteers and the community since 2010. There has been an absolute increase in TB registrations, and TB case notification rates during the period of training activities in 2010 (21.3 per 100 000 population) and 2011 (23.6/100 000) were significantly increased compared with TB case notification rates in 2008 (12.4/100 000) and 2009 (14.6/100 000), when no training activities took place (P < 0.01). These findings support the use of ongoing training efforts.

  5. Does Lego Training Stimulate Pupils' Ability to Solve Logical Problems?

    ERIC Educational Resources Information Center

    Lindh, Jorgen; Holgersson, Thomas

    2007-01-01

    The purpose of this study is to investigate the effect of a one-year regular robotic toys (lego) training on school pupils' performance. The underlying pedagogical perspective is the "constructionist theory," where the main idea is that knowledge is constructed in the mind of the pupil by active learning. The investigation has been made in two…

  6. [Walking assist robot and its clinical application].

    PubMed

    Kakou, Hiroaki; Shitama, Hideo; Kimura, Yoshiko; Nakamoto, Yoko; Furuta, Nami; Honda, Kanae; Wada, Futoshi; Hachisuka, Kenji

    2009-06-01

    The walking assist robot was developed to improve gait disturbance in patients with severe disabilities. The robot had a trunk supporter, power generator and operating arms which held patient's lower extremities and simulated walking, a control unit, biofeedback system, and a treadmill. We applied the robot-aided gait training to three patients with severe gait disturbance induced by stroke, axonal Guillan-Barré syndrome or spinal cord injury, and the walking assist robot turned out to be effective in improving the gait disturbance.

  7. Changes in muscle activation after reach training with gravity compensation in chronic stroke patients.

    PubMed

    Prange, Gerdienke B; Krabben, Thijs; Renzenbrink, Gerbert J; Ijzerman, Maarten J; Hermens, Hermie J; Jannink, Michiel J A

    2012-09-01

    The objective of this study is to examine the effect of gravity compensation training on reaching and underlying changes in muscle activation. In this clinical trial, eight chronic stroke patients with limited arm function received 18 sessions (30 min) of gravity-compensated reach training (during 6 weeks) in combination with a rehabilitation game. Before and after training, unsupported reach (assessing maximal distance, joint angles and muscle activity of eight shoulder and elbow muscles) and the Fugl-Meyer assessment were compared. After training, the maximal reach distance improved significantly by 3.5% of arm length, together with increased elbow extension (+9.2°) and increased elbow extensor activity (+68%). In some patients, a reduced cocontraction of biceps and anterior deltoid was also involved, although this was not significant on group level. Improvements in unsupported reach after gravity compensation training in chronic stroke patients with mild to severe hemiparesis were mainly accompanied by increased activation of prime movers at the elbow, although in some patients, improved selective joint control may also have been involved. Gravity compensation seems to be a suitable way to provide active, task-specific treatment, without the need for high-tech devices. Further research on a larger scale, including control groups and combinations of arm support with functional hand training, is essential to enhance the potential of arm support to complement poststroke arm rehabilitation.

  8. Relative activity of respiratory muscles during prescribed inspiratory muscle training in healthy people.

    PubMed

    Jung, Ju-Hyeon; Kim, Nan-Soo

    2016-03-01

    [Purpose] This study aimed to determine the effects of different intensities of inspiratory muscle training on the relative respiratory muscle activity in healthy adults. [Subjects and Methods] Thirteen healthy male volunteers were instructed to perform inspiratory muscle training (0%, 40%, 60%, and 80% maximal inspiratory pressure) on the basis of their individual intensities. The inspiratory muscle training was performed in random order of intensities. Surface electromyography data were collected from the right-side diaphragm, external intercostal, and sternocleidomastoid, and pulmonary functions (forced expiratory volume in 1 s, forced vital capacity, and their ratio; peak expiratory flow; and maximal inspiratory pressure) were measured. [Results] Comparison of the relative activity of the diaphragm showed significant differences between the 60% and 80% maximal inspiratory pressure intensities and baseline during inspiratory muscle training. Furthermore, significant differences were found in sternocleidomastoid relative activity between the 60% and 80% maximal inspiratory pressure intensities and baseline during inspiratory muscle training. [Conclusion] During inspiratory muscle training in the clinic, the patients were assisted (verbally or through feedback) by therapists to avoid overactivation of their accessory muscles (sternocleidomastoid). This study recommends that inspiratory muscle training be performed at an accurate and appropriate intensity through the practice of proper deep breathing.

  9. Robot visions.

    PubMed

    Castañeda, Claudia; Suchman, Lucy

    2014-06-01

    This article explores the resonating figures of primate, child, and robot in contemporary technoscientific corporealizations of the 'almost human'. We take as our model (in)organism 'Lucy the Robot Orangutan', roboticist Steve Grand's project to create an artificial life form with a mind of its own. One aspect of Lucy's figuration by Grand, we argue, which ties her to Haraway's analysis of the primate, is of the robot as a model for animal, and more specifically (or aspirationally) human, cognition. We follow the trope of 'model organism' as it is under discussion within science and technology studies and as an ironic descriptor for our own interest in Lucy as an entity/project through which to illuminate figurations within robotics more widely. Primate and robot together are forms of natureculture that help to clarify how the categories of animal and machine are entangled, while making explicit investments in their differences from one another, and from the third category of the human. We conclude, again following Haraway, by imagining what other possibilities there might be for figuring humans, robots, and their relations if we escape the reiterative imaginary of the robot as proxy for becoming human. PMID:25051585

  10. Robotic transportation.

    PubMed

    Lob, W S

    1990-09-01

    Mobile robots perform fetch-and-carry tasks autonomously. An intelligent, sensor-equipped mobile robot does not require dedicated pathways or extensive facility modification. In the hospital, mobile robots can be used to carry specimens, pharmaceuticals, meals, etc. between supply centers, patient areas, and laboratories. The HelpMate (Transitions Research Corp.) mobile robot was developed specifically for hospital environments. To reach a desired destination, Help-Mate navigates with an on-board computer that continuously polls a suite of sensors, matches the sensor data against a pre-programmed map of the environment, and issues drive commands and path corrections. A sender operates the robot with a user-friendly menu that prompts for payload insertion and desired destination(s). Upon arrival at its selected destination, the robot prompts the recipient for a security code or physical key and awaits acknowledgement of payload removal. In the future, the integration of HelpMate with robot manipulators, test equipment, and central institutional information systems will open new applications in more localized areas and should help overcome difficulties in filling transport staff positions.

