Robotics and Biomimetics

http://link.springer.com/journal/40638

List of Papers (Total 67)

Kinematic study and implementation of a bio-inspired robotic fish underwater vehicle in a Lighthill mathematical framework

This paper has focused on the formulation of the biological fish propulsion mechanism given by Sir J. Lighthill mathematical slender body theory for a bio-inspired robotic fish. A 2-joint, 3-link multibody vehicle model biologically inspired by a body caudal fin (BCF) carangiform fish propulsion is designed. The objective is to investigate and show that a machine mimicking real ...

State of the art: micro-nanorobotic manipulation in single cell analysis

Single cell analysis is an essential research approach to reveal the secret of life. At such a small scale, it puts forward higher demand on the accuracy of the cell manipulation system. This paper reviews the state of the art of micro-nanorobotic manipulation in single cell analysis. First, the key applications of the micro-nanorobotic manipulation system in single cell analysis ...

Experimental design and signal selection for construction of a robot control system based on EEG signals

Aiming to develop an noninvasive BMI control system with EEG (electroencephalogram) signals to control external devices such as prostheses and robots for rehabilitation and/or power support, four different tasks corresponding to different brain excitation degrees are designed. Their EEG spectra are analyzed with short-time fast Fourier transform (STFFT), and their features of mu ...

Cell segmentation and pipette identification for automated patch clamp recording

A visual-based approach for identifying living cells and performing the automated patch clamp recording was reported. Based on the image processing and blob detection algorithm, the vision-based method was developed for the detection and identification of biological cells and micropipette. The method was implemented in a micromanipulation system that enabled the identification of ...

Performance analysis of 3-D shape measurement algorithm with a short baseline projector-camera system

A number of works for 3-D shape measurement based on structured light have been well-studied in the last decades. A common way to model the system is to use the binocular stereovision-like model. In this model, the projector is treated as a camera, thus making a projector-camera-based system unified with a well-established traditional binocular stereovision system. After ...

The FES-assisted control for a lower limb rehabilitation robot: simulation and experiment

To design a control strategy for iLeg, an exoskeleton robot developed for lower limb rehabilitation aiming at investigating the feasibility of integrating functional electrical stimulation (FES) with robot-based rehabilitation training, an FES-assisted training strategy combined with impedance control, has been proposed in this paper. Through impedance control, an active compliance ...

Interactive actuation of multiple opto-thermocapillary flow-addressed bubble microrobots

Opto-thermocapillary flow-addressed bubble (OFB) microrobots are a potential tool for the efficient transportation of micro-objects. This microrobot system uses light patterns to generate thermal gradients within a liquid medium, creating thermocapillary forces that actuate the bubble microrobots. An interactive control system that includes scanning mirrors and a touchscreen ...

A novel RGB Fourier transform-based color space for optical microscopic image processing

This paper presents an IF1F2 color space for describing colors in microscopic images. Unlike the classical color spaces that treat the R, G, and B (RGB) components of a pixel’s color as independent elements, the proposed color space treats RGB as a sampled spectral signal, called a RGB signal. Then, based on the Fourier spectrum analysis of the RGB signal, the 1-D discrete Fourier ...

Enhanced assessment of limb neuro-mechanics via a haptic display

Current state-of-the-art quantitative assessments of abnormal neuro-mechanics (e.g., spasticity, rigidity, dystonia) require sophisticated measurement systems that, together with the lengthiness of the data acquisition, make these approaches impractical for the clinical setting. Our long-term goal is to create a tool that enhances the capability of therapists to diagnose abnormal ...

A two-axis cable-driven ankle-foot mechanism

This paper describes a novel cable-driven ankle-foot mechanism with two controllable degrees of freedom (DOF) in dorsiflexion-plantarflexion (DP) and inversion-eversion (IE). The presented mechanism is a proof of concept to demonstrate feasibility. Ankle kinematic measurements demonstrate that ankle IE rotations during a step turn are significantly different from walking on a ...

Learning search polices from humans in a partially observable context

Decision making and planning for which the state information is only partially available is a problem faced by all forms of intelligent entities they being either virtual, synthetic or biological. The standard approach to mathematically solve such a decisional problem is to formulate it as a partially observable decision process (POMDP) and apply the same optimisation techniques ...

Bioinspired non-invasive radial pulse sensor: from biomimetic design, system calibration, to clinic application

The research work aims at developing a real-time non-invasive metabolism and blood circulation surveillance system for monitoring human’s health condition by sensing the various bio-signals on the human body. Our goal is to use the developed system to study the functions and characters of organs and tissues that highly relate with the metabolism and blood circulation system, and ...

Terrain perception for a reconfigurable biomimetic robot using monocular vision

This paper presents a reconfigurable biomimetic robot which is able to crawl and roll. The robot mimics the morphology of a huntsman spider that can transform between crawling and rolling by reconfiguring its legs. Terrain perception for reconfigurable biomimetic robots has not been studied in literature. This work tends to perceive and segment the terrain when the robot is ...

Shape of mole nose providing minimum axial resistance

Introduction As a carrier of different sensors, moles can penetrate into the regolith automatically and keep investigating the subsurface environment continuously. In this section, features of several moles with different applications are introduced to explain why we choose a hammer-driven mole to study. Mole driven by a hammer In this section, the penetrating principle of a ...

Magnetic microrobot and its application in a microfluidic system

This paper researches the design and control method of a microrobot in a microfluidic system by electromagnetic field. The microrobot can move along the microchannel to a required position, and by changing the magnetic torque, the microrobot can also rotate in the microfluidic chip. As an application of the microrobot, it is used as a mobile micromixer to mix two solutions in the ...

Towards developing a robot assistant for uterus positioning during hysterectomy: system design and experiments

Background In traditional laparoscopic hysterectomy, an assistant is typically assigned to hold a uterus manipulator to facilitate the surgical procedures. The responsibility of the assistant is to position the uterus according to the primary surgeon’s instructions. Throughout the surgery, which typically lasts more than 90 min, the assistant has to support the uterus manipulator ...

Path planning of mechanical polishing process for freeform surface with a small polishing tool

Products with freeform surface are widely applied in industries, and the surface quality plays an important role in order to fulfill the targeted functions. As polishing path of small polishing tool affects the polishing removal function considerably, it is highly necessary to study the polishing path of freeform surface for obtaining good polishing efficiency and well-proportioned ...