robotics in restorative medicine - narod.rumedicalrobot.narod.ru/articles/presentationmesrob.pdf ·...
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Robotics in restorative medicine
Vadim GolovinMoscow state industrial university
Dedicated to the memory of Miomir Vukobratovic
Robotics in restorative medicine
Winner of the Nobel Prize Ivan Pavlov
“The preventive medicine reaches the social purposes only in case of transition from pathology medicine to medicine of health of the healthy”
Apparatus for restorative medicine
Massage chair robots
Robot for plume massage
Robot for face massage
Universal manipulation robot for restorative medicine
Block diagram of BTC system of robot for restorative medicine
Position/force control
( ) ( )tXtX 0→
( ) ( )tFtF 0→
Practical contact problems
- machining (cutting and polishing),- deburring, - assembly by insertion,- details extraction from no oriental box, - force unloading of robot links, - remote bilateral manipulators control,-manipulations on soft tissues and joints,- plowing field.
Specific massage techniques, movements, and loadings
The values of speed, strength, pressure on soft tissues developed in massage
movements
Distributed character of force loading during massage
“Displacement – force” experimental curves of ST
Geometric training
• where x, y, z are the position co-ordinates, • o, a, t are Euler’s angles of tool orientation.
T),,,,,( taozyxX =
Force training
• XF = (X, F)T
( )T,,,,, ZYXZYX MMMFFFF =
T),,,,,( taozyxX =
Characteristic with final values of a thickness of SТ and a linear zone of the
force sensor
1EK
ZF
e∆ 1∆
z∆
2EK
3EK
Model of ST deformation uniformity in time and space
TST
Fd1
Fen
n
TST
F
Fen
n
V
d2
Training Tracing
Fd1n
Fnd2=
Force training realization variants
PFC algorithms for manipulations on soft tissues
Algorithm of force control with fast approach to SТ
Transients curves of force Fz at approach speed Vz0 = 50 mm/s,
PFC algorithm with points position training and their force correction
X
Z
),( 111 zxA),( 222 zxA
),( 333 zxA ),( 444 zxA0),,(1 =ϕ zyx
0),,(2 =ϕ zyx
A1‘‘
A2‘‘
A4‘‘
A3‘‘
A2‘
A3‘
A4‘
Joint position/force control
RFXLFXL <− ),(),( 0000
Hardware solution of joint position/force control
• Force drive instead of sixth position one
Artromot
Robot trains and exercises the patient with the injured hand to eat with a spoon
Scheme of interaction of a robot hand with patient’s hand
Fp
Fr
MX
Robot handPatient`s hand
q pjq ri
X(n,s,a,p)
.
,))
,)()(T
T
pr
rpppmpppppp
prrrdrrrrrr
FFXM
F(qJFq,(qBq)(qA
FqJFq,(qBq)qA
+=
−=+
−=+
&&
&&&
&&&
.)F(qJ)q,(qB
)]q(qG)qq(Gq)[q(AF
rrT
rrrr
rrrrrrrrd
−+
+−+−+=
&
&&&& 02010
Scheme of interaction between components of ergatic system the physician- operator,
the robot, the patient
Physician
Knowledge base
PatientRobot
1 2 3 4 5 6
109
87
1112
Changes of electric skin resistance and other psychophysiological indicators at
mechanotherapy
Curve of electric skin resistance in a massage session
Robotics system for mechanotherapy with BTC on signal of electric skin resistance on
the basis of RM-01 robot
RM-01 robot with force module with spring compensator
Main robot tools for massage
KR-5
Robot rigid ball tool touches the spine model
«Paul» robot for capillary massage
There is no psychological barrier between Jack and robot
Conclusion
– The robotics for restorative medicine is perspective and it requires many interesting science investigations in theoretical and practical area.
– I invite all interested scientists to cooperate, for example, by means of international grants.
• Welcome to our robotics lab!
• Our website: www.medicalrobot.narod.ru