Topic
Biorobotics
About: Biorobotics is a research topic. Over the lifetime, 90 publications have been published within this topic receiving 1521 citations.
Papers published on a yearly basis
Papers
24 Jun 2012
TL;DR: The first version of the Ninapro database is introduced, containing kinematic and sEMG data from the upper limbs of 27 intact subjects while performing 52 finger, hand and wrist movements of interest, hoping that it will constitute a standard, widely accepted benchmark for all novel myoelectric hand prosthesis control methods.
Abstract: This paper is about (self-powered) advanced hand prosthetics and their control via surface electromyography (sEMG). We hereby introduce to the biorobotics community the first version of the Ninapro database, containing kinematic and sEMG data from the upper limbs of 27 intact subjects while performing 52 finger, hand and wrist movements of interest. The setup and experimental protocol are distilled from existing literature and thoroughly described; the data are then analysed and the results are discussed. In particular, it is clear that standard analysis techniques are no longer enough when so many subjects and movements are taken into account. The database is publicly available to download in standard ASCII format. The database is an ongoing work lasting several years, which is planned to contain data from more than 100 intact subjects and 50 trans-radial amputees; characteristics of the amputations, phantom limbs and prosthesis usage will be stored. We therefore hope that it will constitute a standard, widely accepted benchmark for all novel myoelectric hand prosthesis control methods, as well as a fundamental tool to deliver insight into the needs of trans-radial amputees.
268 citations
TL;DR: The different types of biomedical sensors and actuators for which a hydrogel acts as an active primary material are illustrated, and their limitations and the future scope of this material in the nexus of similar biomedical avenues are elucidated.
Abstract: There are numerous developments taking place in the field of biorobotics, and one such recent breakthrough is the implementation of soft robots-a pathway to mimic nature's organic parts for research purposes and in minimally invasive surgeries as a result of their shape-morphing and adaptable features. Hydrogels (biocompatible, biodegradable materials that are used in designing soft robots and sensor integration), have come into demand because of their beneficial properties, such as high water content, flexibility, and multi-faceted advantages particularly in targeted drug delivery, surgery and biorobotics. We illustrate in this review article the different types of biomedical sensors and actuators for which a hydrogel acts as an active primary material, and we elucidate their limitations and the future scope of this material in the nexus of similar biomedical avenues.
211 citations
TL;DR: A radio-controlled multijoint robotic fish and its locomotion control are developed and a behavior-based hierarchical architecture in conjunction with fuzzy reinforcement learning is proposed to accomplish effective coordination among multiple swimming robots.
Abstract: This paper is concerned with the coordination control of multiple biomimetic robotic fish in highly dynamic aquatic environments by building a hybrid centralized system. With the aid of the results of biorobotics and control techniques, a radio-controlled multijoint robotic fish and its locomotion control are developed. To enable a closed control loop, a visual subsystem that is responsible for tracking of multiple moving objects is constructed and implemented in real time. Furthermore, a behavior-based hierarchical architecture in conjunction with fuzzy reinforcement learning is proposed to accomplish effective coordination among multiple swimming robots. Finally, experiments on 2vs2 water polo game are carried out to verify the proposed coordination control scheme. Over the past eight years, this multirobot platform has been successfully applied to international underwater robot competitions to promote innovative research and education in underwater robotics.
127 citations
TL;DR: A great deal of progress has recently been made in biorobotic studies of locomotion, orientation, and vertebrate arm control.
104 citations
1 Aug 2018
TL;DR: The Carnegie Mellon University Biorobotics Laboratory was invited to bring snake robots to Mexico City to assist with search and rescue efforts in the wake of the September 2017 earthquake and their experiences during the deployment and the limitations of snake robot platform encountered along the way are described.
Abstract: The Carnegie Mellon University Biorobotics Laboratory was invited to bring snake robots to Mexico City to assist with search and rescue efforts in the wake of the September 2017 earthquake. We travelled with the Mexican Red Cross to collapsed building sites, and deployed a snake robot within one building to obtain a camera view in two voids that conventional search cameras could not access. We confirmed that the an open area within the building was unoccupied. In this paper we describe our experiences during the deployment and the limitations of snake robot platform encountered along the way.
101 citations
Related Topics (5)
Performance Metrics
| Year | Papers |
|---|---|
| 2021 | 3 |
| 2020 | 1 |
| 2019 | 1 |
| 2018 | 9 |
| 2017 | 3 |
| 2016 | 5 |