Aalborg Universitet Augmented Cellular Meat Production

Content Provider	Semantic Scholar
Author	Rehm Skovgaard, Rasmus
Copyright Year	2017
Abstract	Humans can amazingly well manipulate objects without firm grasp. After a couple of hours of training, an ordinary person could perform basic tricks in rolling spheres on palms of his or her hands, as it would be done by a contact juggler. These observations indicate feasibility of motion planning and motion control assignments and relative simplicity for a human to learn such agile behaviors despite of diversity of human hands and known imperfections and deficiencies of their motor control systems. These cognitive experiments provoke roboticists to develop benchmark set-ups to mimic or to extend human capabilities. The talk provides a comprehensive discussion on one of such conceptual designs and on the computational challenges associated with planning and controlling rolling motions of objects on a palm of a robotic hand. Here, we explore the so-called “Butterfly robot” example, originally proposed by Drs. Lynch and Mason in 1998 to test different strategies for dynamic manipulations. The robot has two identical plates with smooth boundaries, fixed on a constant distance from each other, so that a ball can freely roll on them. The plates are in the vertical plane and can be rotated by an electrical motor to form stable rolling motions of the ball. The curvature of the plates’ boundary changes its sign mimicking a human hand. Along with a comprehensive discussion of the problem, we will provide insights into analytical and computational methods that allowed solving the long-standing task and performing validating experiments. The talk will be concluded by a discussion on related open problems as well as perspectives provided by the development for advancing robotic systems in industrial and service robotic manipulation assignments. 6 Aalborg U Robotics Workshop 5 Introduction to the EXOTIC project Authors: Lotte N. S. Andreasen Struijk, Anne Marie Kanstrup, Shaoping Bai, Thomas Bak and Thomas Moeslund Abstract: Population ageing is challenging the number of available caregivers for individuals with functional disabilities. Exoskeleton (Exo) technology has a great potential to both rehabilitate and empower disabled citizens and to protect caregivers from injuries. However, the technology is facing a paradox: The larger disability, the larger the potential of using an Exo, and yet the harder it is to control it. Additionally, if the technology is not acceptable for the user it will not be used. Acceptance requires an aesthetic system that is applicable in daily life. Therefore, we will initiate a project in 2018 concerning a user-based, tongue-controlled arm/hand Exo as a platform for a full-body AAU bio-exoskeleton: the EXOTIC. We will give a brief introduction to the EXOTIC project, in which it is essential to unite user centred-design, bio-interfacing, artificial intelligence, control and mechanics into the bio-controlled Exo. Population ageing is challenging the number of available caregivers for individuals with functional disabilities. Exoskeleton (Exo) technology has a great potential to both rehabilitate and empower disabled citizens and to protect caregivers from injuries. However, the technology is facing a paradox: The larger disability, the larger the potential of using an Exo, and yet the harder it is to control it. Additionally, if the technology is not acceptable for the user it will not be used. Acceptance requires an aesthetic system that is applicable in daily life. Therefore, we will initiate a project in 2018 concerning a user-based, tongue-controlled arm/hand Exo as a platform for a full-body AAU bio-exoskeleton: the EXOTIC. We will give a brief introduction to the EXOTIC project, in which it is essential to unite user centred-design, bio-interfacing, artificial intelligence, control and mechanics into the bio-controlled Exo. 6 Aalborg U Robotics Workshop 6 Tongue Control of Assistive Robotic Arms Authors: Lotte N. S. Andreasen Struijk, Rasmus Kobborg, Christian Andersen, Andreas Norman, Max Hildebrand, Rikke Gade and Frederik Bonde Abstract: The current lack of hand-free interfaces to Assistive Robotic Arms (ARM) compromises their use for those most in need: severely paralyzed users. At the same time, it has been shown that the need of assistance can be reduced with up to 41% by use of an ARM. This may have significant prospects for the current yearly societal cost of 1.8 billion kr related to caregivers for severely paralyzed individuals in Denmark alone. Therefore, we have researched in alternative robotic control methods based on tongue interfacing. We will present three different novel control methods: Direct actuator control, Cartesian endpoint control and semiautonomous control of an ARM based on tongue interfacing. The latter is a result of a 4 semester project performed by students from the Bachelor in robotics at AAU. The current lack of hand-free interfaces to Assistive Robotic Arms (ARM) compromises their use for those most in