Robot-Aided Neurorehabilitation: A Novel Robot for Ankle Rehabilitation

In this paper, we present the design and characterization of a novel ankle robot developed at the Massachusetts Institute of Technology (MIT). This robotic module is being tested with stroke patients at Baltimore Veterans Administration Medical Center. The purpose of the on-going study is to train stroke survivors to overcome common foot drop and balance problems in order to improve their ambulatory performance. Its design follows the same guidelines of our upper extremity designs, i.e., it is a low friction, backdriveable device with intrinsically low mechanical impedance. Here, we report on the design and mechanical characteristics of the robot. We also present data to demonstrate the potential of this device as an efficient clinical measurement tool to estimate intrinsic ankle properties. Given the importance of the ankle during locomotion, an accurate estimate of ankle stiffness would be a valuable asset for locomotor rehabilitation. Our initial ankle stiffness estimates compare favorably with previously published work, indicating that our method may serve as an accurate clinical measurement tool.      

并联3-URS踝关节康复机器人的机构与运动学研究

为了帮助患者进行踝关节康复训练,减轻治疗师工作强度,在分类分析现有的各类型踝关节康复机器人的基础上,设计了一种六自由度并联3-URS踝关节康复机器人。从人体生理结构及康复训练需求出发,设计、优化了康复机器人结构,加工制造了实物样机模型;采用闭环矢量的方法建立了并联机器人运动学模型,结合Rosenbrock-Banana优化函数,将正逆运动学数值求解问题转换为优化问题。以背屈训练轨迹作为数值算例,求解精度可达10-10~10-7mm;结合虚拟样机技术,验证了该并联机器人运动学优化求解方法的可靠性,适用于3-URS并联踝关节康复机器人。     

A Workcell for the Development of Robot-Assisted Surgical Procedures

This paper describes a robotic workstation for the development of new robot-assisted surgical procedures. This work is motivated by the difficulties and cost associated to the development of surgical robots, often requiring large investments and several re-designs which limit wider use of this technology. The approach presented here consists of using a general purpose robotic workcell to develop the hardware and the surgical aspects of new robot-based surgical systems, before committing to a completely new system design. The workcell is based on a clean room PUMA 260 manipulator, suitably enhanced to expand and improve its capabilities, and on a vision-based operator interface. Two new robot-assisted surgical procedures have been developed and tested using this set-up: percutaneous discectomy and knee osteoctomy. By using the robotic workcell, engineers and surgeons are able to define many aspects of the two procedures, such as surgical gestures, workspace of the robot, and calibration procedures, without incurring a large, up-front investment. First, the article describes the configuration of the workcell, the enhancements to the PUMA manipulator and the surgical procedures developed with this setup. Then the results of the tests and the lessons learned using the workcell are discussed in some detail.     

一种踝关节康复机器人的控制系统设计

为实现3-RSS/S踝关节康复并联机器人的各种康复训练模式,完成了以"PC+PMAC"作为硬件平台的控制系统设计,基于Visual C++6.0开发了软件系统,经实验取得了满意的效果.     

基于GALIL控制器的踝康复机器人控制系统

介绍了基于GALIL运动控制器的踝关节康复机器人的控制系统。该踝关节康复机器人引入生物融合理念,基于4-UP(Pe)S/PS并联机构,采用PC+运动控制器相对独立运行的并行控制模式,实现踝关节复合康复运动。用户利用PC机实现康复机器人康复运动轨迹的规划,康复运动控制程序的自动编制和运动控制器程序的下载,通过操作面板控制运动控制器相对PC独立地执行程序。这种并行控制模式能够在满足康复运动相对复杂的空间康复轨迹需要的前提下,保证踝关节康复机器人系统的反应速度。该系统成功地用于踝关节康复机器人系统,取得了很好的康复效果,为PC+运动控制器模式的康复系统设计提供了范例。     

摇拔戳手法治疗踝关节扭伤的有限元仿真分析

踝关节扭伤是临床上常见的关节类运动性软组织损伤,但由于踝关节结构的复杂性,进行摇拔戳手法治疗时难以对其内部进行量化研究.则基于成年男性患者CT图像和踝关节解剖特点建立足踝有限元模型,并应用运动捕捉技术获取摇拔戳手法治疗踝关节的运动学参数,模拟力学状况进行有限元加载计算,计算的运动角度结果与实际临床数据基本一致,表明模型有效.通过有限元进一步分析得到踝关节扭伤治疗后较治疗前踝穴关节面应力增大、损伤韧带的弹性模量减小等量化结果.仿真结果表明:利用有限元方法能够较好模拟摇拔戳手法的力学状况,可直观看出踝关节扭伤治疗前后韧带参数、关节面受力的变化,将治疗效果进行量化,为研究该手法的作用机理提供科学客观的依据.     

