An overview of the development of Handy 1, a rehabilitation robot to assist the severely disabled

The Handy 1 was developed in 1987 by Mike Topping to assist an 11-year-old boy with cerebral palsy to eat unaided. The system is the most successful low-cost, commercially available robotic system in the world to date, and is capable of assisting the most severely disabled with several everyday functions such as eating, drinking, washing, teeth-cleaning, shaving, and make-up application. This paper charts the development of the system, gives an overview of some individual Handy 1 studies, and also looks at the development of the robotic aid to independent living (RAIL) system funded by the European Commission BIOMED II program.     

可穿戴便携式康复外骨骼机器人的开发

近年来,康复机器人辅助中风病人的康复治疗吸引了越来越多的关注。相对于传统的由康复师进行的中风治疗, 康复机器人进行的治疗更为精确,且不受康复师主观因素的影响,能够显著提高康复治疗的效果。本文介绍了一个拥有 5 自由度上肢与 4 自由度下肢的可穿戴便携式康复外骨骼机器人。机器人的所有自由度都由患者的肌电信号驱动,帮助患 者进行失能肢体的康复训练。该机器人可穿戴和便携的特性为患者行走功能的康复提供了新的手段。康复过程中,患者 的所有康复运动数据(包括患者的表面肌电信号数据和每个关节的运动数据)都可以被采集,便于在线分析和离线记录。     

基于心率的上肢康复机器人的开发

针对上肢损伤患者,设计了一种基于力反馈+心率实时监测的双臂6自由度上肢康复训练机器人。该机器人能够通过力反馈传感器采集患者和机器人之间的相互作用力,并通过心率传感器采集患者的心率数据。MCU对这些信息通过A/D采集的方式进行处理,并将数据存档。医生对这些数据进行分析后,制定出更加适合患者的康复方案并下发到MCU。MCU接收到信息后会执行医生制定的康复方案。如果患者再次出现损伤,医生还可以通过分析患者的档案信息来制定更加科学有效的康复方案。实验验证开发的康复机器人对于上肢损伤患者具有良好的康复训练效果。     

一种新的康复与代步外骨骼机器人研究

针对老年人及下肢障碍者康复训练与代步问题,本文提出一种新的康复与代步外骨骼机器人.本文首先详细介绍了机器人各部分组成及机构设计方案,通过下肢外骨骼与轮椅的有机结合,有效保持或恢复老年人、脑卒中患者下肢运动能力的同时,为患者提供一种方便的代步工具;运用脚蹬车运动制订康复训练策略,可保持下肢康复训练轨迹固定,保证患者安全;提出主从式操作方法及多模态康复训练控制流程提高使用者参与感.最后通过仿真与实验验证了所提康复系统的可行性与设计的正确性.     

基于柔性气压驱动器的可穿戴式腰部助力机器人研究

针对老龄化社会对于康复和看护助力搬运的需要,提出了用气压驱动器实现轻量、柔性助力、穿戴舒适的可穿戴式腰部助力机器人.机器人采用无外骨骼的结构设计,可以给护理人员在提升重物和静态保持作业时输出腰部所需助力,降低下腰痛（Low back pain,LBP）致病风险.通过对重物搬运作业中穿戴者竖脊肌表面肌电信号（Surface electromyography,sEMG）评估、基于测力平台最大搬举重量测试、静态弯腰负重作业下人体重心（Center of gravity,COG）移动轨迹等相关实验,验证了助力有效性.     

一种智能教育机器人的研制

介绍了一种用于开发中小学生智力的智能教育机器人系统。该系统以功能强大的AduC812单片机为核心，采用简单易懂的编程界面和开放式的本体结构，从而使中小学生易于上手，便于改造。在学习和使用的过程中，增长知识，开发智力。     

智能卡的新发展—JavaCard技术综述

一、前言随着CPU处理功能的日益强大、存储设备体积越来越小、价格的普遍下降以及安全技术的日趋完善,具有内嵌处理器的设备变得很普遍。在这些设备中,智能卡是最为流行的,它是一种具有内嵌处理器芯片的信用卡,主要应用在诸如电信、传输、银行和医疗保险等领域中。智能卡是通过编程来执行任务和存储信息的,但当前主要是通过C或汇编语言来实现的,所以在开     

单自由度康复训练机器人的虚拟环境设计

提出并建立了一个可用于机器人辅助康复训练的虚拟环境.虚拟环境可以提供视觉反馈,将患者控制训练机械臂的运动映射为虚拟环境中的物体的运动,并采用虚拟力势场的方法,通过机械臂为患者提供相应的力反馈.最后,利用单自由度康复训练系统对一名健康男性进行了初步的实验研究.结果表明,该系统可以实现康复训练过程中的视觉和力觉交互,为患者提供暗示和帮助,在康复训练机器人领域有一定的应用前景.     

内模控制研究进展

内模控制由于其本质鲁棒性的优势,被广泛应用于工程实际中.系统地评述了内模控制系统中控制器设计、滤波器改进、两自由度结构、单变量内模控制、多变量解耦内模控制等问题此外,内模控制与其他先进控制策略的结合是提升内模控制效果的重要途径,详细介绍了内模控制与预测控制、神经网络、模糊控制、自适应控制、最优控制等先进控制策略的结合,...     

