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Assist-as-needed policy for movement therapy using telerobotics-mediated therapist supervision
, Article Control Engineering Practice ; Volume 101 , 2020 ; Behzadipour, S ; Salarieh, H ; Tavakoli, M ; Sharif University of Technology
Elsevier Ltd
2020
Abstract
In this paper, a new impedance-based teleoperation strategy is proposed for assist-as-needed tele-rehabilitation via a multi-DOF telerobotic system having patient–master and therapist–slave interactions. Unlike a regular teleoperation system and as the main contribution of this work to minimize the therapist's movements, the therapist's hand only follows the patient's deviation from the target trajectory. Also it provides a better perception of the patient's problems in motor control to the therapist The admissible deviation of the patient's limb from a reference target trajectory is governed by an impedance model responding to both patient's and therapist's interaction forces. As the other...
Design and Implementation of a Master Robot for a Fracture Reduction Robotic Telesurgery System
, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor)
Abstract
Common fracture treatments include open reduction and intramedullary nailing technology. However, these methods have disadvantages such as intraoperative X-ray radiation, delayed union or nonunion and postoperative rotation. Robots provide a novel solution to the aforementioned problems while having new challenges. The robotic system used in the study by providing more precise motion and exerting higher amount of forces makes the operation procedure more straightforward. In a normal operation 300-400 N of extension force would be needed which is fully provided by the surgen which leads to physical his/her (khastegi), by using the robotic system however, this force is simply provided without...
Tele-echography of moving organs using an Impedance-controlled telerobotic system
, Article Mechatronics ; Volume 45 , 2017 , Pages 1339-1351 ; 09574158 (ISSN) ; Salarieh, H ; Behzadipour, S ; Tavakoli, M ; Sharif University of Technology
Elsevier Ltd
2017
Abstract
A novel impedance-controlled teleoperation system is developed for robot-assisted tele-echography of moving organs such as heart, chest and breast during their natural motions (beating and/or breathing). The procedure of devising the two impedance models for the master and slave robots is developed such that (a) the slave robot holding the ultrasound (US) probe follows the master trajectory but complies with the oscillatory interaction force of the moving organ, and (b) the sonographer receives feedback from the non-oscillatory portion of the slave-organ interaction force via the master robot similar to the haptic feedback received in echography of a stationary organ. These goals are...