Control Systems Design of Bio-Robotics and Bio-Mechatronics with Advanced Applications

Front Matter
Copyright
Contributors
Foreword
	References
Preface
	About the book
	Objectives of the book
	Organization of the book
	Book features
	Audience
	Acknowledgments
Human-robot interaction for rehabilitation scenarios
	Introduction
	Related work
		Social robotic agents
		Applications in rehabilitation and healthcare
	Human-robot interfaces for rehabilitation scenarios
		Proposed robot-based therapy model
		Rehabilitation scenarios
			Current state of cardiac rehabilitation
				Phase II
			Cognitive human-robot interface proposal for CR
				System modules
				Sensor manager
				Human-computer interface
				Social robotic agent
		Current state of neurological rehabilitation
			Cognitive human-robot interface proposal for NR
				System modules
				Sensor manager
				Human-computer interface
				Social robotic agent
	Experimental studies
		Cardiac rehabilitation longitudinal study
			Experimental procedure
			Results of the study
		Neurological rehabilitation repeated measurements study
		Experimental procedure
		Results of the study
	Discussion
	Conclusions
	References
State observation and feedback control in robotic systems for therapy and surgery
	Introduction
	Needle insertion procedures
		Related work
		Modeling
		Measurement and observation
		Planning
		Control
			Sliding mode control in needle steering
			2D switching control
			Three-dimensional sliding mode control
			PWM switching and sliding mode control
	Beating-heart surgery
		Related work
		Measurements and feedbacks
		Control
			Position-based control methods
			Force-based control methods
			Impedance-based control methods
	Discussion
	Conclusion
	References
Robin Heart surgical robot: Description and future challenges
	Introduction
		From telecommunication to teleaction
		Surgical robots in Poland-Important dates and facts
	Surgical robots
	Robin Heart
		Robin Heart innovation
		Construction-Modularity of structures
		New tools
		Control system
			Force feedback
			User interfaces
			Robotic safety system
			Robotics and remote action
		Surgery planning
		Surgery training
	Future directions for the Robin Heart project
		Flex tools and STIFF-FLOP
		AORobAS project
		Hybrid surgery robots
		Robin Heart Synergy
		Robin Heart Pelikan and lightweight robots technology
	Discussion ``challenges and limitations´´
		Decision-making and artificial intelligence
		How the surgeons decision is made
		Ergonomics
		Software ergonomics
		How to improve the decision making system of the surgeon-The robots operator
	Conclusion
	References
	References
	Further reading
Real-time object detection and manipulation using biomimetic musculoskeletal soft robotic grasper addressin ...
	Introduction
	Related work
		Vision perception
		Robotic gripper
		Tactile sensing
	Object detection and hand-eye calibration
		Object identification using color stream data
		Depth data
		Orientation estimation
		Hand-eye calibration
	Planning and manipulation
		Hybrid robotic gripper
		Planning and control
	Data collection
	Conclusion and future work
	Acknowledgments
	References
Formal verification of robotic cell injection systems
	Introduction
	Related work
	Formal methods
		Probabilistic model checking and PRISM
		Theorem proving and HOL Light
	Model checking-based analysis of robotic cell injection systems
		Robotic cell injection systems
		Proposed formal model
			Proposed modeling approach and formalization
		Formalization of the plant
			Formalization of the controller
			Formalization of the random factors
	Theorem proving-based analysis of robotic cell injection systems
		Formalization of the coordinate frames and their interrelationship
		Formalization of the motion planning of the injection pipette
	Discussions
	Conclusions
	References
Identifying vessel branching from fluid stresses on microscopic robots
	Introduction
	Related work
	The geometry of microscopic vessels
	Robot stresses and motion in vessels
		Stresses on robot surface
		Changing stress patterns
	Classifying vessel geometry
	Applying the classifier to identify branches
		Example
		Selecting a threshold to identify branches
		Verification after passing a curve or branch
	Classification performance
		Accuracy
		When branches are identified
		Noise
	Discussion
	Conclusion
	Appendix
		Samples of robot motion in small vessels
		Identifying branches from stress measurements
			Regression classifier for branch detection
			Computational requirements
	Acknowledgment
	References
Navigation and control of endovascular helical swimming microrobot using dynamic programing and adaptive s ...
