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2,639 results for “Robotic”
A multifaceted hybrid ES-robotic device for gait training in individuals with neurological disorders
<p>Data files acquired during tests and Matlab code necessary for analyzing data and generating the images of the paper </p>
Bilateral Stand-alone Robotic Motion-Assisted Finger Exoskeleton for Home Rehabilitation
<p><span>This presents a novel exoskeleton robot which can be used at home for rehabilitating the index fingers of stroke-affected patients. This exoskeleton is designed as a one degree-of-freedom four bar mechanism able to guide the human index finger motion. The proposed device is the only lateral, stand-alone mechanism built till date which can carry the weight of the human hand, thus making the user free from wearing it. The design starts by tracing the trajectory of the index finger using ‘Angulus’ software. ‘SALAR’ software is used for dimensional synthesis of four bar mechanism. Using additive manufacturing technology, a prototype of the proposed device is developed. Static force analysis is done to select the most appropriate actuator for producing the required torque to manipulate the fingers effectively. The kinematics of the index finger while performing finger curl exercise is obtained. The proposed linkage mechanism can drive the index fingers of both the hands. Simulation and experimental results proved feasibility and effectiveness of the proposed design to be used for index finger rehabilitation for a wide range of users and applications by making simple minor alterations in the design. Also, the device can be used for rehabilitating the middle fingers together with the index fingers.</span></p>
Robotics on StackOverflow
<p>The shared files contained information about the initial codes, major themes, and labels of how, why, and what questions. </p> <p><strong>Random500Coded-Major-noFP.csv </strong> file contains the major themes of the 500 selected questions. </p> <p><strong>Random500Coded-noFP.csv:</strong> Contains the sub-themes of the 500 selected questions. </p> <p><strong>Random500HWWO-noFP.csv:</strong> Contains the type (how, what, why) of the 500 selected questions. </p>
High-throughput robotic determination of hydrogen peroxide using computer vision
<p>A fully automated process of high-throughput determination of hydrogen peroxide integrating a liquid handling robot (Opentrons, OT-2) with a webcam based on chemical titration.</p>
ARMS robot
<p>The Agricultural Robotic Manipulator for Spectrometry (ARMS) was designed during the development of the thesis 'Design of a low-cost SCARA manipulator for agricultural monitoring robots' by Maria Rehbein Pinheiro. The goal was to develop and investigate a mobile robot that incorporates a SCARA manipulator for spectral data collection in agriculture. This manipulator should facilitate a mobile platform's ability to monitor tree crops and gather data from nearby sources, such as leaves and fruits. More specifically, the system needs to analyze its surroundings, identify targets, approach them if necessary using the mobile platform, and manoeuvre the manipulator's end effector to make contact with the fruit or leaf to collect the required data for assessing their quality. The collection and data analysis are outside of the system's spectrum, the goal is the automatically guide the sensor in the end-tool.<br>This video presents the actuation of the ARMS robot in different situations, such as single target approach, colour differentiation, and multiple target approach.</p>
Event-driven Proto-object based saliency in 3D space to attract a robot's attention - Supplementary Video
<p>To interact with its environment, a robot working in 3D space needs to organise its visual input in terms of objects or their<br> perceptual precursors, proto-objects. Among other visual cues, depth is a submodality used to direct attention to visual features<br> and objects. Current depth-based proto-object attention models have been implemented for standard RGB-D cameras that<br> produce synchronous frames. In contrast, event cameras are neuromorphic sensors that loosely mimic the function of the<br> human retina by asynchronously encoding per-pixel brightness changes at very high temporal resolution, thereby providing<br> advantages like high dynamic range, efficiency (thanks to their high degree of signal compression), and low latency. We<br> propose a bio-inspired bottom-up attention model that exploits event-driven sensing to generate depth-based saliency maps<br> that allow a robot to interact with complex visual input. We use event-cameras mounted in the eyes of the iCub humanoid robot<br> to directly extract edge, disparity and motion information. Real-world experiments demonstrate that our system robustly selects<br> salient objects near the robot in the presence of clutter and dynamic scene changes, for the benefit of downstream applications<br> like object segmentation, tracking and robot interaction with external objects.</p>