  11. Robot visions.

    PubMed

    Castañeda, Claudia; Suchman, Lucy

    2014-06-01

    This article explores the resonating figures of primate, child, and robot in contemporary technoscientific corporealizations of the 'almost human'. We take as our model (in)organism 'Lucy the Robot Orangutan', roboticist Steve Grand's project to create an artificial life form with a mind of its own. One aspect of Lucy's figuration by Grand, we argue, which ties her to Haraway's analysis of the primate, is of the robot as a model for animal, and more specifically (or aspirationally) human, cognition. We follow the trope of 'model organism' as it is under discussion within science and technology studies and as an ironic descriptor for our own interest in Lucy as an entity/project through which to illuminate figurations within robotics more widely. Primate and robot together are forms of natureculture that help to clarify how the categories of animal and machine are entangled, while making explicit investments in their differences from one another, and from the third category of the human. We conclude, again following Haraway, by imagining what other possibilities there might be for figuring humans, robots, and their relations if we escape the reiterative imaginary of the robot as proxy for becoming human.

  12. Robotic transportation.

    PubMed

    Lob, W S

    1990-09-01

    Mobile robots perform fetch-and-carry tasks autonomously. An intelligent, sensor-equipped mobile robot does not require dedicated pathways or extensive facility modification. In the hospital, mobile robots can be used to carry specimens, pharmaceuticals, meals, etc. between supply centers, patient areas, and laboratories. The HelpMate (Transitions Research Corp.) mobile robot was developed specifically for hospital environments. To reach a desired destination, Help-Mate navigates with an on-board computer that continuously polls a suite of sensors, matches the sensor data against a pre-programmed map of the environment, and issues drive commands and path corrections. A sender operates the robot with a user-friendly menu that prompts for payload insertion and desired destination(s). Upon arrival at its selected destination, the robot prompts the recipient for a security code or physical key and awaits acknowledgement of payload removal. In the future, the integration of HelpMate with robot manipulators, test equipment, and central institutional information systems will open new applications in more localized areas and should help overcome difficulties in filling transport staff positions. PMID:2208684

  13. Controlling robots with spoken commands

    SciTech Connect

    Beugelsdijk, T.; Phelan, P.

    1987-10-01

    A robotic system for handling radioactive materials has been developed at Los Alamos National Laboratory. Because of safety considerations, the robot must be under the control of a human operator continuously. In this paper we describe the implementation of a voice-recognition system that makes such control possible, yet permits the robot to perform preprogrammed manipulations without the operator's intervention. We also describe the training given both the operator and the voice recognition-system, as well as practical problems encountered during routine operation. A speech synthesis unit connected to the robot's control computer provides audible feedback to the operator. Thus, when a task is completed or if an emergency develops, the computer provides an appropriate spoken message. Implementation and operation of this commercially available hardware are discussed.

  14. Brachytherapy next generation: robotic systems

    PubMed Central

    Popescu, Tiberiu; Kacsó, Alex Cristian; Pisla, Doina

    2015-01-01

    In a field dominated by external beam radiation therapy (EBRT), both the therapeutic and technical possibilities of brachytherapy (BT) are underrated, shadowed by protons and intensity modulated radiotherapy. Decreasing expertise and indications, as well as increasing lack of specific BT training for radiation therapy (RT) residents led to the real need of shortening its learning curve and making it more popular. Developing robotic BT devices can be a way to mitigate the above issues. There are many teams working at custom-made robotic BT platforms to perfect and overcome the limitations of the existing systems. This paper provides a picture of the current state-of-the-art in robotic assisted BT, as it also conveys the author's solution to the problem, a parallel robot that uses CT-guidance. PMID:26816510

  15. Brain state-dependent robotic reaching movement with a multi-joint arm exoskeleton: combining brain-machine interfacing and robotic rehabilitation.

    PubMed

    Brauchle, Daniel; Vukelić, Mathias; Bauer, Robert; Gharabaghi, Alireza

    2015-01-01

    While robot-assisted arm and hand training after stroke allows for intensive task-oriented practice, it has provided only limited additional benefit over dose-matched physiotherapy up to now. These rehabilitation devices are possibly too supportive during the exercises. Neurophysiological signals might be one way of avoiding slacking and providing robotic support only when the brain is particularly responsive to peripheral input. We tested the feasibility of three-dimensional robotic assistance for reaching movements with a multi-joint exoskeleton during motor imagery (MI)-related desynchronization of sensorimotor oscillations in the β-band. We also registered task-related network changes of cortical functional connectivity by electroencephalography via the imaginary part of the coherence function. Healthy subjects and stroke survivors showed similar patterns-but different aptitudes-of controlling the robotic movement. All participants in this pilot study with nine healthy subjects and two stroke patients achieved their maximum performance during the early stages of the task. Robotic control was significantly higher and less variable when proprioceptive feedback was provided in addition to visual feedback, i.e., when the orthosis was actually attached to the subject's arm during the task. A distributed cortical network of task-related coherent activity in the θ-band showed significant differences between healthy subjects and stroke patients as well as between early and late periods of the task. Brain-robot interfaces (BRIs) may successfully link three-dimensional robotic training to the participants' efforts and allow for task-oriented practice of activities of daily living with a physiologically controlled multi-joint exoskeleton. Changes of cortical physiology during the task might also help to make subject-specific adjustments of task difficulty and guide adjunct interventions to facilitate motor learning for functional restoration, a proposal that warrants

  16. Brain state-dependent robotic reaching movement with a multi-joint arm exoskeleton: combining brain-machine interfacing and robotic rehabilitation

    PubMed Central

    Brauchle, Daniel; Vukelić, Mathias; Bauer, Robert; Gharabaghi, Alireza

    2015-01-01

    While robot-assisted arm and hand training after stroke allows for intensive task-oriented practice, it has provided only limited additional benefit over dose-matched physiotherapy up to now. These rehabilitation devices are possibly too supportive during the exercises. Neurophysiological signals might be one way of avoiding slacking and providing robotic support only when the brain is particularly responsive to peripheral input. We tested the feasibility of three-dimensional robotic assistance for reaching movements with a multi-joint exoskeleton during motor imagery (MI)-related desynchronization of sensorimotor oscillations in the β-band. We also registered task-related network changes of cortical functional connectivity by electroencephalography via the imaginary part of the coherence function. Healthy subjects and stroke survivors showed similar patterns—but different aptitudes—of controlling the robotic movement. All participants in this pilot study with nine healthy subjects and two stroke patients achieved their maximum performance during the early stages of the task. Robotic control was significantly higher and less variable when proprioceptive feedback was provided in addition to visual feedback, i.e., when the orthosis was actually attached to the subject’s arm during the task. A distributed cortical network of task-related coherent activity in the θ-band showed significant differences between healthy subjects and stroke patients as well as between early and late periods of the task. Brain-robot interfaces (BRIs) may successfully link three-dimensional robotic training to the participants’ efforts and allow for task-oriented practice of activities of daily living with a physiologically controlled multi-joint exoskeleton. Changes of cortical physiology during the task might also help to make subject-specific adjustments of task difficulty and guide adjunct interventions to facilitate motor learning for functional restoration, a proposal that

  17. Dissemination of behavioural activation for depression to mental health nurses: training evaluation and benchmarked clinical outcomes.

