Index
3-DOF robotic neck
programming head movements for, 111
A
Acceleration coupling torque, 60–61
Acoustic noises, generation of by head/neck movements, 106
Acoustic testing, robotic neck, 121–122
Active actuators, 241
Actuation, biologically inspired, 9
Actuators
ionic conducting polymer film (ICPF), 86
multifunctional design, 241–243
use of in assistive knee braces, 240–241
use of in hand rehabilitation machines, 279
use of in hyperdynamic manipulators, 62
Added-mass hydro dynamic theory, 93–94
AFM cantilevers
fabrication of tips for nanoprobes, 182–183
stiffness measurements of single cells using, 179–182
Aging, effects of, 240
AIBO robotic dog, 4
AIST humanoid robot HRP-2, 2–3
Al-Jazari, 3
Albert HUBO serial neck, 106
Anguilliform propulsion, 87–89
Arch structure hand rehabilitation machine, 279–280
Arm structure hand rehabilitation machine, 279–280, 285–287
proposed mechanism for, 280–285
Arm-hand movement control, neuronal system for, 264–265
ARMAR-III serial neck, 106, 298
Arterial blood flow, measurement of, 194
Artificial eyes
human performance in, 296
Artificial muscles, 9
Asimo, 3
Assistive devices, 190
control experiment results using hybrid sensor probe, 200–203
control experiment using hybrid sensor probe, 198–199
Assistive knee braces, 240
actuation devices in, 241
Automated single-cell loading and supply system, use of microfluidic technologies for, 127–128
Automatic single-cell transfer model cell detection/tracking and control algorithm for, 134–138
cell types and preparation, 129–130
manufacture of microfluidic chips for, 131–132
materials and methods for, 128–129
oocyte and fibroblast suction, 138–139
use of cell suction system in, 130–131
valve control principle for, 132–133
Autonomous robotic fish, 86 . See also Robotic fish Axial deformation, relationship with stretching force, 161
B
Bacterial chemotaxis algorithm, 97–101
Basic resistance, 46
Berkeley Lower Extremity Exoskeleton (BLEEX), 240
design of compound resistance system for, 44–50
design of the pedal crank and hand crank of, 40–41
design of the saddle pole, 41–43
detection of exercise motions, 47–50
development and test, 51
Bio-robotics
modeling/analysis, 2
Bioelectrical signals, measuring, 191–192
Biologic systems, control of, 6
Biological cells, deformation response of in microinjection, 150
Biological fish, swimming behaviors of, 87–89
Biologically inspired robotics
designing mechanisms for, 5
motion and behavior control, 5–9
Biomembrane, 148
deformation behavior of, 150
Bioplant, 127
BIT humanoid robot BHR-2, 3
Blood information, measurement of in the brain using optical data, 192–194
BLPM DC motors, design of, 243–244
Body and/or caudal fin propulsion . See BCF propulsion Bottom surface treatment, use of in automatic single-cell transfer design, 130
Brain, measurement of blood information of, 192–194
Brain activities
Brain waves, biolectric signal measurement, 191–192
Brain-computer interface (BCI), 190
Brake function
active actuators in assistive knee
braces with, 241
torque tracking in multifunctional
actuator, 259
torque vs. applied current in multifunctional actuator, 257
Breaking torque control, assistive knee braces with, 241
Buckling phenomenon of nanoprobes, 173–174
C
Cable housings
inverse kinematics and static
use of in low-noise robotic head system, 108
Camera motion device, use of in telepresence robotic control, 302–304, 306–308
Cantilever tips, 180
fabrication of for nanoprobes, 182–183
Capillary electrophoresis, 127–128
Capsule endoscopy images See CE images
CE images
computer-aided detection of, 208
experimental results of computer-
use of color for computer-aided
use of shape for computer-aided recognition, 212–213
Cell deformation
osmosis-induced increase of, 160
Cell detection/tracking and control algorithm, 134–138
Cell encapsulation, use of microfluidic- based technologies for, 127
Cell fusion, 127
Cell manipulation, 149
experimental material preparation, 155
optical stretching of human RBCs, 157–158
optical tweezer system for, 153–155
results and discussion of optical
robotic manipulation of microbeads
Cell mechanical modeling, 150–153
Cell mechanics, human red blood cells, 148–149
Cell membranes, deformation behavior
of, 150
Cell size, stiffness measurements of single yeast cells and, 179–181
Cell stiffening, stretching-induced, 159
Cell stretching, optically induced, 149, 157–158
Cell suction system, use of in automatic single-cell transfer design, 130–131
Cell treatment, integration of
microfluidic technology in, 126–128