Cardiac patch transplantation instruments for robotic minimally invasive cardiac surgery: initial proof-of-concept designs and surgery in a porcine cadaver
<p>BACKGROUND: Damaged cardiac tissues could potentially be regenerated by transplanting bioengineered cardiac patches to the heart surface. To be fully paradigm-shifting, such patches may need to be transplanted using minimally invasive robotic cardiac surgery (not only traditional open surgery). Here, we present novel robotic designs, initial prototyping and a new surgical operation for instruments to transplant patches <em>via </em>robotic minimally invasive heart surgery. METHODS: Robotic surgical instruments and automated control systems were designed, tested with simulation software and prototyped. Surgical proof-of-concept testing was performed on a pig cadaver. RESULTS: Three robotic instrument designs were developed. The first (called “Claw” for the claw-like patch holder at the tip) operates on a rack and pinion mechanism. The second design (“Shell-Beak”) uses adjustable folding plates and rods with a bevel gear mechanism. The third (“HeartStamp”) utilizes a stamp platform protruding through an adjustable ring. For the HeartStamp, rods run through a cylindrical structure designed to fit a uniportal Video-Assisted Thorascopic Surgery (VATS) surgical port. Designed to work with or without a sterile sheath, the patch is pushed out by the stamp platform as it protrudes. Two instrument robotic control systems were designed, simulated <em>in silico</em> and one of these underwent early ‘sizing and learning’ prototyping as a proof-of-concept. To reflect real surgical conditions, surgery was run “live” and reported exactly (as-it-happened). We successfully picked up, transferred and released a patch onto the heart using the HeartStamp in a pig cadaver model. CONCLUSION: These world-first designs, early prototypes and a novel surgical operation pave the way for robotic instruments for automated keyhole patch transplantation to the heart. Our novel approach is presented for others to build upon free from restrictions or cost – potentially a significant moment in myocardial regeneration surgery which may open a therapeutic avenue for patients unfit for traditional open surgery.</p>
Integrated automatic design process for robot swarms
<p>Demonstration of the Integrated automatic process for robot swarms in three missions: Aggregation, Foraging, and Migration.<br> The dataset contains the following:<br> 1. SML (Swarm Mission Language) related files: <br> - specification files used to create missions,<br> - generated files to be used by an optimization method <br> 2. AUTOMODE related files:<br> - the log files running AUTOMODE - an optimization method that generates control software for different missions<br> - generated control software <br> 3. Demonstration:<br> - snapshots and videos of running the missions on real robots</p>
Data from: Secure and secret cooperation in robot swarms
<p>The importance of swarm robotics systems in both academic research and real-world applications is steadily increasing. However, to reach widespread adoption, new models that ensure the secure cooperation of large groups of robots need to be developed. This work introduces a method to encapsulate cooperative robotic missions in an authenticated data structure known as Merkle tree. With this method, operators can provide the "blueprint" of the swarm's mission without disclosing its raw data. In other words, data verification can be separated from data itself. We propose a system where robots in a swarm, to cooperate towards mission completion, have to "prove'' their integrity to their peers by exchanging cryptographic proofs. We show the implications of this approach for two different swarm robotics missions: foraging and maze formation. In both missions, swarm robots were able to cooperate and carry out sequential tasks without having explicit knowledge about the mission's high-level objectives. The results presented in this work demonstrate the feasibility of using Merkle trees as a cooperation mechanism for swarm robotics systems in both simulation and real-robot experiments, which has implications for future decentralized robotics applications where security plays a crucial role. This dataset includes all experimental data generated for this paper. </p>