    PubMed

    Ekers, D M; Dawson, M S; Bailey, E

    2013-03-01

    Depression causes significant distress, disability and cost within the UK. Behavioural activation (BA) is an effective single-strand psychological approach which may lend itself to brief training programmes for a wide range of clinical staff. No previous research has directly examined outcomes of such dissemination. A 5-day training course for 10 primary care mental health workers aiming to increase knowledge and clinical skills in BA was evaluated using the Training Acceptability Rating Scale. Depression symptom level data collected in a randomized controlled trial using trainees were then compared to results from meta-analysis of studies using experienced therapists. BA training was highly acceptable to trainees (94.4%, SD 6%). The combined effect size of BA was unchanged by the addition of the results of this evaluation to those of studies using specialist therapists. BA offers a promising psychological intervention for depression that appears suitable for delivery by mental health nurses following brief training.

  18. When a robot is social: spatial arrangements and multimodal semiotic engagement in the practice of social robotics.

    PubMed

    Alac, Morana; Movellan, Javier; Tanaka, Fumihide

    2011-12-01

    Social roboticists design their robots to function as social agents in interaction with humans and other robots. Although we do not deny that the robot's design features are crucial for attaining this aim, we point to the relevance of spatial organization and coordination between the robot and the humans who interact with it. We recover these interactions through an observational study of a social robotics laboratory and examine them by applying a multimodal interactional analysis to two moments of robotics practice. We describe the vital role of roboticists and of the group of preverbal infants, who are involved in a robot's design activity, and we argue that the robot's social character is intrinsically related to the subtleties of human interactional moves in laboratories of social robotics. This human involvement in the robot's social agency is not simply controlled by individual will. Instead, the human-machine couplings are demanded by the situational dynamics in which the robot is lodged.

  19. Working memory training is associated with lower prefrontal cortex activation in a divergent thinking task.

    PubMed

    Vartanian, O; Jobidon, M-E; Bouak, F; Nakashima, A; Smith, I; Lam, Q; Cheung, B

    2013-04-16

    Working memory (WM) training has been shown to lead to improvements in WM capacity and fluid intelligence. Given that divergent thinking loads on WM and fluid intelligence, we tested the hypothesis that WM training would improve performance and moderate neural function in the Alternate Uses Task (AUT)-a classic test of divergent thinking. We tested this hypothesis by administering the AUT in the functional magnetic resonance imaging scanner following a short regimen of WM training (experimental condition), or engagement in a choice reaction time task not expected to engage WM (active control condition). Participants in the experimental group exhibited significant improvement in performance in the WM task as a function of training, as well as a significant gain in fluid intelligence. Although the two groups did not differ in their performance on the AUT, activation was significantly lower in the experimental group in ventrolateral prefrontal and dorsolateral prefrontal cortices-two brain regions known to play dissociable and critical roles in divergent thinking. Furthermore, gain in fluid intelligence mediated the effect of training on brain activation in ventrolateral prefrontal cortex. These results indicate that a short regimen of WM training is associated with lower prefrontal activation-a marker of neural efficiency-in divergent thinking.

  20. Weight training, aerobic physical activities, and long-term waist circumference change in men

    PubMed Central

    Mekary, Rania A.; Grøntved, Anders; Despres, Jean-Pierre; De Moura, Leandro Pereira; Asgarzadeh, Morteza; Willett, Walter C.; Rimm, Eric B.; Giovannucci, Edward; Hu, Frank B.

    2014-01-01

    Objective Findings on weight training and waist circumference (WC) change are controversial. This study examined prospectively whether weight training, moderate-to-vigorous aerobic activity (MVAA), and replacement of one activity for another were associated with favorable changes in WC and body weight (BW). Methods Physical activity, WC, and BW were reported in 1996 and 2008 in a cohort of 10,500 healthy U.S. men in the Health Professionals Follow-up Study. We used multiple linear regression models (partition/substitution) to assess these associations. Results After adjusting for potential confounders, we observed a significant inverse dose-response relationship between weight training and WC change (P-trend<0.001). Less age-associated WC increase was seen with a 20 min/day activity increase; this benefit was significantly stronger for weight training (-0.67cm, 95%CI -0.93, -0.41) than for MVAA (-0.33cm, 95%CI -0.40, -0.27), other activities (-0.16cm, 95%CI -0.28, -0.03), or TV watching (0.08cm, 95%CI 0.05, 0.12). Substituting 20 min/day of weight training for any other discretionary activity had the strongest inverse association with WC change. MVAA had the strongest inverse association with BW change (-0.23kg, 95%CI -0.29, -0.17). Conclusions Among various activities, weight training had the strongest association with less WC increase. Studies on frequency /volume of weight training and WC change are warranted. PMID:25530447

  1. The Future Training Room.

    ERIC Educational Resources Information Center

    Barbian, Jeff

    2001-01-01

    Looks at some of the electronic learning technology that has already been developed and will become common for training, including robots, lucid dreaming, tele-immersion, human interface technology, among others. (JOW)

  2. Investigating Informatics Activity, Control, and Training Needs in Large, Medium, and Small Health Departments

    PubMed Central

    Arnold, Ryan; Yang, Biru

    2016-01-01

    Introduction: A recent National Association of City & County Health Officials survey shed light on informatics workforce development needs. Local health departments (LHDs) of various jurisdictional sizes and control over informatics may differ on training needs and activity. Understanding the precise nature of this variation will allow stakeholders to appropriately develop workforce development tools to advance the field. Objective: To understand the informatics training needs for LHDs of different jurisdictional sizes. Methods: Survey responses were analyzed by comparing training needs and LHD population size. Results: Larger health departments consistently reported having greater informatics-related capacity and informatics-related training needs. Quantitative data analysis was identified as a primary need for large LHDs. In addition, LHDs that report higher control of informatics/information technology were able to engage in more informatics activities. Conclusion: Smaller LHDs need additional resources to improve informatics-related capacity and engagement with the field. PMID:27684621

  3. Pupils' Cognitive Activity Stimulation by Means of Physical Training

    ERIC Educational Resources Information Center

    Nekhoroshkov, Anatolij V.