Cellular analyses, use of microfluidic technology for, 126–128
Cellular heterogeneity, 167
Central pattern generator See CPG
Channel sequence recognition, 221
Cheetahs, Bio-Cycle inspired by movement of, 36–38
Chromaticity histogram, 211–212
Cloning, use of microfluidic-based technologies for, 127
Closed-loop CPG networks analysis of, 20–22
control of snake-like robots using, 17–20
simulation of control of snake-like robots using, 22–26
Clutch/brake system
design of in a multifunctional
pulse response in multifunctional
actuator, 259
torque generated from in
multichannel actuators, 251
Cog, 298
Cogging force, 244
Colonoscopy, 206
Color, use of for computer-aided CE image recognition, 210–212
Color wavelet covariance (CWC) features, 214
Compound resistance system
analysis of driving characteristics, 44–46
Concordance correlation coefficient, 221, 224–227, 233
Conical indenters, stiffness measurements using, 171–173
Contour-based shape recognition
Control
case study of a golf swing robot, 70–74
design of system for snake-like
robots, 28
strategy for robotic neck, 116–117
CPG, 14
CPG networks
control of snake-like robots using, 16–17
with feedback connection, 17–20
CPG-based control systems, experiments, 26–29
Cross-correlation coefficient, 224
Cuneate neurons, response of to manual skin stimulation, 266–273
Cuneate nucleus, 265
Cyclic inhibitory CPG model analysis of, 20–22
controlling snake-like movement using, 18–20
Cylindrical indenters, stiffness
D
Data glove system, 289–290, 292
DC motors
use of in robotic fish design, 89–90
Deformation processes of RBCs, 150
Designing mechanisms, 5
Desktop bioplant, 127
Detection/tracking and control algorithm, 134–138
Diffraction limited modulation transfer function, 133
Digestive tract, use of capsule endoscopy for diagnosis of, 206
Digital images, relative size of pixels in, 137
Distal interphalangeal joints, rehabilitation of, 285
Donor cells, digital imaging of, 137
Double integration method, 170
Driving force, analysis of for Bio-Cycle, 45–46
Dynamic manipulation, 56
Dynamically coupled driving, 56–57, 82
utilization of actuators for, 62
E
E-SEM system, 168
observations of biological samples by, 177–179
EDDIE, artificial eyes in, 301–302
Elastic shear modulus, RBCs, 160
Electroencephalograms See EEGs Electron microscopes, nanorobotic manipulations inside of, 176–177
Electrophysiological neuron modeling, 264
Eletrorheological (ER) fluids-based actuators, 241
ELIAS, artificial eyes in, 300–301
Endoskeleton, hand rehabilitation machines, 278–279
Environmental scanning electron microscope nanorobotic manipulation system See E-SEM system Ergonomics, 39–40
EU SHOAL project, system
configuration of robotic fish for, 95–97
Evans-Skalak material, 149
Excitatory synapses, 271
Exercise, necessity of, 240
Exercise motions, detection of, 47–50
Exoskeletons
hand rehabilitation machines, 278–279
lower extremity, 240
Extensor digiti minimi, 225
Extensor digitorum, 225
Extensor policis brevis, 225
Extensor policis longus, 225
Eye movements
characterization of, 300
handling of vergence with teleoperations, 306
Eye tracker, use of in Wizard-of-Oz
F
Feedback control, 6
Fibroblasts
use of in somatic cell cloning, 130
Finite element method, analysis and modeling of multifunctional actuators using, 249–250
Fish . See also Biological fish; Robotic fish fin configuration of, 87
design of compound resistance
ergonomic analysis and mechanism
mechanism scheme-based multidrive
Fluorescent microscopy, 128
Force, identification of in hand movements, 230–233
use of to characterize properties of
RBCs, 153
Force-deformation relationship, 151–153
Foveated vision, 298
Functional magnetic resonance imaging (fMRI), 190
Functional near-infrared spectroscopy (fNIRS), 190–191
G
Gastrointestinal tract, cancers of, 206
Gastroscopy, 206
Gaze, different roles of, 297
Gaze-based communication, 299
Generation of rhythmic motion, CPG models for, 15–16
Goldman-Hodkin-Katz voltage equation, 264
Golf swing robot
experimental results for, 77–82
Growth phases, stiffness measurement of single yeast cells and, 181–182
H
Hand movements
identification of force and speed of, 230–233
muscles responsible for, 225
rehabilitation of with arm structure machine, 280–285
use of sEMG for identification of, 220–221
use of STFT method for determination of, 232
Hand rehabilitation
arm structure design for machine- assisted, 280–285
machine-assisted, 278
work of arm structure machine design, 288–291
Hard nanoprobes, 174
measurement of single-cell stiffness using, 175–176
