PURPOSE This study aims to assess the extent to which accelerometers can be used to determine the effect of robot-supported task-oriented arm-hand training, relative to task-oriented arm-hand training alone, on the actual amount of arm-hand use of chronic stroke patients in their home situation. METHODS This single-blind randomized controlled trial included 16 chronic stroke patients, randoml...

In this paper an adaptive neuro fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part is presented. The capability of the proposed method (we named ANFIS2) to function approximation and dynamical system identification is shown. The ANFIS2 structure ...

Previous studies have proposed methods for admittance and impedance control for a finger-arm robot using the manipulability of the finger. Based on the previous theories, the authors have proposed an admittance control for a multifinger arm robot using the manipulability of the fingers in this study. Two 3-DOF fingers are attached to the end-effector of a 6DOF arm to configure a multi-finger ar...

in order to determine the stability of underwater robots, their governing differential equations of motion in vertical and horizontal planes should be investigated. for horizontal plane stability, using routh stability criterion, four hydrodynamic coefficients, including derivatives of the lateral force and vertical moment with respect to sway and angular velocity are required. these coefficien...

Obviously navigation is one of the most complicated issues in mobile robots. Intelligent algorithms are often used for error handling in robot navigation. This Paper deals with the problem of Inertial Measurement Unit (IMU) error handling by using Extended Kalman Filter (EKF) as an Expert Algorithms. Our focus is put on the field of mobile robot navigation in the 2D environments. The main chall...

The paper deals with the stability of control algorithms in extended operational space for redundant robots. We compare the performance of the control algorithm based on minimal-null space projection and pseudoinverse based projection into the Jacobian null space. We show how the null-space projection affects the stability of the null-space tracking algorithm. The results are verified with the ...

Motion planning is an essential activity in executing manipulation tasks with robot arms like welding, painting or simple “pick-and-place” operations. A typical requirement for such tasks is to achieve flexibility of the robot arm motion similar to that of a human hand. The objective of the here proposed mathematical model is to satisfy this requirement in path planning a robot arm motion with ...

A new type of spherical robot, called KisBot, is presented that includes arms and two types of driving mode: rolling and wheeling. In the rolling mode, the robot uses its arms as pendulums and works like a pendulum-driven robot, while in the wheeling mode, it extends its arms to the ground and works like a one-wheel car. The basic design idea of KisBot is introduced and a prototype is implement...