Robots that simulate patients suffering from joint resistance caused by biomechanical and neural impairments are used to aid the training of physical therapists in manual examination techniques. However, there are few methods for assessing such robots. This article proposes two types of assessment measures based on typical judgments of clinicians. One of the measures involves the evaluation of ...

This paper presents a slave robot carrying an ultrasound probe for remote echographic examination. This robot is integrated in a master-slave system called robotic tele-echography (TER). The system allows an expert operator to perform a remote diagnosis from echographic data he acquires on a patient located in a distant place. The originality of this robot lies in its architecture: the cable-dr...

An inverse kinematics algorithm for a robotic system is called repeatable, if it transforms closed paths in the task space into closed paths in the configuration space. In this paper we assume the endogenous configuration space approach and define a repeatable inverse kinematics algorithm for mobile manipulators, patterned on the extended Jacobian scheme. An examination of a dynamic system asso...

We explore two controversial hypotheses through robotic implementation: (1) Processes involved in recognition and response are tightly coupled both in their operation and epigenesis; and (2) processes involved in symbol emergence should respect the integrity of recognition and response while exploiting the periodicity of biological motion. To that end, this paper proposes a method of recognizin...

optimal balancing is a new approach based on optimal control a which modes, controls and the amount of equilibrium scale are calculated simultaneously. this approach has a significant effect on increasing performance of industrial robots which causes maximum decreasing of energy consumption. despite many applications of robotics such as welding and gluing, the path is predefined , but other unk...

Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of Permanent Magnet Synchronous Motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is a challenging problem. This article presents a novel tracking control of electrically driven robots wh...

This paper presents a new robotic mechanism for ultrasound imaging. The device is placed on a patient's body by an operator, and an ultrasound expert controls the motions of the device to obtain ultrasound images. The paper focuses on the robotic mechanism that performs ultrasound imaging. The design of the mechanism is based on two approaches to produce center of motion for an ultrasound probe...

ABSRACTThis study presents the kinematic analysis of a four-degree freedom medical robotic arm using the Matlab and the robotic-tool, the arm was designed using a solid work program, As well as details of the control of the real design of this arm using Arduino Mega 2560, The specialist enters the position to be reached by the automatic arm (injection position), Or moving the arm to any p...

The robotic nurse plays an essential role in a successful robotic surgery. As part of the robotic surgical team, the robotic nurse must demonstrate a high level of professional knowledge, and be an expert in robotic technology and dealing with robotic malfunctions. Each one of the robotic nursing team "nurse coordinator, scrub-nurse and circulating-nurse" has a certain job description to ensure...