    2016-01-01

    The article presents the research results of the physical activity influence on the intellectual performance of high school students. The methods of experiments and standardized observation were used. The efficiency of the cognitive activity was assessed by "Proof test" technique of B. Burdon. Within the experimental class, the program…

  4. Robotic vehicle

    DOEpatents

    Box, W.D.

    1997-02-11

    A robotic vehicle is described for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle. 20 figs.

  5. Robotic vehicle

    DOEpatents

    Box, W.D.

    1998-08-11

    A robotic vehicle is described for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendible appendages, each of which is radially extendible relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendible members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle. 20 figs.

  6. Robotic vehicle

    SciTech Connect

    Box, W. Donald

    1998-01-01

    A robotic vehicle for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle.

  7. Robotic vehicle

    SciTech Connect

    Box, W. Donald

    1997-01-01

    A robotic vehicle for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle.

  8. Robotic arm

    DOEpatents

    Kwech, Horst

    1989-04-18

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

  9. Robotic animation

    NASA Astrophysics Data System (ADS)

    Kretch, S. J.

    1982-08-01

    The effectiveness of the robotic systems Place and Animate at McDonnell Douglas is discussed. The systems are designed for CAD/CAM on a kinematic basis. Place allows creation, analysis, and editing of cell descriptions as part of the CAD process, and involves primitive cell configuring prior to eventual integration of the entire robot. Objects are displayed in wire frame form and movement receives an awkwardness rating automatically, indicating the percentage of the real-world joint limit that is being approached. The same program is employed in the Animate process, where verification and debugging of the robot programs proceeds. Clearances, motion limits, and correct responses to commands are checked, allowing decisions on production to be made before any robots are actually built.

  10. Strength Training Improves Body Image and Physical Activity Behaviors Among Midlife and Older Rural Women

    PubMed Central

    Seguin, Rebecca A.; Eldridge, Galen; Lynch, Wesley; Paul, Lynn C.

    2015-01-01

    The effect of strength training on body image is understudied. The Strong Women Program, a 10-week, twice weekly strength-training program, was provided by Extension agents to 341 older rural women (62±12 years); changes in body image and other psychosocial variables were evaluated. Paired-sample t-test analyses were conducted to assess mean differences pre- to post-program. Strength training was associated with significant improvements in several dimensions of body image, health-related quality of life, and physical activity behaviors, satisfaction, and comfort among rural aging women—an often underserved population that stands to benefit considerably from similar programs. PMID:25767297

  11. Comparison of Activity Profiles and Physiological Demands Between International Rugby Sevens Matches and Training.

    PubMed

    Higham, Dean G; Pyne, David B; Anson, Judith M; Hopkins, Will G; Eddy, Anthony

    2016-05-01

    The specificity of contemporary training practices of international rugby sevens players is unknown. We quantified the positional group-specific activity profiles and physiological demands of on-field training activities and compared these with match demands. Twenty-two international matches and 63 rugby-specific training drills were monitored in 25 backs and 17 forwards from a national squad of male rugby sevens players over a 21-month period. Drills were classified into 3 categories: low-intensity skill refining (n = 23 drills, 560 observations), moderate- to high-intensity skill refining (n = 28 drills, 600 observations), and game simulation (n = 12 drills, 365 observations). Movement patterns (via Global Positioning System devices) and physiological load (via heart rate monitors) were recorded for all activities, and the differences between training and matches were quantified using magnitude-based inferential statistics. Distance covered in total and at ≥3.5 m·s, maximal velocity, and frequency of accelerations and decelerations were lower for forwards during competition compared with those for backs by a small but practically important magnitude. No clear positional group differences were observed for physiological load during matches. Training demands exceeded match demands only for frequency of decelerations of forwards during moderate- to high-intensity skill-refining drills and only by a small amount. Accelerations and distance covered at ≥6 m·s were closer to match values for forwards than for backs during all training activities, but training drills consistently fell below the demands of international competition. Coaches could therefore improve physical and physiological specificity by increasing the movement demands and intensity of training drills. PMID:27100167

  12. Effects of physical training, methandione and their combination on the lysosomal hydrolytic activities in dog heart.

    PubMed

    Takala, T E; Kiviluoma, K; Kihlström, M; Rämö, P; Vihko, V

    1992-01-01

    The effects of endurance training, anabolic steroid (methandione 1.5 mg/kg p.o. daily) and their combination on the activities or aryl sulphatase, B-glucuronidase and cathepsin D, all lysosomal hydrolytic enzymes, were studied in the heart of male beagle dogs. Training caused significant increase in the B-glucuronidase activity in the right ventricular wall. Anabolic steroid as such caused no change in any enzymic activities, whereas exercise combined with steroid treatment resulted in significant increases in the activities of all enzymes studied in the right ventricular wall. The combined effect of exercise training and anabolic steroid on the lysosomal hydrolytic enzymes may reflect and mediate the previous observed degenerative effects of this combination in the heart. PMID:1544733

  13. Investigating the muscle activities of performing surgical training tasks using a virtual simulator.

    PubMed

    Huang, Chun-Kai; Suh, Irene H; Chien, Jung Hung; Vallabhajosula, Srikant; Oleynikov, Dmitry; Siu, Ka-Chun

    2012-01-01

    The objective of this study was to determine the muscle activities of upper extremities while performing fundamental surgical training tasks using a virtual simulator. Six subjects performed virtual cutting tasks and their muscle activities of upper extremities were measured. The results demonstrated a significant increase in muscle activities in both proximal and distal upper extremities, which are the common areas of occurrence of injury after prolonged practice. This study suggests that the upper trapezius and the extensor digitorum are essential prime movers to perform surgical training tasks. These muscles should be monitored for performance assessment in future studies.