绳驱动并联踝关节康复机构设计及运动性能分析

交通事故和中风后的神经损伤会导致下肢伤残,使得患者无法完成抬脚之类的简单动作.为了帮助患者恢复运动能力,提出一种适用于脚踝康复的3自由度绳驱动并联机构.首先介绍了绳驱动踝关节康复机构的结构.其次利用牛顿-拉夫逊迭代法和封闭矢量环法计算了位姿正反解,建立了速度雅可比矩阵.通过对驱动绳索的张力进行分析,优化了张力分布并求解了机构的工作空间.最后,基于雅可比矩阵分析了机构的运动性能.结果表明在规定的工作空间内机构无奇异点,有良好的运动灵巧性和刚度性能.而且设计的等效球面副和动平台使得机构的转动中心较好地与踝关节的转动中心相重合,相比现存的踝关节康复机器人更具优势.综上,设计的机构适合脚踝康复训练.     

地理信息系统安全初探

Internet与GIS的结合,使得GIS安全形势愈发严峻。本文首先界定了GIS安全的内涵,从GIS的体系结构出发,划分了GIS安全层次,并从硬件、操作系统、通讯协议、数据库、GIS平台及操作人员等层次对地理信息系统的安全隐患进行了分析,最后试图从技术、管理等方面给出普遍意义上的、现代GIS的安全策略,包括技术安全策略和管理安全策略。     

Web语料库建设初探

对网上中文信息语料库搜集技术的实现原理和关键技术进行了讨论和分析,介绍了基于Web网络的通信及网上自动获取信息的原理,讨论了中文信息处理中的分词技术及其发展,提出了一个网上《人民日报》语料库搜集技术的实现方案。     

A Stewart Platform-Based System for Ankle Telerehabilitation

The Rutgers Ankle is a Stewart platform-type haptic interface designed for use in rehabilitation. The system supplies six-DOF resistive forces in response to virtual reality-based exercises running on a host PC. The Stewart platform uses double-acting pneumatic cylinders, linear potentiometers as position sensors, and a six-DOF force sensor. The Rutgers Ankle controller contains an embedded Pentium board, pneumatic solenoid valves, valve controllers, and associated signal conditioning electronics. Communication with the host PC is over a standard RS232 line. The platform movement and output forces are transparently recorded by the host PC in a database. This database can be accessed remotely over the Internet. Thus, the Rutgers Ankle Orthopedic Rehabilitation Interface will allow patients to exercise at home while being monitored remotely by therapists. A prototype was constructed, and proof-of-concept trials were conducted at the University of Medicine and Dentistry of New Jersey. The results indicate that the system works well as a diagnostic tool. The subjective evaluation by patients was very positive. Further medical trials are needed before the system clinical efficacy in rehabilitation can be established.     

基于热分析的电子元器件可靠性探讨

介绍了温度对电子设备中一些常见元器件的性能影响.在一种车载电子设备的热设计过程中,根据实测结果分析了CPU、电源模块和外围电路元器件的温度特性,并结合热分析软件进行热优化设计,提高了系统的可靠性.     

动画形象的符号意义探微

动画是大众化的传媒形式,起到十分重要的传播文化的作用.动画中的动画形象是诸多艺术要素和信息内容的集合体.动画艺术的根本精髓就是将动画形象作为视觉符号,进行精神文化的传播。所以,动画形象能否成为精神文化的符号,是动画形象获得成功的关键.     

