New Trends in Medical and Service Robots: Assistive, Surgical and Educational Robotics PDF
Preview New Trends in Medical and Service Robots: Assistive, Surgical and Educational Robotics
Mechanisms and Machine Science 38 Hannes Bleuler Mohamed Bouri Francesco Mondada Doina Pisla Aleksandar Rodić Patrick Helmer E ditors New Trends in Medical and Service Robots Assistive, Surgical and Educational Robotics Mechanisms and Machine Science Volume 38 Series editor Marco Ceccarelli LARM: Laboratory of Robotics and Mechatronics DICeM; University of Cassino and South Latium Via Di Biasio 43, 03043 Cassino (Fr), Italy [email protected] More information about this series at http://www.springer.com/series/8779 Hannes Bleuler Mohamed Bouri (cid:129) Francesco Mondada Doina Pisla (cid:129) ć Aleksandar Rodi Patrick Helmer (cid:129) Editors New Trends in Medical and Service Robots Assistive, Surgical and Educational Robotics 123 Editors Hannes Bleuler DoinaPisla LSRO—Robotic Systems Laboratory Research Centerfor Industrial Robots EcolePolytechnique Federale deLausanne Technical University of Cluj-Napoca Lausanne Cluj-Napoca Switzerland Romania MohamedBouri Aleksandar Rodić EcolePolytechnique Federale deLausanne Robotics Laboratory Lausanne Mihailo PupinInstitute Switzerland Belgrade Serbia Francesco Mondada EcolePolytechnique Federale deLausanne Patrick Helmer Lausanne ForceDimension Switzerland Nyon Switzerland ISSN 2211-0984 ISSN 2211-0992 (electronic) Mechanisms andMachineScience ISBN978-3-319-23831-9 ISBN978-3-319-23832-6 (eBook) DOI 10.1007/978-3-319-23832-6 LibraryofCongressControlNumber:2015949263 SpringerChamHeidelbergNewYorkDordrechtLondon ©SpringerInternationalPublishingSwitzerland2016 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor foranyerrorsoromissionsthatmayhavebeenmade. Printedonacid-freepaper SpringerInternationalPublishingAGSwitzerlandispartofSpringerScience+BusinessMedia (www.springer.com) Preface Medical and Service Robotics are entering a phase of very vigorous growth. An—obviously incomplete—list of “hot” topics would include surgery robotics, assist devices, rehabilitation technology, surgical instrumentation, Brain–Machine Interface (BMI) as examples for medical robotics, autonomous cleaning, tending, logistics, surveying and rescue robots and elderly and healthcare robots as topics from service robotics. A relatively small single-session workshop such as MeSRob, held for the third timeinJuly2014atEPFL,cannotcoverallthesefields.Itgives,however,withits 120 participants from a dozen countries, a representative snapshot of activities, especially in the three partner countries of the SCOPES funding scheme of the Swiss SNF, Romania, Serbia and Switzerland, along with a growing number of participants from Europe and Asia. Particularly promising is the fact that MeSRob 2015 is already well on track and will be held in July in Nantes, France. This is proof of the timely character and growing interest of the MeSRob topics. As a matter of fact, every large industrial robotics company is now entering the bio- medicalmarket,thenumberofstart-upcompaniesinmedicalandserviceroboticsis impressing and many are successful. The topics presented at MeSRob 2014 can be classified into three topical parts: (1) Wearable, Assistive and Rehabilitation Devices (8 Chapters) (2) Surgical Robotics, Instrumentation, Biomechanical Modeling (6 Chapters) (3) Educational and Service Robotics (6 Chapters) Far from claiming anything near a complete coverage of medical and service robotic topics, the papers presented here nevertheless give a good impression of currentresearchdirectionsandfieldsofinterest.Mostpapersarestronglyanchored on collaborations between technical and medical actors, engineers, surgeons and clinicians. The larger field of biomedical technology and rapid growth in service automation has clearly overtaken the “classical” industrial robotics and automatic control centered activity familiar to the older generation of roboticists. While this might betrue fortheapplication fields, more theoreticaltopics suchaskinematics, v vi Preface parallel link mechanisms and similar subjects now find new applications in bio- mechanics and biomedical robotics. At the same time, new transdisciplinary fields are emerging, e.g. intersections between psychology, psychiatry, cognitive neuro- sciences on one hand and robotics on the other hand. Brain-Machine