Instructor: Marek Perkowski
Textbook:
Download Slides from here
PSUBOT - AN INTELLIGENT WHEELCHAIR.
- Paper slides. Choi Jung-Yi presenter. Paper by E. Pressler, J. Scholz and P. Friorini, ``A robotic wheelchair for crowded public environments''. Hardware design. Control architecture. Tactical level. Strategic level. Motion detection and tracking. Motion planning. Velocity obstacle.
robotic-wheelchair.ppt - Paper slides by Jeong-Su Han. A paper by G. Bourhis et al, ``An Autonomous Vehicle for People with Motor Disabilities.''
wheelchair-control.ppt - Paper slides by Woo Hyun Soo. Paper by Holly A. Yanco on ``Wheelesley: A Robotic Wheelchair System: Indoor Navigation and User Interface.''
wheelchair-navigation-and-interface.ppt - Paper on Legged Wheelchair Mobility as a research issue.
wheelchair-paper.pdf - Paper slides by Y. Ming. Paper by M. Mazo et al on ``An Integrated System for Assisted Mobility.''
wheelchair.ppt - Grant about disability. PSU. Disability.txt
- Research Abstracts.
- Paper slides. Lee Hyong Euk. Guidance System for a Powered Wheelchair. Approach. Kalman filters. Experimental results.
guidance-for-wheelchair.ppt
SMART HOMES, SWEET HOMES, NURSING AND ELDERLY.
- University of Bradford. Progression Towards the Intelligent Home. Slides in PPT format.
- Reinder Bakker. Assistive Technology. Environmental Control System. In PPT format. Another set of slides about Smart Home.
- Paper. Z.Z. Bien, K. Park, W. Bang, and D. H. Stefanov, ``LARES: An Intelligent Sweet Home for Assisting the Elderly and the Handicapped.'' From KAIST.
lares.pdf - Paper slides by Kim Min-Jung. Presenting paper by A. Lankenau and T. Rofer on ``A Versatile and Safe Mobility assistant''.
mobility-assistant.ppt - Paper by Hyun Keun Park et al on ``A Nursing Robot System for the Elderly and the Disabled.'' from KAIST.
nursing-robot.pdf
MUSCLES, ELECTRODES AND REHABILITATION ROBOTS.
- Stefanov. Muscles. Mechanical work, energy and power. Positive and negative work of muscles.
lecture5.ppt
- Muscles continued. The muscle twitch. Muscle modeling. Electromyography. EMG electrodes.
lecture6.ppt
- Electrodes continued. Polarization of electrodes. EMG amplifiers. Input impedance. Frequency bandwidth.
lecture7.ppt
- Electrodes continued. Biopotential and other amplifiers. ECG. Surface Electromyography. Systems to sense biological parameters. ECG monitoring.
lecture8.ppt
INTELLIGENT PROSTHESES.
- Electrodes and prostheses. Prosthetics and orthotics.
lecture9.ppt - Lower extremity prostheses. Below-the-knee prostheses. Above-the-knee prostheses. Intelligent prostheses. Lower-extremity orthoses.
lecture10.ppt - Upper-extremity prostheses. Tomovic's Prosthetic Hand. Stanford/JPL hand. Utah/MIT hand. DRL Hand. Otto Bock's Sensor Hand. Elbow Prosthesis.
lecture11.ppt - Adaptive terminal devices. Prodigits. The Southampton Adaptive Hand. Myolectric Controlled UEP. Electric Elbows. Myoelectric Hand Orthosis.
lecture12.ppt
CONTROL OF PROSTHESES.
- Feedback in prosthesis control. Prostheses controlled by myoelectric signals (MES). Analog proportional control. Programmable myoelectric control. MyoMicro System. Control Modes. Multifunction Myoelectric Control System. Pattern Recognition.
lecture13-14.ppt - NTU Prosthetic Hand. EMG signal processing. Rutgers University Hand. A Microprocessor based Multi-Function Myoelectric Control Syste
lecture15.ppt
FUNCTIONAL NEURAL SIMULATION.
- Functional Neural Simulation for Movement Restoration (FNS
lecture16.ppt - Functional Neural Simulation for Movement Restoration (FNS). Upper Extremity FES. Review of FES systems. Bionic Glove. Restoration of standing and walking. Implantable standing FES systems. Hybrid assistive systems.
lecture17.ppt
WHEELCHAIRS.
- Wheelchairs and personal transportation. Categories of wheelchairs. Patient-transfer systems. Frame design. Center of Gravity. Wheels and casters.
lecture18.ppt - Powered Wheelchairs. Scooters. Schematics. Motors and Servo-Controllers. Full Bridge circuit.
lecture19.ppt - Wheelchairs. Microprocessor control of wheelchairs. Torque loss. Interfaces. Speed control. Control modes and examples.
lecture20.ppt - Wheelchairs cont. Sensor-based control systems. Pre-conditioning. Control strategies. Examples of external sensors. Electromagnetic compatibility of powered wheelchairs. User interfaces. Interesting wheelchair construction examples.
lecture21.ppt - Go-to-goal wheelchairs. Non-holonomic kinematics. Comparison of non-holonomic and holonomic kinematics. Kinematic equations of motion. Dead reckoning. Differential steering.
lecture22.ppt - Wheelchair kinematics. Rolling wheels. Position estimation. Ackerman steering. Synchro Drive. Mecanum Wheel. Tricycle. Omni-directional drives. Beacon-based localization. Triangularization methods.
lecture23.ppt - Omni-directional wheelchairs. Stanford wheel. Mecanum wheel. Omni-directional wheelchair examples. The Vuton. Rollmobs. Omni-directional mechanisms. Stair-climbing, walking and shape-changing wheelchairs.
lecture24.ppt - Autonomous Guided Wheelchairs. TAO-1 Intelligent Wheelchair. TinMan Intelligent Wheelchair Controller. Wheelesley system. NavChair. NavBelt. Guide Cane. Drive Assistant. Senario.
lecture25.ppt - Homeworks.
homeworks.ppt
FUZZY LOGIC.
- Paper slides. S. Fioretti, T. Leo, S. Longhi. Use of Fuzzy Logic!! ``A Navigation System for Increasing the Autonomy and the Security of a Powered
Fuzzy-Wheelchair-Navigation.ppt
ASSISTIVE TECHNOLOGIES.
- Paper. Masao Saito. Expanding Welfare Concept and Assistive Technology.
Saito-paper.pdf - Paper. B. Allen, Bus Systems in Three Tiered World Experience from the ICAN Project. (integrating various assistive technologies).
Allen paper. pdf
HUMAN MOTION ANALYSIS.
- Paper. G. Ferrigno, N.A. Borghese, A. Pedotti, ``Pattern Recognition in 3D automatic human motion analysis.''
Ferrigno_paper.pdf
PARAPLEGICS.
- Paper by Minzly et al, ``Computer-Controlled portable simulator for paraplegic patients.''
Minzly_paper.pdf
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