Breaking the ice to improve motor outcomes in patients with chronic stroke: a retrospective clinical study on neuromodulation plus robotics
<p>Stroke is one of the main causes of impairment affecting daily activities and quality of life. There is a growing effort to potentiate the recovery of functional gait and to enable stroke patients to walk independently. To estimate the effects of dual-site transcranial direct current stimulation (dstDCS) on gait recovery in chronic stroke patients provided with robot-aided gait training (RAGT). Thirty-seven patients were included in this retrospective clinical study. Nine patients were provided with dstDCS during the first 10 min of RAGT by using Lokomat®Pro (on-RAGT), 15 patients immediately after RAGT (post-RAGT), and 13 patients immediately before RAGT (pre-RAGT). Each group improved over time concerning disability burden and lower limb strength. on-RAGT and post-RAGT experienced better improvement in balance (p < 0.001) and, moderately, gait endurance (p = 0.04) as compared to pre-RAGT. Furthermore, all treatments decreased the facilitation of the unaffected hemisphere (p < 0.001) and the inhibition of the affected hemisphere (p < 0.001). The duration of such aftereffects was found to be greater for post-RAGT. This is the first trial with dstDCS coupled with RAGT in chronic stroke patients with gait impairment. When timely coupled with RAGT, dstDCS may be considered an effective tool for the recovery of lower limb function in patients with first unilateral stroke in the chronic phase. Moreover, our data suggest the ductility of dstDCS concerning RAGT timing, thus making this intervention suitable in a neurorehabilitation setting and well adaptable to patients’ needs. </p>
A case report on intensive, robot-assisted rehabilitation program for brainstem radionecrosis
<p>Radiotherapy is a valid treatment option for nasopharyngeal carcinoma. However, complications can occur following irradiation of the closest anatomical structures, including brainstem radionecrosis (BRN). The rehabilitation is poorly described in patients with BRN, despite its usefulness in improving functional independence in patients with brain tumors. We aimed at testing the usefulness of intensive, robot-assisted neurorehabilitation program to improve functional independence in a 57-year-old male with BRN.</p> <p>Patient concerns: </p> <p>A 57-year-old male diagnosed with a nasopharyngeal carcinoma, received a radiation total dose of 72 Gy. Owing to the appearance of a severe symptomatology characterized by dysphagia, hearing loss, and left sided hemiparesis, the patient was hospitalized to be provided with intensive pharmacological and neurorehabilitation treatment.</p> <p>Diagnosis: </p> <p>Follow-up brain magnetic resonance imaging disclosed no residual cancer, but some brainstem lesions compatible with BRN areas were appreciable.</p> <p>Intervention: </p> <p>The patient underwent a 2-month conventional, respiratory, and speech therapy. Given that the patient only mildly improved, he was provided with intensive robot-aided upper limb and gait training and virtual reality-based cognitive rehabilitation for other 2 months.</p> <p>Outcomes: </p> <p>The patient reported a significant improvement in functional independence, spasticity, cognitive impairment degree, and balance.</p> <p>Conclusion: </p> <p>Our case suggests the usefulness of neurorobotic intensive rehabilitation in BRN to reduce functional disability. Future studies should investigate whether an earlier, even multidisciplinary rehabilitative treatment could lead to better functional outcome in patients with BRN.</p>
Towards safe human-to-robot handovers of unknown containers: pre-trained models and 3D hand keypoints annotations
<p>This repository contains additional data to be used with the implementation of the real-to-simulation framework of the paper <em>Towards safe human-to-robot handovers of unknown containers</em>. The data include pre-trained models and annotations of the 3D hand poses for selected recordings from the public training and testing sets of <a href="http://corsmal.eecs.qmul.ac.uk/containers_manip.html">CORSMAL Container Manipulation (CCM) dataset</a>. The pre-trained models are used for classifying the filling type and filling level of a container. 3D hand poses are annotated as 21 keypoints based on the <a href="https://github.com/CMU-Perceptual-Computing-Lab/openpose">OpenPose</a> format.</p>