  14. Control and Guidance of Low-Cost Robots via Gesture Perception for Monitoring Activities in the Home

    PubMed Central

    Sempere, Angel D.; Serna-Leon, Arturo; Gil, Pablo; Puente, Santiago; Torres, Fernando

    2015-01-01

    This paper describes the development of a low-cost mini-robot that is controlled by visual gestures. The prototype allows a person with disabilities to perform visual inspections indoors and in domestic spaces. Such a device could be used as the operator's eyes obviating the need for him to move about. The robot is equipped with a motorised webcam that is also controlled by visual gestures. This camera is used to monitor tasks in the home using the mini-robot while the operator remains quiet and motionless. The prototype was evaluated through several experiments testing the ability to use the mini-robot’s kinematics and communication systems to make it follow certain paths. The mini-robot can be programmed with specific orders and can be tele-operated by means of 3D hand gestures to enable the operator to perform movements and monitor tasks from a distance. PMID:26690448

  15. [Robotic surgery].

    PubMed

    Moreno-Portillo, Mucio; Valenzuela-Salazar, Carlos; Quiroz-Guadarrama, César David; Pachecho-Gahbler, Carlos; Rojano-Rodríguez, Martín

    2014-12-01

    Medicine has experienced greater scientific and technological advances in the last 50 years than in the rest of human history. The article describes relevant events, revises concepts and advantages and clinical applications, summarizes published clinical results, and presents some personal reflections without giving dogmatic conclusions about robotic surgery. The Society of American Gastrointestinal and Endoscopic Surgeons (SAGES) defines robotic surgery as a surgical procedure using technology to aid the interaction between surgeon and patient. The objective of the surgical robot is to correct human deficiencies and improve surgical skills. The capacity of repeating tasks with precision and reproducibility has been the base of the robot´s success. Robotic technology offers objective and measurable advantages: - Improving maneuverability and physical capacity during surgery. - Correcting bad postural habits and tremor. - Allowing depth perception (3D images). - Magnifying strength and movement limits. - Offering a platform for sensors, cameras, and instruments. Endoscopic surgery transformed conceptually the way of practicing surgery. Nevertheless in the last decade, robotic assisted surgery has become the next paradigm of our era.

  16. [Robotic surgery].

    PubMed

    Moreno-Portillo, Mucio; Valenzuela-Salazar, Carlos; Quiroz-Guadarrama, César David; Pachecho-Gahbler, Carlos; Rojano-Rodríguez, Martín

    2014-12-01

    Medicine has experienced greater scientific and technological advances in the last 50 years than in the rest of human history. The article describes relevant events, revises concepts and advantages and clinical applications, summarizes published clinical results, and presents some personal reflections without giving dogmatic conclusions about robotic surgery. The Society of American Gastrointestinal and Endoscopic Surgeons (SAGES) defines robotic surgery as a surgical procedure using technology to aid the interaction between surgeon and patient. The objective of the surgical robot is to correct human deficiencies and improve surgical skills. The capacity of repeating tasks with precision and reproducibility has been the base of the robot´s success. Robotic technology offers objective and measurable advantages: - Improving maneuverability and physical capacity during surgery. - Correcting bad postural habits and tremor. - Allowing depth perception (3D images). - Magnifying strength and movement limits. - Offering a platform for sensors, cameras, and instruments. Endoscopic surgery transformed conceptually the way of practicing surgery. Nevertheless in the last decade, robotic assisted surgery has become the next paradigm of our era. PMID:25643879

  17. Resident-Assisted Montessori Programming (Ramp): Training Persons with Dementia to Serve as Group Activity Leaders

    ERIC Educational Resources Information Center

    Camp, Cameron J.; Skrajner, Michael J.

    2004-01-01

    Purpose: The purpose of this study was to determine the effects of an activity implemented by means of Resident-Assisted Montessori Programming (RAMP). Design and Methods: Four persons with early-stage dementia were trained to serve as leaders for a small-group activity played by nine persons with more advanced dementia. Assessments of leaders'…

  18. Do Training Programs Work? An Assessment of Pharmacists Activities in the Field of Chemical Dependency.

    ERIC Educational Resources Information Center

    Brooks, Valerie G.; Brock, Tina Penick; Ahn, Jungeun

    2001-01-01

    Seeks to determine if pharmacists who attended a chemical dependency training program were performing more chemical dependency related activities. Results reveal that participants were more likely to perform the following activities: lecture to community groups about chemical dependency; participate in a pharmacists' recovery program; provide…

  19. Learning Activity Packets for Auto Mechanics II. Section C--Drive Train.

    ERIC Educational Resources Information Center

    Oklahoma State Board of Vocational and Technical Education, Stillwater. Curriculum and Instructional Materials Center.

    Five learning activity packets (LAPs) are provided for the instructional area of drive train in the auto mechanics II program. They accompany an instructor's guide available separately. The LAPs outline the study activities and performance tasks for these five units: (1) clutch assembly, (2) standard transmission, (3) drive lines, (4) rear axle,…

  20. Professional Activities, Needed Competencies and Training Needs of Medical Librarians in Pakistan

    ERIC Educational Resources Information Center

    Ullah, Midrar; Ameen, Kanwal; Bakhtar, Salman

    2011-01-01

    The study aims to explore the professional activities, needed competencies and education/training needs of medical librarians in Pakistan. The following questions guided the study: what are the current professional activities of medical librarians in Pakistan? What is their perception of the competencies needed of medical librarians? And what are…

  1. 34 CFR 350.22 - What activities must a Rehabilitation Research and Training Center conduct?

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 34 Education 2 2011-07-01 2010-07-01 true What activities must a Rehabilitation Research and... DISABILITY AND REHABILITATION RESEARCH PROJECTS AND CENTERS PROGRAM What Rehabilitation Research and Training Centers Does the Secretary Assist? § 350.22 What activities must a Rehabilitation Research and...

