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Copyright of Light Industry Machinery is the property of Light Industry Machinery Editorial Office and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Journal of South China University of Technology (Natural Science Edition) is the property of South China University of Technology and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Chinese Medical Equipment Journal is the property of Chinese Medical Equipment Journal Editorial Office and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Journal of Shenzhen University Science & Engineering is the property of Editorial Department of Journal of Shenzhen University Science & Engineering and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

With the advances of China’s space exploration, the research of related technologies including mobile manned lunar rover has been an important task for China’s future manned lunar landing and exploration.This paper presents the design of a control system based on a force feedback handle for the driving of the mobile manned lunar rover according to the comfort and working space of the astronauts.Mainly composed of a 2-DOF rotating structure, a hand lever and a DC motor with optical encoder, the force feedback handle can give force and touch sensing to astronauts under the specifically designed environment, and assist astronauts to drive the rover safely and effectively.The hardware of the control system receives the command signal and force feedback information from the upper computer, then feeds back the position data of the handle to the upper computer.The software system builds the lunar rover driving scene based on unity3D, in which virtual sensors are used to make driving decisions and calculate the corresponding force feedback information.The simulation test results show that the force feedback handle can well assist astronauts to drive the mobile manned lunar rover, and effectively improve the driving efficiency and security of the mobile manned lunar rover. [ABSTRACT FROM AUTHOR]

Objective:To observe the therapeutic effect of upper limb intelligent rehabilitation robot and routine rehabilitation combination on upper extremities'motor function of stroke patients.Methods:30 stroke patients accorded with inclusive criteria were selected, all patients received routine rehabilitation for two weeds, each time for twenty minutes, once a day and five days each week. The Fugl-Meyer assessment upper extremities (FMA-UE), modified Barthel index (MBI) and Brunnstrom score (upper extremities and hands) were used to evaluate upper extremities'motor function before the treatment and after ten times of treatment. After the evaluation, all patients received upper limb intelligent rehabilitation robot and routine rehabilitation for four weeks, each time for twenty minutes, once a day and five days each week. The system training score, FMA-UE, MBI and Brunnstrom score were used to evaluate upper extremities'motor function before the treatment, after ten times of treatment and after twenty times of treatment.Results:FMA-UE score of patients was increased after ten times of routine rehabilitation compared with that before treatment (PPPP

Vascular interventional surgery is an important means to treat cardiovascular and cerebrovascular diseases, but the particularity of its working environment will bring greater radiation threat to doctors. Vascular interventional surgery robots can effectively improve the working environment of doctors and can provide more stable operations, improve the success rate of surgery. This study mainly introduces the current research status, key technologies, and future application of vascular interventional surgical robots.

This paper proposed a novel method of 3D model surface rending by applying force feedback technology to virtual painting processes. Firstly, it analyzed the relationship between force and the brush deformation, and applied the spring-mass model to construct the 3D brush model. Ten, it found out the collision related points by the most enclosing ball of the deformed brush, and calculated the average normal vector of the collision point to determine the projection plane. According to the deformation of the 3D brush, it calculated the footprint of the brush on the plane and obtained the 3D brush footprint by projecting the 2D brush footprint onto the 3D object surface in real time. At the same time, it obtained the specific complete calligraphy effect 3D brush stroke by superimposing 3D brush footprints along the painting direction and controlling the stress of the brush. Finally. this paper briefly discussed the simulation structure and established the virtual 3D painting system based on Phantiom Desktop device. The proposed method implementes the 3D painting in real time with a Phantom Desktop haptic device, which can effectively enhance reality to users. [ABSTRACT FROM AUTHOR]

Copyright of Electric Machines & Control / Dianji Yu Kongzhi Xuebao is the property of Electric Machines & Control and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Aiming at the design features and technical difficulties, the main body structure of the manipulator was studied. A new modular design method was put forward, which is based on Solidworks, and the design of modular manipulator servo unit was carried out. The motor and harmonic reducer of manipulator were selected. The torque of different joint angles was calculated and the final selection scheme was determined. The finite element analysis of the key parts of the manipulator was made by using Ansysworkbench, and the stress and displacement contour of the important parts such as the second joints of the manipulator were obtained. The hardware design was carried out from the angle of volume layout and working mode. Closed loop control algorithm and force feedback algorithm were used to realize the force feedback of three closed loop servo motor control and integrated servo drive unit. Finally, based on the structure and algorithm, a series of OUR modular manipulators were developed. The research results indicate that the key components have large stiffness and strength, each joint has a high degree of independence and modularization. [ABSTRACT FROM AUTHOR]

The interactive bicycle simulator is a new type interactive entertainment tool which is constructed through multimedia, mechanics and computer technologies etc. This is a typical application of virtual reality. This paper proposed the collective structure of a bicycle simulator which consists of motion generation and force reaction system, dynamics simulation system, visual/audio system. It described the function and key technologies of each subsystem. The paper concludes with a discussion of the system integration. [ABSTRACT FROM AUTHOR]

In existing vascular interventional surgical robots, it is difficult to accurately detect the delivery force of the catheter/guidewire at the slave side. Aiming to solve this problem, a real-time force detection system was designed for vascular interventional surgical (VIS) robots based on catheter push force. Firstly, the transfer process of catheter operating forces in the slave end of the interventional robot was analyzed and modeled, and the design principle of the catheter operating force detection system was obtained. Secondly, based on the principle of stress and strain, a torque sensor was designed and integrated into the internal transmission shaft of the slave end of the interventional robot, and a data acquisition and processing system was established. Thirdly, an ATI high-precision torque sensor was used to build the experimental platform, and the designed sensor was tested and calibrated. Finally, sensor test experiments under ideal static/dynamic conditions and simulated catheter delivery tests based on actual human computed tomography (CT) data and vascular model were carried out. The results showed that the average relative detection error of the designed sensor system was 1.26% under ideal static conditions and 1.38% under ideal dynamic stability conditions. The system can detect on-line catheter operation force at high precision, which is of great significance towards improving patient safety in interventional robotic surgery.

At present, there still exist some limitations in the laparoscopic surgery robot represented by da Vinci surgical robot, such as the lack of force feedback function. Doctor can not feel the force feedback while operating. In this paper, a new minimally invasive laparoscopic surgery robot system is designed. Based on the master side surgeon's console, stereo vision subsystem and the slave side surgical cart, the multi-dimensional instrument force feedback technology and force feedback based safety protection strategy are introduced. The design realizes the force sensing function of full state operation. Besides, a number of different live pig experiments are carried out. The amount of bleeding in these experiments is relatively small compared with the data of the same kind of surgical robots, which effectively validates the force feedback and surgical safety protection strategies of the new robot system.