interface and haptic interfaces will grow in importance. Many of these topics are relatively new andpublicationsareunderwayorhavebeenpresentedatkeynotes,butarenotyet matureenoughforpublicationintheseproceedings.Wemayhoweverlookforward toupcomingMeSRobworkshopstoreportonanincreasingnumberofsubmission in this direction. Finally, the organizers wish to thank the main sponsors of this event, the Swiss NationalFoundationforScience,IFToMM,EPFLtotheteamofreviewers(mostof whom were not participants in MeSRob) and to the scientific and organizing Committees. Hannes Bleuler Mohamed Bouri Francesco Mondada Doina Pisla Aleksandar Rodić Contents Part I Assistive and Rehabilitation Devices Study and Choice of Actuation for a Walking Assist Device . . . . . . . . 3 Y. Aoustin, C. Chevallereau and V. Arakalian Design of a Hybrid Adaptive Support Device for FES Upper Limb Stroke Rehabilitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Giuseppe Cannella, Dina S. Laila and Christopher T. Freeman Motion Control Algorithm of Walking Assist Machine Using Crutches to Achieve Variable Gait Style and Step Length. . . . . . . . . . 23 D. Matsuura, R. Inose and Y. Takeda On Developing Lightweight Robot-Arm of Anthropomorphic Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 A. Rodić, B. Miloradović, S. Popić and Đ. Urukalo Towards a Natural Interface for the Control of a Whole Arm Prosthesis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 G. Gini, P. Belluco, F. Mutti, D. Rivela and A. Scannella Design and Simulation of an Orthotic Device for Patients with Osteoarthritis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 D. Tarnita, M. Catana, N. Dumitru and D.N. Tarnita Kinematic and Dynamic Study Contributions on Human Jaw System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 N. Dumitru, C. Copilusi and M. Ciortan A Robotic Platform for Lower Limb Optical Motion Tracking in Open Space. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 A. Ortlieb, J. Olivier, M. Bouri and H. Bleuler vii viii Contents Part II Surgical Robotics Virtual Planning of Needle Guidance for a Parallel Robot Used in Brachytherapy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 B. Gherman, T. Girbacia, D. Cocorean, C. Vaida, S. Butnariu, N. Plitea, D. Talaba and D. Pisla Sensory Subtraction via Cutaneous Feedback in Robot-Assisted Surgery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 Leonardo Meli, Claudio Pacchierotti and Domenico Prattichizzo Active Bending Electric Endoscope Using Shape Memory Alloy Wires. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 T. Kobayashi, T. Matsunaga and Y. Haga Kinematic Analysis of Instruments for Minimally Invasive Robotic Surgery: Generalization of the Reference Task. . . . . . . . . . . . 141 B. Deutschmann, R. Konietschke and C. Ott Third Arm Manipulation for Surgical Applications: An Experimental Study . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 E. Abdi, M. Bouri, S. Himidan, E. Burdet and H. Bleuler Robotic Surgical Approach in Limited Access Anatomical Areas. . . . . 165 N. Crisan, Iulia Pop and I. Coman Part III Educational and Service Robotics Ranger, An Example of Integration of Robotics into the Home Ecosystem. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 Francesco Mondada, Julia Fink, Séverin Lemaignan, David Mansolino, Florian Wille and Karmen Franinović Human-like Robot MARKO in the Rehabilitation of Children with Cerebral Palsy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 B. Borovac, M. Gnjatović, S. Savić, M. Raković and M. Nikolić Give Children Toys Robots to Educate and/or NeuroReeducate: The Example of PEKOPPA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205 I. Giannopulu and T. Watanabe Automatic Segmentation of Therapeutic Exercises Motion Data with a Predictive Event Approach . . . . . . . . . . . . . . . . . . . . . . . 217 S. Spasojevic, R. Ventura, J. Santos-Victor, V. Potkonjak and A. Rodić Contents ix Arm Motions of a Humanoid Inspired by Human Motion. . . . . . . . . . 227 Marija Tomić, C. Vassallo, C. Chevallereau, Aleksandar Rodić and Veljko Potkonjak Development of a Virtual Testing Platform Within an Instructor Operation Station. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239 A. Pisla, D. Cocorean, C. Vaida and D. Pisla Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
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