Head movements, human-like, 296
Head tracker, use of in Wizard-of-Oz scenario, 304–305, 308–309
Head-worn communication devices, acoustic noises and, 106
Hertz-Sneddon continuum mechanics model, 175–176
Heterogeneity of cells, 167
HRP-2 serial neck, 106
HSI color space, use of for CE image recognition, 209–212
Hue, saturation, intensity color space See HSI color space Human eye movements, characterization of, 300
Human hand movements See also Hand
movements identification of, 220–221
Human red blood cells See RBCs Humanoid robots, 2
vision systems of, 298
Hybrid Assistive Limb (HAL), 240
Hybrid nanorobotic manipulation system, 177
Hybrid sensor probe
assistive device control experiment, 198–199
assistive device control experiment results, 200–203
operation verification of, 196–197
optical data collection experiment, 197–198
optical data collection experiment results, 199–200
signal processing and control board, 195–196
verification of operation of, 199
Hyper dynamic manipulation, 82
definition of, 56
design of with smart structure, 57–63
structure joint stop and, 63–65
Hypotonic solutions, effect of on RBCs, 159–161
I
iCub
serial neck, 106
vision system, 298
Image processing, use of to characterize properties of RBCs, 153
IMPC-based artificial muscle, 9
Indenter tips, stiffness measurements using different shapes, 171–173
Induced deformation, 149
Inhibition, 271
Integrated circuit (I2C) communication, use of in CPG-based control, 27–28
Intestinal polyps, use of CE images for recognition of, 209–212
Inverse kinematics, robotic neck mechanism, 111–116
Ionic conducting polymer film (ICPF) actuators, 86
Ionic polymer-metal composites See IMPC-based artificial muscle Iterative learning control, 8
J
experimental results for a golf swing robot, 78–82
method to utilize in dynamically
simulation results for golf swing robot, 75–77
Joint structure hand rehabilitation machine, 279
K
Karakuri ningyo, 3
Kismet, 298
L
Lag phase, stiffness measurements of yeast cells in, 181–182
Lambert-Beer's law, use of to measure blood information of the brain, 192–194
Lateral bending, robotic neck mechanism, 111–114
Layered control architecture, 90–92
cognitive layer, 92
Legged robots, designing mechanisms of movement for, 5
Light absorbance, variation of with time, 193
Link mechanisms for exoskeleton-type machines, 279
Load-displacement relationship, shape of indenter tips and, 172–173
Locomotion
control of speed of, 24
control of the number of S-shapes, 24–25
movement with different curvatures, 28
Log phase, stiffness measurements of yeast cells in, 181–182
Low-motion-noise robotic head/neck system See also Robotic neck hardware development, 108–111
programming head movements, 111
Lower extremity exoskeletons, 240
M
Macaulay's method, 170
Magnetic flux density, 249
Magnetoencephalography (MEG), 190
Magnetorheological fluid-based actuators . See Smart fluids- based actuators Magnetorheological fluids . See MR fluids
Mammalian cloning, use of microfluidic-based technologies for, 127
Manipulators
control method for hyper dynamic manipulation, 70
controlling with dynamically coupled driving, 67–68
revolute joint of, 56
use of dynamically coupled driving in design of, 59
Manual skin stimulation, responses of primary afferent and cuneate neuron to, 266–273
Median and/or paired fin propulsion . See MPF propulsion Membrane theory, 150
Microbeads, robotic manipulation of in RBCs, 156–157
Microbial populations, heterogeneity of, 167–168
Microfluidic chips . See also PDMS chips direction control in, 139–143
Microfluidic technology, 126
materials and methods for on-chip closing using, 128–129
Microscopes, nanorobotic manipulations inside of, 176–179
MLP neural network, use of for
computer-aided CE image recognition, 214
Modulation transfer function, 133
Motion classification, use of spectral method of square integral for, 226, 228
experimental setup for robotic neck, 117
robotic neck, 117
Motion generation, case study of a golf swing robot, 70–74
Motion noise test for robotic neck, 118–122
Motion planning, constraints on, 68–69
Motor, design of in a multifunctional actuator, 241, 243–246
Motor activity, necessity of, 240
Motor function
output power and power efficiency in multifunctional actuator, 257
torque vs. current and speed in multifunctional actuators, 256
Motors, use of in robotic fish design, 89–90
Movement, mechanisms of, 5
Movement control, function of the brain in, 264–265
Movement speeds, 221
identification of in hand movements, 230–233