  2. Community College Involvement in Contract Training and Other Economic Development Activities.

    ERIC Educational Resources Information Center

    Lynch, Robert; And Others

    In 1989-90, a national survey was conducted to assess the scope and nature of contract training and other economic development activities at community colleges and technical institutes. The survey was sent to a random sample of 246 community colleges, requesting information on the colleges' workforce and economic development activities in 1988-89.…

  3. Change in performance in response to training load adjustment based on autonomic activity.

    PubMed

    Botek, M; McKune, A J; Krejci, J; Stejskal, P; Gaba, A

    2014-06-01

    The primary aim of this study was to assess performance (Perf) changes in response to a new training strategy. Specifically, based on spectral analysis of heart rate variability (SA HRV) to determine autonomic nervous system (ANS) activity, training doses were adjusted to maintain vagal activity at a high and relatively stable level during training preparation. Trained athletes (5 male and 5 female) aged 23.2±4.2 years voluntarily participated in the study. ANS activity was assessed during an orthoclinostatic test, and was represented by calculating HRV variables and a total score index. Over 17 weeks, improvement (1.4-8.5%) and deterioration (0.1-8.8%) in Perf were detected in 7 and 3 athletes, respectively. A relationship (rs=0.684; P<0.05) between the change in Perf (ΔPerf) and supine PHF during season was found. Supine HRV indices (PHF, PT, and MSSD) for the last 3 weeks of the HRV-adjusting period correlated (rs=0.636; 0.648; 0.648, P<0.05) with ΔPerf. Based on the results, a high and relative stable vagal activity during preparation may indicate a readiness to train or appropriate recovery that positively affects Perf. In conclusion, daily quantification of ANS activity by SA HRV seems to be a promising tool for the enhancement of Perf.

  4. Resistance training increases total energy expenditure and free-living physical activity in older adults.

    PubMed

    Hunter, G R; Wetzstein, C J; Fields, D A; Brown, A; Bamman, M M

    2000-09-01

    The purpose of this study was to determine what effects 26 wk of resistance training have on resting energy expenditure (REE), total free-living energy expenditure (TEE), activity-related energy expenditure (AEE), engagement in free-living physical activity as measured by the activity-related time equivalent (ARTE) index, and respiratory exchange ratio (RER) in 61- to 77-yr-old men (n = 8) and women (n = 7). Before and after training, body composition (four-compartment model), strength, REE, TEE (doubly labeled water), AEE (TEE - REE + thermic response to meals), and ARTE (AEE adjusted for energy cost of standard activities) were evaluated. Strength (36%) and fat-free mass (2 kg) significantly increased, but body weight did not change. REE increased 6.8%, whereas resting RER decreased from 0.86 to 0.83. TEE (12%) and ARTE (38%) increased significantly, and AEE (30%) approached significance (P = 0.06). The TEE increase remained significant even after adjustment for the energy expenditure of the resistance training. In response to resistance training, TEE increased and RER decreased. The increase in TEE occurred as a result of increases in both REE and physical activity. These results suggest that resistance training may have value in increasing energy expenditure and lipid oxidation rates in older adults, thereby improving their metabolic profiles.

  5. Active control of train bogies with MR dampers

    NASA Astrophysics Data System (ADS)

    Fotoohi, Abbas; Yousefi-Koma, Aghil; Yasrebi, Naser

    2006-03-01

    This research is conducted to demonstrate the advantages of skyhook semi-active dampers in railway vehicle suspension systems. This semi- active suspension system consists of four actuators on each bogie that locate in the secondary suspension position instead of passive dampers. Employing equations of skyhook control scheme, the semi- active damping force (actuator force) is determined by absolute velocity of car body instead of relative velocity. An integration of a control design tool, i.e. MATLAB, together with a tool for railway vehicle simulation, i.e. ADAMS/Rail is utilized for modeling and control analysis simultaneously. Analysis has been performed on a traditional bogie model with passive secondary suspension and on a new bogie model with semi-active suspension. The effects of suspension system on displacement and acceleration in passenger seats have been investigated in various points of car body. Results show that the semi-active suspension improves the ride comfort by reducing accelerations, in comparison with passive model. Finally, according to the damper force obtained from Sky-hook controller, a Magnetorheological (MR) damper has been designed for the semi-active suspension system.

  6. Robotic-assisted knee arthroplasty.

    PubMed

    Banerjee, Samik; Cherian, Jeffrey J; Elmallah, Randa K; Jauregui, Julio J; Pierce, Todd P; Mont, Michael A

    2015-01-01

    Robotics in total knee arthroplasty (TKA) has undergone vast improvements. Although some of the systems have fallen out of favor due to safety concerns, there has been recent increased interest for semi-active haptic robotic systems that provide intraoperative tactile feedback to the surgeon. The potential advantages include improvements in radiographic outcomes, reducing the incidence of mechanical axis malalignment of the lower extremity and better tissue balance. Proponents of robotic technology believe that these improvements may lead to superior functional outcomes and implant survivorship. We aim to discuss robotic technology development, outcomes of unicompartmental and total knee arthroplasty and the future outlook. Short-term follow-up studies on robotic-assisted knee arthroplasty suggest that, although some alignment objectives may have been achieved, more studies regarding functional outcomes are needed. Furthermore, studies evaluating the projected cost-benefit analyses of this new technology are needed before widespread adoption. Nevertheless, the short-term results warrant further evaluation. PMID:26365088

  7. Eclectic theory of intelligent robots

    NASA Astrophysics Data System (ADS)

    Hall, E. L.; Ghaffari, M.; Liao, X.; Ali, S. M. Alhaj; Sarkar, Saurabh; Reynolds, Scott; Mathur, Kovid

    2007-09-01

    applications. The use of manipulators and mobile bases with a high-level control are potentially useful for space exploration, certain rescue robots, defense robots, medical robotics, and robots that aids older people in daily living activities.

  8. Handbook of industrial robotics

    SciTech Connect

    Nof, S.Y.

    1985-01-01

    This book presents papers on the application of artificial intelligence to robots used in industrial plants. Topics considered include vision systems, elements of industrial robot software, robot teaching, the off-line programming of robots, a structured programming robot language, task-level manipulator programming, expert systems, and the role of the computer in robot intelligence.

  9. Tutorial on robotics

    SciTech Connect

    Lee, C.S.G.; Gonzalez, R.C.; Fu, K.S.

    1986-01-01

    Basic fundamentals in robotics are presented in this tutorial. Topics covered are as follows: robot arm kinematics; robot arm dynamics; planning or manipulator trajectories; servo control for manipulators; force sensing and control; robot vision systems; robot programming languages; and machine intelligence and robot planning.