The Development and Evaluation of a Speech-to-Sign Translation System to Assist Transactions

The design, development, and evaluation of an experimental translation system that aims to aid transactions between a deaf person and a clerk in a post office (PO) is described. The system uses a speech recognizer to recognize speech from a PO clerk and then synthesizes recognized phrases in British Sign language (BSL) using a specially developed avatar. The main objective in developing this prototype system was to determine how useful it would be to a customer whose first language was BSL, and to discover what areas of the system required more research and development to make it more effective. The system was evaluated by 6 prelingually profoundly deaf people and 3 PO clerks. Deaf users and PO clerks were supportive of the system, but the former group required a higher quality of signing from the avatar and the latter a system that was less constrained in the phrases it could recognize; both these areas are being addressed in the next phase of development.     

Development of a Leg Part of a Humanoid Robot—Development of a Biped Walking Robot Adapting to the Humans' Normal Living Floor

The authors are engaged in studies of biped walking robots from thefollowing two viewpoints. One is a viewpoint as a human science. Theother is a viewpoint towards the development of humanoid robots.In this paper, the authors introduce an anthropomorphic dynamic bipedwalking robot adapting to the humans' living floor. The robot has tworemarkable systems: (1) a special foot system to obtain the positionrelative to the landing surface and the gradient of the surfaceduring its dynamic walking; (2) an adaptive walking control system toadapt to the path surfaces with unknown shapes by utilizing theinformation of the landing surface, obtained by the foot system. Twounits of the foot system WAF-3 were produced, a biped walking robotWL-12RVII that had the foot system and the adaptive walking controlsystem installed inside it was developed, and a walking experimentwith WL-12RVII was performed. As a result, dynamic biped walkingadapting to humans' floors with unknown shapes was realized. Themaximum walking speed was 1.28 s/step with a 0.3 m step length, andthe adaptable deviation range was from -16 to+16 mm/step in the vertical direction, and from-3 to +3° in the tilt angle.     

电子商务技术发展综述

本文首先阐述了电子商务的定义,并且重点介绍电子商务技术发展的三大阶段:传统电子商务,电子数据交换和Web电子商务三大阶段,并向智能电子商务技术发展的趋势。     

电子商务技术发展综述

本文首先阐述了电子商务的定义，并且重点介绍电子商务技术发展的三大阶段：传统电子商务，电子数据交换和Web电子商务三大阶段．并向智能电子商务技术发展的趋势。     

SIMD计算机发展概述

一、引言 并行处理是提高计算机性能的有效途径,已成为计算机系统结构研究的热点。IMD(单指令多数据流)计算机由M.J.Flynn,在1966年对计算机系     

绳驱动上肢外骨骼康复机器人穿戴机构设计

为了降低绳驱动并联外骨骼的结构不稳定性所带来的运动学建模误差,改善外骨骼对不同穿戴者的适应能力,提升外骨骼的穿戴舒适度,提出了一种新型穿戴机构并应用于绳驱动并联上肢外骨骼康复机器人CURE-7.首先,介绍了一种绳驱动外骨骼康复机器人,该外骨骼具有特制的穿戴机构,兼具绳驱动设备和并联机构的优点;然后,设计穿戴机构的欠驱动穿戴模块和柔性肘关节,建立外骨骼的运动学模型并对关键参数的影响进行了研究;最后,开发了穿戴机构样机并安装于外骨骼上,进行了健康人的运动轨迹跟踪实验和手臂穿戴外骨骼时的受力实验以证明穿戴机构的有效性.实验结果表明,通过采用新的穿戴机构,受试者肘关节前屈运动轨迹跟踪标准误差平均降低了约41％,肩关节外展运动轨迹跟踪标准误差平均降低了约30％,穿戴压力最大值降低了约23％,不同部位的压力方差也有较大幅度的降低.     

基于MEMS技术的胃肠诊疗机器人研究及应用综述

内窥镜是当前体内诊疗的主要工具。线缆式微型机器人内窥镜系统和无线药丸式微型机器人内窥镜系统是肠胃道微创诊疗发展的两个最主要方向。本文首先介绍了依据驱动类型划分的具代表性的线缆式内窥镜诊疗机器人,以及无线药丸式内窥镜系统的研制情况,然后对胃肠诊疗机器人的临床应用进行说明,最后对胃肠内窥镜诊疗微型机器人的存在关键问题和发展前景进行了讨论。     

Executive Information Systems: An Overview of Development

Technological advances have resulted in such a profusion of information that sifting through reams of data to find relevant management information has become almost impossible using traditional MIS tools. The executive information system concept represents a total break from traditional DP design and a means to gather and assess relevant management information. This article provides an overview of executive information systems for the MIS manager who will be contending with executive information systems more and more.     

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.     

An Overview of Anna, a Specification Language for Ada

The Anna approach to specification language design strengthens the existing explanatory constructs in Ada and adds new ones where there is an obvious need.     

Robust GPI Control of a New Parallel Rehabilitation Robot of Lower Extremities

International Journal of Control, Automation and Systems - In this paper, we propose a new robot for lower limbs rehabilitation by using a parallel structure. The goal of this robot is not only to...