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assistive-robot
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Design performance characteristics of a social robot companion "Arash" for pediatric hospitals
, Article International Journal of Humanoid Robotics ; Volume 15, Issue 5 , 2018 ; 02198436 (ISSN) ; Shariati, A ; Alemi, M ; Amoozandeh Nobaveh, A ; Khamooshi, M ; Mozaffari, B ; Sharif University of Technology
World Scientific Publishing Co. Pte Ltd
2018
Abstract
This paper presents the design process and construction of a mobile social robot companion "Arash" for educational and therapeutic intervention for children with chronic diseases; one which is based on their interests and needs. This study concentrates on children with cancer who suffer from physical pain caused by both the disease and its treatment. Moreover, cancer treatment causes emotional distress, which can reduce the efficiency of medications. Using social robots to interact with ill children in a hospital environment could decrease their distress, thereby improving the efficiency of the treatment. Arash is a 15 degrees-of-freedom cost effective humanoid mobile robot companion,...
Design of an Active Exoskeleton Robot to Assist Human Elbow and Wrist Motion
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor) ; Firozbakhsh, Keikhosrow (Co-Advisor)
Abstract
Most elderly and physically disabled people suffer from lack of functionality and dexterity in their elbow or wrist. These disabilities are due to the damages mostly caused by sport surgery, spinal surgery, or stroke. Therefore, design of an assistive exoskeleton robot for upper limb movements seems necessary. The purpose of this study is to design, fabricate and deliver a control algorithm for an assistive wearable robot. The robot has three degrees of freedom in order to help the flexion/extension of elbow and wrist. Dynamic and kinematic model of elbow, forearm, and wrist is developed to determine the amounts of torques which are required in the joint actuators mounted on the robot....
Design and control of an assistive exoskeleton with passive toe joint
, Article International Journal of Mechatronics and Automation ; Volume 6, Issue 2-3 , 2018 , Pages 83-93 ; 20451059 (ISSN) ; Shariat, A ; Khezrian, R ; Zibafar, A ; Rashidi, A. R ; Rostami, H ; Vossoughi, G. R ; Selk Ghafari, A ; Sharif University of Technology
Inderscience Enterprises Ltd
2018
Abstract
Several exoskeletons with various configurations and degrees-of-freedoms (DOFs) have been introduced in the literature, but not many have addressed the optimal selection of the mechanism's DOFs. In the proposed system a semi-passive toe joint is introduced to achieve several advantages. The performance of the proposed novel passive toe joint is evaluated experimentally. In addition, the semi-passive abduction/adduction DOFs in the hip joint and eversion/inversion DOFs in ankle joint is proposed to facilitate turning while providing more comfort during normal walking. The effect of passive DoFs existence on the user comfortability is studied with the aid of three kinematic indices. In the...
Control of an Active Exoskeleton Robot to Assist Human Elbow and Wrist Motion
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor) ; Behzadipour, Saeed (Co-Advisor)
Abstract
Most elderly and physically disabled people suffer from lack of functionality and dexterity in their elbow or wrist. These disabilities are due to the damages mostly caused by sport surgery, spinal surgery, or stroke. Therefore, design of an assistive exoskeleton robot for upper limb movements seems necessary. The purpose of this study is to design, fabricate and deliver a control algorithm for an assistive wearable robot. The robot has two degrees of freedom in order to help the flexion/extension of elbow and wrist. Furthermore, various kinds of control systems incorporated in rehabilitation robots are investigated and their advantages and drawbacks are compared. Then, some conventional...
Design and prototype of an active assistive exoskeletal robot for rehabilitation of elbow and wrist
, Article Scientia Iranica ; Volume 23, Issue 3 , 2016 , Pages 998-1005 ; 10263098 (ISSN) ; Zohoor, H ; Khadem, S.M ; Sharif University of Technology
Sharif University of Technology
2016
Abstract
Due to the increasing number of people suffering from physical disabilities in the elbow and wrist, developing an assistive wearable robot seems crucial. These disabilities are mostly common in elderly people and people who are suffering from spinal injury or stroke. In this paper, a wearable assistive robot for rehabilitation of the wrist and elbow is developed. The mechanism has 3 Degree of Freedom (DoF); two active DoF for assisting the exion/extension of the elbow and wrist, and a passive one in order to have unconstrained supination/pronation of the forearm. The motors and sensors were chosen based on kinematic constraints governing the motion of arms and wrists. Finally, with the...
A socially aware SLAM technique augmented by person tracking module
, Article Journal of Intelligent and Robotic Systems: Theory and Applications ; Volume 99, Issue 1 , 2020 , Pages 3-12 ; Meghdari, A ; Alemi, M ; Sharif University of Technology
Springer
2020
Abstract
In recent years the development of Simultaneous Localization and Mapping (SLAM) techniques have enabled social robots to autonomously navigate in routine human workplaces. However, most common SLAM techniques are developed for mapping and localization in static worlds. In this paper, we have developed and analyzed a novel augmentation of the FastSLAM algorithm, including a person tracking module using 2D LiDAR sensor data. Utilizing this module, the SLAM algorithm is capable of filtering measurements coming from walking people who produce noises due to their intrinsic dynamic and unstableness. This augmentation was developed and then tested on our socially assistive mobile robot platform,...
Marker-free detection of instruments in laparoscopic images to control a cameraman robot
, Article Proceedings of the ASME Design Engineering Technical Conference, 15 August 2010 through 18 August 2010 ; Volume 3, Issue PARTS A AND B , 2010 , Pages 477-482 ; 9780791844113 (ISBN) ; Mirbagheri, A ; Farahmand, F ; Bagheri, S ; Sharif University of Technology
Abstract
Assistant robots are widely used in laparoscopic surgery to facilitate the camera holding and manipulation task. A variety of a hands-free operator interfaces have been implemented for user control of the robots, including voice commands, foot pedals, and eye and head motion tracking systems. This paper proposes a novel user control interface, based on processing of the laparoscopic images, that enables the robot to automatically adjust the view of the laparoscopic camera without disturbing the surgeon's concentration. An effective marker-free detection method was investigated to track the instrument position in the laparoscopic images in real time so that the robot could center the...