need: severely paralyzed users. At the same time, it has been shown that the need of assistance can be reduced with up to 41% by use of an ARM. This may have significant prospects for the current yearly societal cost of 1.8 billion kr related to caregivers for severely paralyzed individuals in Denmark alone. Therefore, we have researched in alternative robotic control methods based on tongue interfacing. We will present three different novel control methods: Direct actuator control, Cartesian endpoint control and semiautonomous control of an ARM based on tongue interfacing. The latter is a result of a 4 semester project performed by students from the Bachelor in robotics at AAU. 6 Aalborg U Robotics Workshop 7 Plasticity and Functional Differences Following a BCI-Controlled Robotic Intervention in Spinal Cord Injury Authors: Kasper Kunz Leerskov, Erika Spaich, Mads Jochumsen and Lotte N. S. Struijk Andreasen Abstract: Background: Recent development in the rehabilitation of spinal cord injury (SCI), include the use of powered exoskeletons, which has been shown to be on par with conventional therapy. It is suggested that rehabilitation of SCI patients, can be further facilitated by combining a braincomputer interface (BCI) with the exoskeleton. Background: Recent development in the rehabilitation of spinal cord injury (SCI), include the use of powered exoskeletons, which has been shown to be on par with conventional therapy. It is suggested that rehabilitation of SCI patients, can be further facilitated by combining a braincomputer interface (BCI) with the exoskeleton. Hypothesis: Using a BCI for exoskeleton control, plastic and functional recovery is improved compared to regular exoskeleton training. Methods: Over the course of a PhD study, a BCI for step-intention detection in able-bodied and SCI patients, will be developed and integrated into the control of an exoskeleton. In a crossover study, subjects will receive exoskeleton training with and without BCI-control. Using measures for changes in the brain and spinal cord, together with functional measures related to gait, the difference in outcomes when using the BCI for exoskeleton control will be analyzed. Potential significance: In the event of positive results in favor of utilizing the BCI for controlling the exoskeleton, an indication has been given, that BCI technology could be used in rehabilitation with positive effects on recovery. 6 Aalborg U Robotics Workshop 8 Design of a tendon network for a dexterous assistive glove Authors: Mohamed M. Hamdy, Lotte N.S. Andreasen Struijk, Strahinja Dosen, Erika G. Spaich Abstract: Background: An assistive glove could improve the quality of life of patients who suffer from hand impairment. Such a glove must assist performing meaningful tasks and different types of grasping by means of a small and lightweight device. The types of grasps, which are most required by patients are power grasp, pinch grasp, and tripod grasp, which will be the focus of this study. Background: An assistive glove could improve the quality of life of patients who suffer from hand impairment. Such a glove must assist performing meaningful tasks and different types of grasping by means of a small and lightweight device. The types of grasps, which are most required by patients are power grasp, pinch grasp, and tripod grasp, which will be the focus of this study. Purpose: In this study, the authors investigate the ability of the glove to perform the aforementioned grasps using a continuous tendon configuration on the palmar side of the hand and springs over the dorsal side of the hand. Methods: The springs are responsible for producing the different hand postures (grasps). The tendon on the palmar side is designed to perform a stable grasping even if the object shape is irregular. Finally, a “Stepped differential mechanism” is applied to the fingers to overcome hyperextension and abnormal finger movements while grasping. Expected results: The proposed tendon configuration is expected to provide the ability to perform stable grasps using different postures (grasp types). The tendon network will be used as a component in the design of a complete glove that will assist patients in daily-life manipulation tasks. 6 Aalborg U Robotics Workshop 9 Semi-autonomous control of artificial limbs Authors: Strahinja Dosen Abstract: Introduction: Modern artificial limbs (exoskeletons, prostheses) are advanced mechatronics systems with many available functions. For example, there are hand prostheses that have individually controllable fingers. However, due to limitations in the human machine interfacing, the users cannot exploit this advanced functionality. In the conventional approach to control, the user is responsible for generating command signals for all the degrees of freedom (DOFs). Introduction: Modern artificial limbs (exoskeletons, prostheses) are advanced mechatronics systems with many available functions. For example, there are hand prostheses that have individually controllable fingers. Howeve
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