Qixin Cao

Development of a novel FES control system based on treadmill motor current variation for gait rehabilitation of hemiplegic patients after stroke

In consideration of a large proportion of stroke survivors with persistent deficits, current interventions have limited ability to restore normal motor function. We propose a gait training system for gait rehabilitation of hemiplegic patients with convalescent stroke. It consists of a functional electrical stimulation (FES) device which is used to influence the gait pattern instantly to improve the quality of the gait, and a treadmill with two separated belts. The stimulus triggers from the FES could be controlled automatically by the subjects gait phase determination, including stance phase and swing phase. Gait phase could be estimated and recognized through observing current value variation of the treadmill motor during the subjects walking on the treadmill belts. In this paper, we have preliminarily tested the feasibility of the proposed method through hemiplegic simulation experiments. Also, Tibialis Anterior (TA) and quadriceps on the hemiplegic side were successfully stimulated by the expected FES stimuli during gait.

An automatic switching approach of robotic components for improving robot localization reliability in complicated environment

Purpose – Robot localization technology has been widely studied for decades and a lot of remarkable approaches have been developed. However, in practice, this technology has hardly been applied to common day-to-day deployment scenarios. The purpose of this paper is to present a novel approach that focuses on improving the localization robustness in complicated environment. Design/methodology/approach – The localization robustness is improved by dynamically switching the localization components (such as the environmental camera, the laser range finder and the depth camera). As the components are highly heterogeneous, they are developed under the robotic technology component (RTC) framework. This simplifies the developing process by increasing the potential for reusability and future expansion. To realize this switching, the localization reliability for each component is modeled, and a configuration method for dynamically selecting dependable components at run-time is presented. Findings – The experimental ...

Design of an Insertable Surgical Robot with multi-level endoscopic control for Single Port Access Surgery

Single Port Surgery (SPS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) bring the benefits: reduced surgical trauma and less patients burden. However, they are still limited in the area of instrument dexterity and operability. This paper presents an Insertable Surgical Robot (ISR) for Single Port Access Surgery (SPAS), this robot uses multi-level architectures in the field of endoscopic vision control. It resolves the complex conversion on operation between vision and manipulators, and improves the operability. The ISR consists of an insertable central stem, a flexible sheath, two dexterous manipulators, and a quadrilateral link driven endoscope. The dexterous manipulators and endoscopic mechanism are located on the distal side of the flexible sheath, achieving two bendable DOFs and one translational DOF by following the motions of flexible sheath. The configuration of the ISR makes it could be inserted through a Φ25 mm port, and execute management of flexible sheath, dual manipulators and quadrilateral link with visual information. The flexible sheath and quadrilateral link are used for controlling the endoscopic view, the control strategy of endoscopic view is presented, and the experimental result shows the control method is competent.

Ubiquitous Robotic Technology for Smart Manufacturing System

As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods.

A novel optimal coordinated control strategy for the updated robot system for single port surgery

Research into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency difficult.

Modular design of a teleoperated robotic control system for laparoscopic minimally invasive surgery based on ROS and RT-Middleware

Purpose n n n n nRobotic systems for laparoscopic minimally invasive surgery (MIS) always end up with highly sophisticated mechanisms and control schemes – making it a long and hard development process with a steep price. This paper aims to propose and realize a new, efficient and convenient strategy for building effective control systems for surgical and even other complex robotic systems. n n n n nDesign/methodology/approach n n n n nA novel method that takes advantage of the modularization concept by integrating two middleware technologies (robot operating system and robotic technology middleware) into a common architecture based on the strengths of both was designed and developed. n n n n nFindings n n n n nTests of the developed control system showed very low time-delay between the master and slave sides; good movement representation on the slave manipulator; and high positional and operational accuracy. Moreover, the new development strategy trial came with much higher efficiency and lower costs. n n n n nResearch limitations/implications n n n n nThis method results in a modularized and distributed control system that is amenable to collaboratively develop; convenient to modify and update; componentized and easy to extend; mutually independent among subsystems; and practicable to be running and communicating across multiple operating systems. However, experiments show that surgical training and updates of the robotic system are still required to achieve better proficiency for completing complex minimally invasive surgical operations with the proposed and developed system. n n n n nOriginality/value n n n n nThis research proposed and developed a novel modularization design method and a novel architecture for building a distributed teleoperation control system for laparoscopic MIS.

Study on ubiquitous robotic systems for smart manufacturing program

The smart manufacturing program is gaining more and more research interests. To meet the requirements of increasingly low-volume, time-critical tasks, the traditional program-by-teaching methods should be replaced by more flexible and intelligent manufacturing processes. In this paper, we introduce the efforts of deploying ubiquitous robotic technology to the smart manufacturing program. Firstly, the various machinery processes are implemented as distributed components, which have standardized data ports and service ports. As a result, the machines could communicate and cooperate with each other. Further, a general-purpose task planner based on automated planning techniques is implemented to coordinate the machines for various tasks. We also use a test bed of smart assembly line to demonstrate the effectiveness of the proposed framework. Advances in planning technologies and cost reduction have brought the systems into the range of even small-to-medium enterprises.

An improved approach for model-based detection and pose estimation of texture-less objects

Detection and pose estimation of texture-less objects still faces several challenges such as foreground occlusions, background clutter, multi-instance objects, large scale and pose changes to name but a few. In this paper, we present an improved approach for model based detection and pose estimation of texture-less objects, LINEMOD [4], in order to improve the robustness of pose estimation with partial foreground occlusions. For template creation, we modify Gradient Response Maps and propose Gradient Orientation Maps, where Non-Maximum Suppression and Dual Threshold Algorithm are applied. And we adopt image pyramid searching method for fast template matching. Next, the approximate object pose associated with each detected template is used as a starting point for fine pose estimation with Iterative Closest Point algorithm. Thirdly, we improve the accuracy of fine pose estimation by using point cloud filter. Experimental results show that our approach is more robust to estimate the pose of texture-less objects with partial foreground occlusions.

A compliant robotic assembly system based on multiple sensors

Compliance assembly is based on compliance control for a specific robot to take the initiative to accomplish assembly task using recognition and perception information through a variety of sensors. With more and more sensors the assembly robot can better suit for any kind of assembly operation. This paper developed a compliance control integration system as well as a human-computer interaction interface based on visual and force sensor. Then an experimental platform was set up to carry out a basic compliant assembly task-Cylindrical peg-in-hole assembly. As a result active compliance assembly can reduce a variety of assembly error using self-perception and control. Whats more, it can take the initiative to control the assembly as well as reduce damage of the components caused by passive compliant device.

Motion Control of a Master–Slave Minimally Invasive Surgical Robot Based on the Hand-Eye-Coordination

During a robot-assisted minimally invasive surgery, the surgeon controls the surgical instruments insides the patient’s body through teleoperation. For the surgeon, the endoscope and the surgical instruments insides the patient’s body are just like his/her own “eyes” and “hands” extended in space. Hence the motion alignment between the master control handles and the end effectors of the associated slave manipulators should be carefully designed so as to maximally coordinate the “hand” and the eye of the surgeon, which can give the surgeon the same feeling as carrying out an open surgery. However, for different types of master–slave minimally invasive surgical robots, how to design the master–slave motion aligning strategy to realize “How You Move Is What You See”, is still not answered in relative researches. In this paper, we will try to find an answer to this question.