  10. Enhancing Cognitive Abilities with Comprehensive Training: A Large, Online, Randomized, Active-Controlled Trial

    PubMed Central

    Hardy, Joseph L.; Nelson, Rolf A.; Thomason, Moriah E.; Sternberg, Daniel A.; Katovich, Kiefer; Farzin, Faraz; Scanlon, Michael

    2015-01-01

    Background A variety of studies have demonstrated gains in cognitive ability following cognitive training interventions. However, other studies have not shown such gains, and questions remain regarding the efficacy of specific cognitive training interventions. Cognitive training research often involves programs made up of just one or a few exercises, targeting limited and specific cognitive endpoints. In addition, cognitive training studies typically involve small samples that may be insufficient for reliable measurement of change. Other studies have utilized training periods that were too short to generate reliable gains in cognitive performance. Methods The present study evaluated an online cognitive training program comprised of 49 exercises targeting a variety of cognitive capacities. The cognitive training program was compared to an active control condition in which participants completed crossword puzzles. All participants were recruited, trained, and tested online (N = 4,715 fully evaluable participants). Participants in both groups were instructed to complete one approximately 15-minute session at least 5 days per week for 10 weeks. Results Participants randomly assigned to the treatment group improved significantly more on the primary outcome measure, an aggregate measure of neuropsychological performance, than did the active control group (Cohen’s d effect size = 0.255; 95% confidence interval = [0.198, 0.312]). Treatment participants showed greater improvements than controls on speed of processing, short-term memory, working memory, problem solving, and fluid reasoning assessments. Participants in the treatment group also showed greater improvements on self-reported measures of cognitive functioning, particularly on those items related to concentration compared to the control group (Cohen’s d = 0.249; 95% confidence interval = [0.191, 0.306]). Conclusion Taken together, these results indicate that a varied training program composed of a number of

  11. Robotic Follow-Up for Human Exploration

    NASA Technical Reports Server (NTRS)

    Fong, Terrence; Bualat, Maria; Deans, Matthew C.; Adams, Byron; Allan, Mark; Altobelli, Martha; Bouyssounouse, Xavier; Cohen, Tamar; Flueckiger, Lorenzo; Garber, Joshua; Palmer, Elizabeth; Heggy, Essam; Jurgens, Frank; Kennedy, Tim; Kobayashi, Linda; Lee, Pascal; Lee, Susan Y.; Lees, David; Lundy, Mike; Park, Eric; Pedersen, Liam; Smith, Trey; To, Vinh; Utz, Hans; Wheeler, Dawn

    2010-01-01

    We are studying how "robotic follow-up" can improve future planetary exploration. Robotic follow-up, which we define as augmenting human field work with subsequent robot activity, is a field exploration technique designed to increase human productivity and science return. To better understand the benefits, requirements, limitations and risks associated with this technique, we are conducting analog field tests with human and robot teams at the Haughton Crater impact structure on Devon Island, Canada. In this paper, we discuss the motivation for robotic follow-up, describe the scientific context and system design for our work, and present results and lessons learned from field testing.

  12. Simulation of robot manipulators

    SciTech Connect

    Kress, R.L.; Babcock, S.M.; Bills, K.C.; Kwon, D.S.; Schoenwald, D.A.

    1995-03-01

    This paper describes Oak Ridge National Laboratory`s development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratories` Flexible Beam Testbed which is a one-Degree-Of-Freedom, flexible arm with a hydraulic base actuator. Initial results show good agreement between model and experiment.

  13. Strength training reduces arterial blood pressure but not sympathetic neural activity in young normotensive subjects

    NASA Technical Reports Server (NTRS)

    Carter, Jason R.; Ray, Chester A.; Downs, Emily M.; Cooke, William H.

    2003-01-01

    The effects of resistance training on arterial blood pressure and muscle sympathetic nerve activity (MSNA) at rest have not been established. Although endurance training is commonly recommended to lower arterial blood pressure, it is not known whether similar adaptations occur with resistance training. Therefore, we tested the hypothesis that whole body resistance training reduces arterial blood pressure at rest, with concomitant reductions in MSNA. Twelve young [21 +/- 0.3 (SE) yr] subjects underwent a program of whole body resistance training 3 days/wk for 8 wk. Resting arterial blood pressure (n = 12; automated sphygmomanometer) and MSNA (n = 8; peroneal nerve microneurography) were measured during a 5-min period of supine rest before and after exercise training. Thirteen additional young (21 +/- 0.8 yr) subjects served as controls. Resistance training significantly increased one-repetition maximum values in all trained muscle groups (P < 0.001), and it significantly decreased systolic (130 +/- 3 to 121 +/- 2 mmHg; P = 0.01), diastolic (69 +/- 3 to 61 +/- 2 mmHg; P = 0.04), and mean (89 +/- 2 to 81 +/- 2 mmHg; P = 0.01) arterial blood pressures at rest. Resistance training did not affect MSNA or heart rate. Arterial blood pressures and MSNA were unchanged, but heart rate increased after 8 wk of relative inactivity for subjects in the control group (61 +/- 2 to 67 +/- 3 beats/min; P = 0.01). These results indicate that whole body resistance exercise training might decrease the risk for development of cardiovascular disease by lowering arterial blood pressure but that reductions of pressure are not coupled to resistance exercise-induced decreases of sympathetic tone.

  14. Preface: Terrestrial Fieldwork to Support in situ Resource Utilization (ISRU) and Robotic Resource Prospecting for Future Activities in Space

    NASA Astrophysics Data System (ADS)

    Sanders, Gerald B.

    2015-05-01

    Finding, extracting, and using resources at the site of robotic and human exploration activities holds the promise of enabling sustainable and affordable exploration of the Moon, Mars, and asteroids, and eventually allow humans to expand their economy and habitation beyond the surface of the Earth. Commonly referred to as in situ Resource Utilization (ISRU), mineral and volatile resources found in space can be converted into oxygen, water, metals, fuels, and manufacturing and construction materials (such as plastics and concrete) for transportation, power, life support, habitation construction, and part/logistics manufacturing applications. For every kilogram of payload landed on the surface of the Moon or Mars, 7.5-11 kg of payload (mostly propellant) needs to be launched into low Earth orbit. Therefore, besides promising long-term self-sufficiency and infrastructure growth, ISRU can provide significant reductions in launch costs and the number of launches required. Key to being able to use space resources is knowing where they are located, how much is there, and how the resources are distributed. While ISRU holds great promise, it has also never been demonstrated in an actual space mission. Therefore, operations and hardware associated with each ISRU prospecting, excavation, transportation, and processing step must be examined, tested, and finally integrated to enable the end goal of using space resources in future human space missions.

