Robotics in Healthcare Flashcards
Types of Robots in healtcare
Surgical Robotics
Assistive Robotics
Rehabilitation Robotics
Telepresence
Disinfection
rehab process aims
- Maximum recovery of
functionalities - Personal Autonomy
- Social and professional
reintroduction
Upper Limb Prosthetic Options
None
Cosmetic
Activity specific
Body powered
Externally powered
Body powered prostheses pros cons
PROS:
* Low weight
* Technical reliability
* Durability
* Low cost
* Good visual feedback
* Ability to grasp small objects
* Proprioceptive feedback
CONS:
* Poor appearance
* Irritation of the shoulder and
the axilla
* Compensatory movements
* Large activation force
Externally Powered prostheses
Myoelectric Hook and Tridigit Hands VS
Multi-DoF Myoelectric Hands
Myoelectric Hook
durable
heavier :(
1degree of freedom :(
only two sensors - open/close
Myoelectric Hands
have more than one motor
Can generate multiple grasp patterns
weaker force
more comfortable
prostheses user dissatisfaction reasons
(i) Non-intuitive control
(ii)Lack of sufficient feedback
(iii) Insufficient functionalities
(iv) Device reliability
Emerging trend in prosteheses
soft robotics:
in joint design
in actuation principle
architecture simplification
A promising way to use more than two EMGs
pattern recognition:
Map EMG patterns (corresponding to different sets muscle contractions) to the different existing functions
pattern recognition main challanges
- Electrode Shift, each time a user dons a prosthesis, the electrodes will likely settle in a slightly different position, relative to the underlying musculature.
- Variation in Position of Limb, using the limb in a variety of positions, different from the position used during the calibration
- Transient Changes in EMG (External interference, electrode impedance changes, electrode shift and lift, and muscle fatigue)
