Optimization based trajectory planning for real-time 6DoF robotic patient motion compensation systems

Vibration Control of a Helicopter Rescue Simulator on a Flexible Base

The vibration compensation control of a hovering helicopter rescue simulator mounted on a crane beam is studied in this research. A Stewart platform is used as the motion generator of the helicopter simulation cabin and the vibration compensation device of the beam, simultaneously. This study describes how the dynamic model of the Stewart platform with consideration of the beam vibration is established. To determine the interference of the Stewart platform motion control in the special application of a large component flexible base requiring large-scale movement, a hybrid vibration controller composed of a feed-forward compensation module and a PD (proportional-derivative) feedback control module is designed. The experimental results show that this method can effectively compensate for the beam vibration and improve the accuracy of the motion reproduction of a helicopter simulation cabin.

Biomechanics Analysis of the Lower Limbs in 20 Male Sprinters Using the International Society of Biomechanics Six-Degrees-of-Freedom Model and the Conventional Gait Model

BACKGROUND This biomechanics study of the lower limbs aimed to compare the use of the International Society of Biomechanics Six-Degrees-of-Freedom (ISB-6DOF) model and the conventional gait model (CGM), formerly known as the Helen Hayes model, in 20 male sprinters who habitually used the forefoot (FF) or rearfoot (RF) strike modes. MATERIAL AND METHODS We used a motion capture system to compare the difference in lower-extremity joint mechanics between sprinters' forefoot or rearfoot strike mode during unplanned sidestepping (UPSS). Twenty elite sprinters participated in a motion capture test under 2 models. Each of the 10 participants were classified as having a habitual forefoot strike mode or rearfoot strike mode during unplanned sidestepping. Joint mechanics and gait parameters were calculated according to the designed movement. RESULTS Comparison of the 2 models showed that the knee joint angles were inconsistent (P<0.05), highlighting the difficulty of the Helen Hayes model in anatomical recognition. The results of the 2 models show that during the unplanned sidestepping, the sprinter using the habitual rearfoot strike mode had a greater load through the knee joint (P<0.05). Sprinters who used the habitual forefoot strike mode experienced greater load through their ankle joints (P<0.05). CONCLUSIONS The findings from this biomechanics study showed that when compared with the ISB-6DoF model, the findings from the CGM were more reproducible for the evaluation of FF and RF strike during unplanned sidestepping.

Mechanism and Model of a Soft Robot for Head Stabilization in Cancer Radiation Therapy

We present a parallel robot mechanism and the constitutive laws that govern the deformation of its constituent soft actuators. Our ultimate goal is the real-time motion-correction of a patient's head deviation from a target pose where the soft actuators control the position of the patient's cranial region on a treatment machine. We describe the mechanism, derive the stress-strain constitutive laws for the individual actuators and the inverse kinematics that prescribes a given deformation, and then present simulation results that validate our mathematical formulation. Our results demonstrate deformations consistent with our radially symmetric displacement formulation under a finite elastic deformation framework.

Computational load reduction of the agent guidance problem using Mixed Integer Programming

This paper employs a solution to the agent-guidance problem in an environment with obstacles, whose avoidance techniques have been extensively used in the last years. There is still a gap between the solution times required to obtain a trajectory and those demanded by real world applications. These usually face a tradeoff between the limited on-board processing performance and the high volume of computing operations demanded by those real-time applications. In this paper we propose a deferred decision-based technique that produces clusters used for obstacle avoidance as the agent moves in the environment, like a driver that, at night, enlightens the road ahead as her/his car moves along a highway. By considering the spatial and temporal relevance of each obstacle throughout the planning process and pruning areas that belong to the constrained domain, one may relieve the inherent computational burden of avoidance. This strategy reduces the number of operations required and increases it on demand, since a computationally heavier problem is tackled only if the simpler ones are not feasible. It consists in an improvement based solely on problem modeling, which, by example, may offer processing times in the same order of magnitude than the lower-bound given by the relaxed form of the problem.