基于热分析的电子元器件可靠性探讨

介绍了温度对电子设备中一些常见元器件的性能影响。在一种车载电子设备的热设计过程中,根据实测结果分析了CPU、电源模块和外围电路元器件的温度特性,并结合热分析软件进行热优化设计,提高了系统的可靠性。     

网上教学系统设计初探

本文论及了网络教学系统设计的主要问题     

Sprained Ankle Physiotherapy Based Mechanism Synthesis and Stiffness Analysis of a Robotic Rehabilitation Device

Rehabilitation robotics is a growing field where the study of human movement is one of the key topics. Mechanisms development in terms of analysis and synthesis in the field is relatively new, particularly in the case of parallel robotic mechanisms. This paper presents the background and details of current research into the use of parallel robotic mechanisms for rehabilitation of sprained ankles, and proposes a new device based on a parallel mechanism with a central strut.The paper investigates a new technique in motion analysis of ankle movement which is presented in an orientation image space and in that of a rehabilitation therapy, presents an approach of mechanism synthesis based on this analysis, and develops several parallel mechanisms with a central strut for ankle rehabilitation. This is then related to the analysis of the stiffness effect of the central strut in the platform-type mechanism and the stiffness matrix is decomposed with the part resulting from the central strut which supports ankle rehabilitation.In presenting this new research, the paper relates the study of mechanisms to that of rehabilitation robotics and presents a strong case in the new application of parallel robotic mechanisms.     

A Simple and Novel Hybrid Robotic System for Robot-Assisted Femur Fracture Reduction

When performing femur fracture reduction surgery, both the patient and surgeon are exposed to a great amount of radiation, which is harmful to their health. In order to reduce such radiation from the usage of an image intensifier, various robots have been proposed for femur fracture reduction surgery. Most of these robots are based on serial architecture. The low transportable load and poor accuracy are both inherent in serial robots, which makes them inappropriate for femur fracture reduction. Some parallel robots based on the 'Stewart platform' have also been developed for femur fracture reduction, but their restricted workspace limits their applicability and accessibility. To balance the accuracy, payload and workspace, a new robot system is reported in this paper. The proposed robot system consists of a 2-d.o.f. device and a 6-d.o.f. hybrid robot. The 2-d.o.f. device is used for distraction, which requires a very large force. The hybrid robot is used to manipulate a bone fragment for alignment and fixation purposes. The hybrid robot possesses the characteristic of a Cartesian coordinate robot; all the movements of the actuators are linear, which makes its motion smooth for low-speed fracture reduction procedures. The forward and inverse kinematics of the proposed robot are analyzed. The analysis is much simpler compared to traditional serial manipulators and parallel Stewart platform robots. A prototype of the proposed system is made using a rapid fabrication system called Objet. The positioning accuracy of the proposed system is measured using a coordinate-measuring machine. The results show that the algorithms presented in this paper for the control of the robot are accurate and robust.     

基于ObjectARX的成图系统开发初探

随着科技的发展,成图系统在测绘行业中的应用在逐渐普及。该文介绍了基于ObjectARX的成图系统的系统架构与功能设计。     

A Transfformation Grammar for Housing Rehabilitation

Existing housing stock must be rehabilitated to meet the new needs of dwellers in the current information society. Consequently, Information and Communications and Automation Technologies (ICAT) must be integrated in living areas. Both shape grammar and space syntax can be used as tools to identify and encode the principles and rules behind the adaptation of existing houses to new requirements. The research proceeds by first identifying the dwellers’ demands and determine how the use of technology influences them. The second step is to identify the functional, spatial, and constructive transformations performed manually by human designers in order to infer the corresponding transformation rules and encode them into a grammar. The third step aims to test the grammar in other dwellings that are part of the corpus of the study.     

A Series-elastic Robot for Back-pain Rehabilitation

This paper addresses the robot-assisted rehabilitation of back pain, an epidemic health problem affecting a large portion of the population. The design is composed of two springs in series connected to an end-effector via a pair of antagonistic cables. The spring and cable arrangement forms an elastic coupling from the actuator to the output shaft. An input-output torque model of the series-elastic mechanism is established and studied numerically. The study also illustrates the variation of the mechanism’s effective stiffness by changing the springs’ position. In addition, we built a prototype of the robotic mechanism and design experiments with a robotic manipulator to experimentally investigate its dynamic characteristics. The experimental results confirm the predicted elasticity between the input motion and the output torque at the end-effector. We also observe an agreement between the data generated by the torque model and data collected from the experiments. An experiment with a full-scale robot and a human subject is carried out to investigate the human-robot interaction and the mechanism behavior.