	Introduction
	3D optimal path planning
	Dynamic modeling
	Adaptive sliding mode control
	Simulation results
	Conclusion
	References
Robotics in endoscopic transnasal skull base surgery: Literature review and personal experience
	Introduction
	Nonrobotic endoscope holders
		Mechanical fixation type
		Pneumatic fixation holders
		Piezoelectric fixation holders
		Survey on endoscope holders
	Prototypes for endoscopic transnasal skull base surgery: Literature review and personal experience
		Robotic interface
		Continuum robotics
		Hybrid robotics
	Clinical applications of robotics in transnasal endoscopic skull base surgery: Literature review
	A novel, commercially available hybrid system: Initial preclinical and clinical experience
	Conclusions
	References
	Further reading
Strategies for mimicking the movements of an upper extremity using superficial electromyographic signals
	Introduction
	Process of prostheses control
		Type of prostheses
		Types of prostheses control
		Protocol for prosthesis control using sEMG signals
	Electrodes for sEMG signals acquisition
		Types of electrodes
			Surface electrodes
				Passive electrodes
				Active electrodes
			Electrodes configuration
		Active electrodes
			Introduction
			Dry electrodes
			Signal acquisition system
			Active electrodes developed
	Superficial EMG (sEMG) signals
		Introduction
			EMG signal bases
		sEMG signal processing
			Introduction
			Signal processing techniques
				Normalization of the processed signals
			Feature extraction methods
				Wavelet transform analysis
				Hilbert-Huang transform analysis
			Classification methods
				Kalman filter
				Göertzel filter
	Discussions
	Conclusion
	References
Automated transportation of microparticles in vivo
	Introduction
		In vivo environment
		Optical tweezers
	Identification and tracking of microparticles in vivo
		The identifying of fluorescently labeled microparticles
		The identifying of the nonfluorescently labeled microparticles
		In vivo tracking microparticle
	Transportation of microparticles in vivo
		In vivo cell transport with P-type controller
		In vivo cell transport with the disturbance compensation controller
		The enhanced disturbance compensation controller
		Experiments
	Collision avoidance in vivo
		Collision-avoidance vector methods
		Collision-avoidance controller
		Collision-avoidance operators
		Experiments
	Conclusion and future work
	References
Medical nanorobots: Design, applications and future challenges
	Introduction
	Related work
	Medical nanorobotic components design and selection
		Nanoelectronic chips in nanorobots
			Nanomaterials-based nanoelectronics
			Nano optomechanical systems for nanoelectronic chips
		Nanosensors in nanorobots
			Polymer clusters as nanosensors
			Silver-based nanocluster nanosensors
		Nanoactuators in nanorobots
			Electrostatic force-based nanoactuators
			CNTs-based nanoactuators
			Viral protein-based nanoactuators
			Prefoldin-based nanoactuators
			Focused ion beam manufactured, thermally driven nanoactuators
	Applicable designs
		Drug delivery system using hydrogel bilayer
			Hydrogel bilayer fabrication
		Artificial bacterial flagella
			Fabrication and magnetic actuation
				Controlled fabrication
				Magnetic actuation
				Motion control
					Steering precision
					Shape optimization
		Rotating nickel nanowire
			Fabrication and characterizations
				Magnetic actuation
		Positioning and control
			Control by gradient field
				OctoMag
				MiniMag
				Control by rotating field
					Helmholtz
	Biomedical applications
		Surgical nanorobots
			Nanotechnology in surgical tool
			Nanocoated blades
			Suture nanoneedles
		Optical nanosurgery
			Optical tweezers
			Femtosecond laser neurosurgery
		Nanocoated implant surfaces
		NPs for wound dressing
		Tissue engineering
		Nanorobots for cellular-level surgery
			Augmented reality system
			Local drug delivery
			Online monitoring for nanosurgery
		Cancerous tumor killing using nanorobots
		Laparoscopic cancer surgery using nanorobots
		Cell cutting using nanorobots
		Bacteria propelled nanorobots
		Heart surgery using nano robots
	Discussion
	Conclusion
	References
	Further reading
Impedance control applications in therapeutic exercise robots
	Introduction
	Related work
	Background of therapeutic exercises
		Movement types
		Exercise types
	Impedance control techniques
		Position-based impedance control
			General model
			Position-based impedance model of Yoshikawa
		Force-based impedance control
		Hybrid impedance control
		Variable (angle-dependent) impedance control
	Therapeutic exercise modeling via impedance control
		Passive exercise
		Active-assistive exercise
		Isometric exercise
		Isotonic exercise
		Isokinetic exercise
	Impedance-controlled rehabilitation robots
		PHYSIOTHERABOT
			Intelligent controller
			Robot manipulator
			Electronics hardware
			Dynamic analysis
			Position-based impedance control of the PHYSIOTHERABOT
		PHYSIOTHERABOT/w1
			Human-machine interface
			Electronics hardware
			Robot manipulator
			Kinematic and dynamic analysis
			Hybrid impedance control of the PHYSIOTHERABOT/w1
				Hybrid impedance parameters selection according to exercise types
		DIAGNOBOT
			Robot manipulator
			Electronics hardware
			Dynamic analysis
			Control of the DIAGNOBOT
	Discussion
	Conclusion
	Acknowledgments
	References
Architecture and application of nanorobots in medicine
	Introduction
	Design of nanorobotic systems for cancer therapy
		Mechanized technology
		Chemical sensor
		Power supply
		Data transmission
	System implementation
	Chemical signals inside the body
	Simulator results
	Design of nanorobotic systems for cerebral aneurysm
		Nanorobot for intracranial therapy
		Nanorobot hardware architecture
			Manufacturing technology
			Chemical sensor
			Actuator
			Power supply
			Data transmission
		Implementation and simulation results
	Medical application of nanorobots
	Nanorobots in cancer treatment
	Nanorobots in cerebral aneurysm
	Conclusion
	Forthcoming nanomedicine
	References
	Further reading
Index
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