MR fluids, 241
influence of permanent magnets on, 249–250
use of in clutch/brake system in multifunctional actuators, 246–249
Multichannel sEMG sensor rings, 221
automatic relocation of sEMG electrodes in, 223–226
configuration of, 222
feature extraction from, 226–228
Multidrive system, mechanism scheme of, 38–39
Multifunctional actuators analysis of, 249–251
configuration of, 248
control of, 254
design of clutch/brake system in, 246–249
Multilayer perceptron neural network See MLP neural network Multistep acceleration, 61
Muscles, artificial, 9
Mutual inhibitory CPG model
controlling snake-like movement using, 18–20
N
Nanobiotechnology, evaluation of bio-samples using, 167
Nanoindentation, stiffness measurement of single cells using, 169–176
inside electron microscopes, 176–177
Nanoprobes
stiffness measurement using, 173–174
Nanorobotic manipulation, background of, 166–167
Nanosurgery system
elemental technologies of, 177
single-cell analysis and, 167–168
Near-infrared spectroscopy (NIRS), 190–191
Neural oscillator, CPG models of, 16
Neuron modeling, 266
electrophysiological, 264
Nonverbal communication, 297–298
Nuclear transplantation, 127
O
Ocular torsion, 299
On-chip cloning technology
materials and methods for, 128–129
use of microfluidic technologies for, 127–128
On-chip microinjection, 127
Oocytes
digital imaging of, 137
Open-loop CPG networks, control of snake-like robots using, 16–17
Optical data
collection experiment results using hybrid sensor probe, 199–200
collection experiment using hybrid
measurement of blood information of the brain using, 192–194
Optical force calibration, 155–156
Optical signals, measuring, 191–192
Optical stretching, 150–153, 158–161
Optical tweezers
cell manipulation with, 153–158
robotic manipulations technology using, 149
Optically induced cell stretching, 149
Ostraciiform propulsion, 87–89
P
Parallel humanoid neck mechanisms, 106–107
PARO seal-mimetic robot, 4
connecting cell suction system to, 130–131
valve control principle for, 132–133
Pearson's product-moment coefficient, 224
Penicillin-streptomycin, use of in automatic single-cell transfer design, 130
Physical rehabilitation, machine- assisted, 278
Pitch and roll motions, robotic neck mechanism, 111–114
Planar manipulators, 59
Pneumatic actuators, 279
Pollutants
bio-inspired coverage of, 97–101
flock distribution of, 102
Pollution detection, use of robotic fish for, 95–101
Polyacrylonitrile artificial muscle, 9
Polydimethylsiloxane chips See PDMS chips
Polyps
CE recognition of, 208
color and shape feature analysis of, 209–213
Position resistance, 46
Positron emission tomography (PET), 190
Primary afferents, 265
modeling of transformation of information by cuneate neurons to, 269–273
response of to manual skin stimulation, 266–269
Propulsion energy, 86
Proximal interphalangeal joints, rehabilitation of, 285
Q
QRIO humanoid robot, 3 R
Range of motion, determination of, 291
RBCs
cell deformation results, 158–161
manipulation of using optical tweezer system, 153–155
mechanical properties of membranes
of, 150
optical stretching of, 157–158
robotic manipulation of microbeads
Recumbent fitness cycles, 34–35
Red blood cells See RBCs Region-based shape recognition
Rhythmic motion control, central
Rigidity maintenance, robotic neck, 116–117
RoboKnee, 240
Robot actuators, 9
Robotic eyes, human-like, 296
Robotic fish, 4, 86 . See also Fish
bio-inspired coverage of pollutants
layered control architecture for, 90–95
system configuration for pollution detection using, 95–97
Robotic head/neck system, system
Robotic neck
experimental setup and motion control of, 117
hardware development for, 108–111
inverse kinematics and static
analysis of mechanism for, 111–114
motion control, 117
programming head movements for, 111
Robotic snakes, 3 See also Snake-like robots
designing mechanisms of movement for, 5
Robots, teleoperation of head and eye
RoboTuna, 86
ROMAN serial neck, 106
Round motion, control of, 26
Rubbertuator, 9
S
S-shape locomotion, analysis of the use of CPG networks for, 20–22
S-shapes
control of the number of, 24–25
movement with different numbers
of, 29
SARCOS robots, 298
Saturation phase, stiffness
measurements of yeast cells in, 181–182
Self-motion control, 289
sEMG electrodes
automatic relocation of, 223–226
placement of for identification of hand movements, 220–221
sEMG signal processing, 223
experimental results of using STFT method for, 232
sEMG-based sensing system, configuration of, 222–223
Semi-active actuators, 241
Sensing, biologically inspired, 10–11
