Professor: Marek A. Perkowski, Electrical Engineering.

Assistive Robots and Smart Houses.

ROBOTS IN HEALTH CARE.

1. Robotic technology to aid surgeons.
2. Rehabilitation technology and rehabilitation robots. Wheelchairs and Prostheses.
3. Lecture 1. Robots for elderly.
4. Lecture 2. Robots in hospitals.
5. Lecture 3. Overview of rehabilitation robotics.
   
   
6. University of Bradford. Progression Towards the Intelligent Home. Slides in PPT format.
   
   
7. Reinder Bakker. Assistive Technology. Environmental Control System. In PPT format. Another set of slides about Smart Home.
   
   
8. Lecture 5. Stefanov. Muscles. Mechanical work, energy and power. Positive and negative work of muscles. Muscle mechanical power. Energy flow and storage. Pendulum system with muscles. Muscle mechanics. Basic structure of the muscle contractive element. Recruitment of motor units. Two types of motor units. Series elastic tissues.
   lecture5.ppt
   
   
9. Lecture 6. Stefanov. Muscles continued. The muscle twitch. Muscle modeling. Electromyography. EMG electrodes. Microelectrodes. Relationships between EMG activity and the muscle tension. Electromyographic kinesiology. Recoding of the EMG.
   lecture6.ppt
   
   
10. Lecture 7. Stefanov. Electrodes continued. Polarization of electrodes. EMG amplifiers. Input impedance. Frequency bandwidth. Types of amplifiers. Processing of EMG. Biopotential amplifiers. Bioamplifier circuits. Surge protection of bioamplifiers. Input guarding.
    lecture7.ppt
    
    
11. Lecture 8. Stefanov. Electrodes continued. Biopotential and other amplifiers. ECG. Surface Electromyography. Systems to sense biological parameters. ECG monitoring.
    lecture8.ppt
    
    
12. Lecture 9. Stefanov. Electrodes and prostheses. Prosthetics and orthotics.
    lecture9.ppt
    
    
13. Lecture 10. Stefanov. Lower extremity prostheses. Below-the-knee prostheses. Above-the-knee prostheses. Intelligent prostheses. Lower-extremity orthoses.
    lecture10.ppt
    
    
14. Lecture 11. Stefanov. Upper-extremity prostheses. Tomovic's Prosthetic Hand. Stanford/JPL hand. Utah/MIT hand. DRL Hand. Otto Bock's Sensor Hand. Elbow Prosthesis.
    lecture11.ppt
    
    
15. Lecture 12. Stefanov. Adaptive terminal devices. Prodigits. The Southampton Adaptive Hand. Myolectric Controlled UEP. Electric Elbows. Myoelectric Hand Orthosis.
    lecture12.ppt
    
    
16. Lectures 13 and 14. Stefanov. Feedback in prosthesis control. Prostheses controlled by myoelectric signals (MES). Analog proportional control. Programmable myoelectric control. MyoMicro System. Control Modes. Multifunction Myoelectric Control System. Pattern Recognition.
    lecture13-14.ppt
    
    
17. Lecture 15. Stefanov. NTU Prosthetic Hand. EMG signal processing. Rutgers University Hand. A Microprocessor based Multi-Function Myoelectric Control System. Prosthetic control by an EEG-based Brain Computer Interface. Intelligent Prosthetic Controller.
    lecture15.ppt
    
    
18. Lecture 16. Stefanov. Functional Neural Simulation for Movement Restoration (FNS). Response of the locomotor system to FNS. Description of the FNS signal. Block-Diagram of FNS model.
    lecture16.ppt
    
    
19. Lecture 17. Stefanov. Functional Neural Simulation for Movement Restoration (FNS). Upper Extremity FES. Review of FES systems. Bionic Glove. Restoration of standing and walking. Implantable standing FES systems. Hybrid assistive systems.
    lecture17.ppt
    
    
20. Lecture 18. Stefanov. Wheelchairs and personal transportation. Categories of wheelchairs. Patient-transfer systems. Frame design. Center of Gravity. Wheels and casters.
    lecture18.ppt
    
    
21. Lecture 19. Stefanov. Powered Wheelchairs. Scooters. Schematics. Motors and Servo-Controllers. Full Bridge circuit.
    lecture19.ppt
    
    
22. Lecture 20. Stefanov. Wheelchairs. Microprocessor control of wheelchairs. Torque loss. Interfaces. Speed control. Control modes and examples.
    lecture20.ppt
    