Experimental data for "A Novel Clinical-Driven Design for Robotic Hand Rehabilitation: Combining Sensory Training, Effortless Setup and Large Range of Motion in a Palmar Device"
<p>Experimental data for the interaction force benchmark test of the PRIDE haptic hand rehabilitation device.</p>
Experimental data for the study: "Hiding Assistive Robots During Training in Immersive VR Does not Affect Users' Motivation, Presence, Embodiment, and Performance"
<p>The datasets contains the motor performance metrics, the gaze fixation time ratios, and the questionnaire responses for a study involving a motor task with a rehabilitation assistive robot and an immersive virtual reality head-mounted display. The study was performed in the Motor Learning and Neurorehabilitation Laboratory at University of Bern. All data are stored in “csv” files. The variables inside the files are explained in “DataFrameDescription.rtf”. For questions, please contact nicolas.wenk@unibe.ch or L.MarchalCrespo@tudelft.nl.</p>
Limitations of Audiovisual Speech on Robots for Second Language Pronunciation Learning
<p>Additional material accompanying the HRI'23 publication found at <a href="https://doi.org/10.1145/3568162.3578633">https://doi.org/10.1145/3568162.3578633</a>.</p> <p>Simulations showing the audiovisual speech performed by Furhat during the second language tutoring experiment.</p> <p>Each video consists of the Furhat saying a Dutch word, followed by saying the Japanese translation twice.</p> <p>Videos M1-M10 correspond to the Matched condition, M11-M20 to Mismatched, and M21-M30 to the Computer-generated lip movement.</p> <p>In the experiment, participants interacted with a physical Furhat, but as it is difficult to make video recordings of the Furhat, simulations are shown here to allow for high-fidelity comparison between conditions.</p>
Data for the publication "Socially competent robots"
<p>Data for the publication "Socially competent robots".</p>
Data Set to doi.org/10.3390/app13042747 "Robot Assisted THz Imaging with a Time Domain Spectrometer"
<p>Data set to article "Robot Assisted THz Imaging with a Time Domain Spectrometer" in Applied Sciences 2023, 13, 2747.</p>
Finite Element Analysis-Based Soft Robotic Modeling: Simulating a Soft Actuator in SOFA
<p>This document represent a step by step guide for a simulation in SOFA framework of a cable driven soft robot.</p>
Publication Database on Recent Trends and Perspectives of Collaborative Robotics in Work 4.0
<p>This publication database is part of a literature review project aimed at providing a comprehensive and up-to-date (31st of January 2022) overview of recent trends and perspectives of robotics in the working world 4.0. The related journal article can be found here: DOI (https://doi.org/10.3390/robotics12030084). The database contains bibliographic information of all the publications that were included in the literature review.</p> <p> </p> <p>This publication database (including data and complementary documents) is licensed under Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) by INSTITUTE OF MECHANISM THEORY, MACHINE DYNAMICS AND ROBOTICS - RWTH AACHEN UNIVERSITY.</p>
Digital Twin of a Multi-Arm Robot Platform based on Isaac Sim for Synthetic Data Generation
<p>This data set is required by the following repository<br> https://github.com/AISciencePlatform/icra2023_synthetic_data_pretraining_for_robotics</p>
ScienceDex guides
Understand access before you commit
These curated guides explain access requirements, typical timelines, costs, and reuse considerations for widely used research datasets.
Allen Brain Atlas
Allen Brain Atlas is an Allen Institute collection of brain map atlases, datasets, APIs, and analysis tools covering mouse, human, and non-human primate brain resources.
Annotated Behaviour and Observability Dataset (ABODe)
ABODe is a University of Edinburgh DataShare dataset for behavior classification in group-housed mice using home-cage video, identities, bounding boxes, ground-plate positions, and annotator labels.
DANDI Archive for NWB datasets
DANDI is a BRAIN Initiative archive for publishing and sharing neurophysiology data, including electrophysiology, optophysiology, and behavioral data packaged as NWB and related standards.
International Brain Laboratory public data
The International Brain Laboratory public data releases expose standardized mouse decision-making experiments, including Neuropixels recordings, widefield calcium imaging, behavior, and session metadata accessed through the ONE API.
OpenNeuro
OpenNeuro is a free, open platform for sharing neuroimaging datasets, with public search, dataset pages, and download paths for web, S3, DataLad, and the OpenNeuro CLI.