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This book contains papers from the International Workshop on Wearable and Implantable Body Sensor Networks, BSN 2007, held in March 2007 at the University Hospital Aachen, Germany. Topics covered in the volume include new medical measurements, smart bio-sensing textiles, low-power wireless networking, system integration, medical signal processing, multi-sensor data fusion, and on-going standardization activities.
This supplementary introductory text for courses in robotics or industrial robotics requires minimal knowledge of physics and mathematics. It treats many fundamental subjects in robotics and includes a glossary in English, French and German.
This supplementary introductory text for courses in robotics or industrial robotics requires minimal knowledge of physics and mathematics. It treats many fundamental subjects in robotics and includes a glossary in English, French and German.
This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.
This book is focused on geometrical models of robot mechanisms. Rotation and orientation of an object are described by Rodrigues's formula, rotation matrix and quaternions. Pose and displacement of an object are mathematically dealt with homogenous transformation matrices. The geometrical robot model is based on Denavit Hartenberg parameters. Direct and inverse model of six degrees of freedom anthropomorphic industrial robots are also presented.
Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
This book introduces readers to robotics, industrial robot mechanisms, and types of robots, e.g. parallel robots, mobile robots and humanoid robots. The book is based on over 20 years of teaching robotics and has been extensively class tested and praised for its simplicity. It addresses the following subjects: a general introduction to robotics; basic characteristics of industrial robot mechanisms; position and movement of an object, which are described by homogenous transformation matrices; a geometric model of robot mechanisms expanded with robot wrist orientation description in this new edition; a brief introduction to the kinematics and dynamics of robots; robot sensors and planning of r...
This book covers all topics relevant for the design of haptic interfaces and teleoperation systems. The book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces. Topics covered in this book provide insight into all relevant components of a haptic system. The reader is guided from understanding the virtual reality concept to the final goal of being able to design haptic interfaces for specific tasks such as nanomanipulation. The introduction chapter positions the haptic interfaces within the virtual reality context. In order to design haptic inte...
This reference text covers the fundamental knowledge and principles of functional electrical stimulation (FES) as applied to the spinal cord injured (SCI) patient. The principles of FES application and basic biomechanical issues related to FES in SCI are stressed. The fundamentals regarding patient selection criteria, indication, contraindications, and descriptions of procedures are clearly presented. Also included are the fundamentals and rationale of gait restoration with patient selection, control strategies, and the synthesis of gait sequences with trends in the field. Each chapter contains numerous references to the FES literature for the reader to easily evaluate and extend his knowledge in the area of interest. Biomedical and rehabilitation engineering professionals and researchers for medical doctors, physical therapists, and orthotists will find this publication invaluable.