    
23. Lecture 21. Stefanov. Wheelchairs cont. Sensor-based control systems. Pre-conditioning. Control strategies. Examples of external sensors. Electromagnetic compatibility of powered wheelchairs. User interfaces. Interesting wheelchair construction examples.
    lecture21.ppt
    
    
24. Lecture 22. Stefanov. Go-to-goal wheelchairs. Non-holonomic kinematics. Comparison of non-holonomic and holonomic kinematics. Kinematic equations of motion. Dead reckoning. Differential steering.
    lecture22.ppt
    
    
25. Lecture 23. Stefanov. Wheelchair kinematics. Rolling wheels. Position estimation. Ackerman steering. Synchro Drive. Mecanum Wheel. Tricycle. Omni-directional drives. Beacon-based localization. Triangularization methods.
    lecture23.ppt
    
    
26. Lecture 24. Stefanov. Omni-directional wheelchairs. Stanford wheel. Mecanum wheel. Omni-directional wheelchair examples. The Vuton. Rollmobs. Omni-directional mechanisms. Stair-climbing, walking and shape-changing wheelchairs.
    lecture24.ppt
    
    
27. Lecture 25. Stefanov. Autonomous Guided Wheelchairs. TAO-1 Intelligent Wheelchair. TinMan Intelligent Wheelchair Controller. Wheelesley system. NavChair. NavBelt. Guide Cane. Drive Assistant. Senario.
    lecture25.ppt
    
    
28. Homeworks.
    homeworks.ppt
    
    
29. Paper slides. S. Fioretti, T. Leo, S. Longhi. Use of Fuzzy Logic!! ``A Navigation System for Increasing the Autonomy and the Security of a Powered Wheelchair''. Design criteria. Navigation system. User Interface. Experimental Results. Fuzzy Logic.
    Fuzzy-Wheelchair-Navigation.ppt
    
    
30. Paper. Masao Saito. Expanding Welfare Concept and Assistive Technology.
    Saito-paper.pdf
    
    
31. Paper. G. Ferrigno, N.A. Borghese, A. Pedotti, ``Pattern Recognition in 3D automatic human motion analysis.''
    Ferrigno_paper.pdf
    
    
32. Paper. B. Allen, Bus Systems in Three Tiered World Experience from the ICAN Project. (integrating various assistive technologies).
    Allen paper. pdf
    
    
33. Paper by Minzly et al, ``Computer-Controlled portable simulator for paraplegic patients.''
    Minzly_paper.pdf
    
    
34. Paper slides. Lee Hyong Euk. Guidance System for a Powered Wheelchair. Approach. Kalmam filters. Experimental results.
    guidance-for-wheelchair.ppt
    
    
35. Paper. Z.Z. Bien, K. Park, W. Bang, and D. H. Stefanov, ``LARES: An Intelligent Sweet Home for Assisting the Elderly and the Handicapped.'' From KAIST.
    lares.pdf
    
    
36. Paper slides by Kim Min-Jung. Presenting paper by A. Lankenau and T. Rofer on ``A Versatile and Safe Mobility assistant''.
    mobility-assistant.ppt
    
    
37. Paper by Hyun Keun Park et al on ``A Nursing Robot System for the Elderly and the Disabled.'' from KAIST.
    nursing-robot.pdf
    
    
38. Paper slides. Choi Jung-Yi presenter. Paper by E. Pressler, J. Scholz and P. Friorini, ``A robotic wheelchair for crowded public environments''. Hardware design. Control architecture. Tactical level. Strategic level. Motion detection and tracking. Motion planning. Velocity obstacle.
    robotic-wheelchair.ppt
    
    
39. Paper slides by Jeong-Su Han. A paper by G. Bourhis et al, ``An Autonomous Vehicle for People with Motor Disabilities.''
    wheelchair-control.ppt
    
    
40. Paper slides by Woo Hyun Soo. Paper by Holly A. Yanco on ``Wheelesley: A Robotic Wheelchair System: Indoor Navigation and User Interface.''
    wheelchair-navigation-and-interface.ppt
    
    
41. Paper on Legged Wheelchair Mobility as a research issue.
    wheelchair-paper.pdf
    
    
42. Paper slides by Y. Ming. Paper by M. Mazo et al on ``An Integrated System for Assisted Mobility.''
    wheelchair.ppt
    
    
43. Grant about disability. PSU.
    Disability.txt
    
    
44. Research Abstracts.