This paper proposes a method to improve the robustness of a robot arm control program generated by genetic programming. The idea is to evolve the control program with multiple targets in the uncertainty region. The result shows that the robustness of a control program is improved with the number of targets in the training region. The analysis showed that a program trained with more targets woul...

The Hierarchical Mixture of Experts (HME) is a well-known tree-structured model for regression and classification, based on soft probabilistic splits of the input space. In its original formulation its parameters are determined by maximum likelihood, which is prone to severe overfitting, including singularities in the likelihood function. Furthermore the maximum likelihood framework offers no n...

OBJECTIVES This study reports on a secondary exploratory analysis of the early clinical outcomes of a randomised clinical trial comparing robotic arm-assisted unicompartmental knee arthroplasty (UKA) for medial compartment osteoarthritis of the knee with manual UKA performed using traditional surgical jigs. This follows reporting of the primary outcomes of implant accuracy and gait analysis tha...

For robotic manipulators that are redundant or with high degrees of freedom (dof ), an analytical solution to the inverse kinematics is very difficult or impossible. Pioneer 2 robotic arm (P2Arm) is a recently developed and widely used 5-dof manipulator. There is no effective solution to its inverse kinematics to date. This paper presents a first complete analytical solution to the inverse kine...

This paper proposes a method to improve the robustness of a robot arm control program. The control program is generated in simulation by genetic programming. The robustness is measured in the real world. To improve the robustness, the control program is evolved with multiple robot arm configurations. The result shows that the robustness of a control program is improved by 10% compared to a cont...

In bilateral telemanipulation scenarios the human hand/arm is usually put in correspondence with a robotic hand/arm system. The kinematic structure of the human hand and of the robotic hand are typically different requiring algorithm to map human motion on the robot workspace. At the same time, the force measured at the robotic side cannot usually be displayed in the same point on the human han...

The authors present the clinical application of robotics to laryngeal surgery in terms of enhancement of surgical precision and performance of other minimally invasive procedures not feasible with current instrumentation. Presented in this article are comparisons of human arm with robotic arm in terms of degrees of freedom and discussion of surgeries and outcomes with use of the robotic arm. Ro...

High accuracy and repetitive tasks have become the two contradictory needs of any industrial process. By introducing autonomous robotic applications, simple repetitive tasks can be accomplished keeping the demands of the accuracy and speed in mind. However, developing these applications for industries becomes a major problem to be tackled in terms of cost. In this paper, the design, implementat...

We used H2(15)O PET to examine neural responses to parametrically varied degrees of discrepancy between the predicted and actual sensory consequences of movement. Subjects used their right hand to move a robotic arm. The motion of this robotic arm determined the position of a second foam-tipped robotic arm, which made contact with the subject's left palm. Using this robotic interface, computer ...