New Trends in Medical and Service Robots: Assistive, Surgical and Educational Robotics

249 Pages·2016·9.581 MB·English

by  Hannes Bleuler, Mohamed Bouri, Francesco Mondada, Doina Pisla, Aleksandar Rodic, Patrick Helmer (eds.)

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
[e-mail]
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
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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