  15. GKTC ACTIVITIES TO PROVIDE NUCLEAR MATERIAL PHYSICAL PROTECTION, CONTROL AND ACCOUNTING TRAINING FOR 2011-2012

    SciTech Connect

    Romanova, Olena; Gavrilyuk, Victor I.; Kirischuk, Volodymyr; Gavrilyuk-Burakova, Anna; Diakov, Oleksii; Drapey, Sergiy; Proskurin, Dmitry; Dickman, Deborah A.; Ferguson, Ken

    2011-10-01

    The GKTC was created at the Kyiv Institute of Nuclear Research as a result of collaborative efforts between the United States and Ukraine. The GKTC has been designated by the Ukrainian Government to provide the MPC&A training and methodological assistance to nuclear facilities and nuclear specialists. In 2010 the GKTC has conducted the planned assessment of training needs of Ukrainian MPC&A specialists. The objective of this work is to acquire the detailed information about the number of MPC&A specialists and guard personnel, who in the coming years should receive the further advanced training. As a result of the performed training needs evaluation the GKTC has determined that in the coming years a number of new training courses need to be developed. Some training courses are already in the process of development. Also taking into account the specific of activity on the guarding of nuclear facilities, GKTC has begun to develop the specialized training courses for the guarding unit personnel. The evaluation of needs of training of Ukrainian specialists on the physical protection shows that without the technical base of learning is not possible to satisfy the needs of Ukrainian facilities, in particular, the need for further training of specialists who maintains physical protection technical means, provides vulnerability assessment and testing of technical means. To increase the training effectiveness and create the basis for specialized training courses holding the GKTC is now working on the construction of an Interior (non-classified) Physical Protection Training Site. The objective of this site is to simulate the actual conditions of the nuclear facility PP system including the complex of engineering and technical means that will help the GKTC training course participants to consolidate the knowledge and gain the practical skills in the work with PP system engineering and technical means for more effective performance of their official duties. This paper briefly

  16. Mobile robotic assistive balance trainer - an intelligent compliant and adaptive robotic balance assistant for daily living.

    PubMed

    Tiseo, Carlo; Lim, Zhen Yi; Shee, Cheng Yap; Ang, Wei Tech

    2014-01-01

    Balance control probably has the greatest impact on independence in activities of daily living (ADL), because it is a fundamental motor skill and prerequisite to the maintenance of a myriad of postures and mobile activities. We propose a new rehabilitation therapy to administer standing and mobile balance control training, enabled by a Mobile Robotic Assistive Balance Trainer (MRABT). The targeted group for this initial work is post stroke patients, although it can be extended to subjects with other neurological insults in the future. The proposed system consists of a mobile base and a parallel robotic arm which provides support to the patient at the hip. The compliant robotic arm with intelligent control algorithm will only provide support and assistance to the patient when the center of mass of the body deviates beyond the predefined safety boundary, mimicking the helping hands of a parent when a toddler learns to walk. In this paper, we present our initial work in the design and kinematic analysis of the system. PMID:25571190

  17. Mobile robotic assistive balance trainer - an intelligent compliant and adaptive robotic balance assistant for daily living.

    PubMed

    Tiseo, Carlo; Lim, Zhen Yi; Shee, Cheng Yap; Ang, Wei Tech

    2014-01-01

    Balance control probably has the greatest impact on independence in activities of daily living (ADL), because it is a fundamental motor skill and prerequisite to the maintenance of a myriad of postures and mobile activities. We propose a new rehabilitation therapy to administer standing and mobile balance control training, enabled by a Mobile Robotic Assistive Balance Trainer (MRABT). The targeted group for this initial work is post stroke patients, although it can be extended to subjects with other neurological insults in the future. The proposed system consists of a mobile base and a parallel robotic arm which provides support to the patient at the hip. The compliant robotic arm with intelligent control algorithm will only provide support and assistance to the patient when the center of mass of the body deviates beyond the predefined safety boundary, mimicking the helping hands of a parent when a toddler learns to walk. In this paper, we present our initial work in the design and kinematic analysis of the system.

  18. Low-cost educational robotics applied to physics teaching in Brazil

    NASA Astrophysics Data System (ADS)

    Souza, Marcos A. M.; Duarte, José R. R.

    2015-07-01

    In this paper, we propose some of the strategies and methodologies for teaching high-school physics topics through an educational robotics show. This exhibition was part of a set of actions promoted by a Brazilian government program of incentive for teaching activities, whose primary focus is the training of teachers, the improvement of teaching in public schools, the dissemination of science, and the formation of new scientists and researchers. By means of workshops, banners and the prototyping of robotics, we were able to create a connection between the study areas and their surroundings, making learning meaningful and accessible for the students involved and contributing to their cognitive development.

  19. Biomimetic vibrissal sensing for robots

    PubMed Central

    Pearson, Martin J.; Mitchinson, Ben; Sullivan, J. Charles; Pipe, Anthony G.; Prescott, Tony J.

    2011-01-01

    Active vibrissal touch can be used to replace or to supplement sensory systems such as computer vision and, therefore, improve the sensory capacity of mobile robots. This paper describes how arrays of whisker-like touch sensors have been incorporated onto mobile robot platforms taking inspiration from biology for their morphology and control. There were two motivations for this work: first, to build a physical platform on which to model, and therefore test, recent neuroethological hypotheses about vibrissal touch; second, to exploit the control strategies and morphology observed in the biological analogue to maximize the quality and quantity of tactile sensory information derived from the artificial whisker array. We describe the design of a new whiskered robot, Shrewbot, endowed with a biomimetic array of individually controlled whiskers and a neuroethologically inspired whisking pattern generation mechanism. We then present results showing how the morphology of the whisker array shapes the sensory surface surrounding the robot's head, and demonstrate the impact of active touch control on the sensory information that can be acquired by the robot. We show that adopting bio-inspired, low latency motor control of the rhythmic motion of the whiskers in response to contact-induced stimuli usefully constrains the sensory range, while also maximizing the number of whisker contacts. The robot experiments also demonstrate that the sensory consequences of active touch control can be usefully investigated in biomimetic robots. PMID:21969690

  20. Microscopic Analysis of Plankton, Periphyton, and Activated Sludge. Training Manual.

    ERIC Educational Resources Information Center

    Environmental Protection Agency, Washington, DC. Office of Water Programs.

    This manual is intended for professional personnel in the fields of water pollution control, limnology, water supply and waste treatment. Primary emphasis is given to practice in the identification and enumeration of microscopic organisms which may be encountered in water and activated sludge. Methods for the chemical and instrumental evaluation…