Sensing-perception-planning-control, 6
Sensors, use of in robotic fish design, 89–90
Serial humanoid neck mechanisms, 106
Service robots, gaze-based communication of, 299
Servo motors, use of in robotic fish design, 89–90
Shape, use of for computer-aided CE image recognition, 212–213
Shape memory alloy (SMA), use of to develop robotic lamprey, 86
Shell theory, 150
control software architecture for, 96
hardware configuration for, 97
system configuration of, 95–97
Short-time Fourier transform See STFT method
Short-time Thompson transform See STTT
Sickle cell anemia, RBCs in, 160
Silicon nanoprobes
stiffness measurement of single yeast cells by, 184–185
Siliconizing, 130
Simulation of golf swing robot, 74–77
Single-cell analysis
nanosurgery system and, 167–168
principles of stiffness measurements, 169–171
stiffness measurements using conventional AFM cantilevers, 179–182
stiffness measurements using different indenter shapes, 171–173
stiffness measurements using hard
stiffness measurements using
stiffness measurements using soft
Single-cell loading and supply system cell detection/tracking and control algorithm for, 134–138
cell types and preparation, 129–130
manufacture of microfluidic chips
materials and methods for, 128–129
oocyte and fibroblast suction in, 138–139
valve control principle for, 132–133
Smart fluids, use of in assistive knee
braces, 241
Smart fluids-based actuators, 241
Snake-like robots, 3 See also Robotic snakes
CPG network for control of, 16–22
designing mechanisms for, 5
simulation of CPG-controlled, 22–26
Social robots, gaze-based
communication of, 299
Soft nanoprobes, 174
measurement of single-cell stiffness
Somatic cell cloning, 129
Sound insulation, use of in low-noise
Spectral features of sEMG signals, 221, 233
Spectral flatness feature, 221, 232
based on STFT at different speeds, 236
Spectral method of square integrals, 226, 228
Spectral moment, features based on STFT at different forces, 236
Speed
control of, 24
identification of in hand movements, 230–233
resistance, 46
Spherical indenters, stiffness
Statics analysis, robotic neck mechanism, 111–116
Steady swimming behaviors, 88–89
STFT method
experimental results of using for hand movement determination, 232
results at different forces, 234
results at different speeds, 235
use of with sEMG signals, 221, 230–231
Stiffness measurements, principles of for a single cell, 169–176
Strain energy function, derivation of stretching deformation from, 151
Stretching deformation, derivation of from strain energy function, 151
Stretching force, 149
relationship with axial deformation, 161
Structural joint stops, 56–57, 82
experimental results for a golf swing robot, 78–82
method to utilize in dynamically coupled driving, 67–74
simulation results for golf swing robot, 75–77
STTT, use of with sEMG signals, 221
Subcarangiform propulsion, 87–89
Support vector machines (SVM), use of for computer-aided CE image recognition, 214
Surface electromyography sensor electrodes See sEMG electrodes Swarm control, 8–9
Swing plane, 70
T
Telepresence setup
camera motion device used in, 302–304, 306–308
gaze-based, 299
teleoperation channel used in Wizard-of-Oz scenario, 305–306
use of eye and head tracker in, 304–305, 308–309
Temporal features of sEMG signals, 221
Tensionability, 116
Torque control, assistive knee braces with, 241
Torque manipulators
case study of golf swing robot, 70–74
use of dynamically coupled driving in design of, 59
Torsional movements, 298
Trapping forces, 153
Tungsten hard nanoprobes, fabrication of, 182–183
Turning motion, control of, 25–26 U
Unilateral CPG networks, 17–20
Unsteady swimming motion, 88–89
V
Valve activation, PDMS microfluidic chips and, 132–133
Velocity coupling torque, 60–61
Venous blood flow, measurement of, 193–194
Vergence movements, 298
handling of with teleoperation, 306
Vision systems, state of the art, 298
W
WABIAN-RIV serial neck, 106
Walking Power Assist Leg (WPAL), 240
WE-4RII, 298
Wearable Walking Helper (WWH), 240
Wizard-of-Oz scenario
camera motion devices used in, 302–304, 306–308
evaluations of gaze-based human -robot interaction, 296–297
handling of eye vergence in, 306
robotic platforms used in, 300–302
teleoperation channel used in, 305–306
use of eye and head tracker in, 304–305, 308–309
Y
Yaw motion
robotic neck mechanism, 111–114
Yeast cells
observation of by E-SEM system, 177–179
stiffness measurement of by nanoprobes, 184–185
stiffness measurements and growth phases of, 181–182
stiffness measurements and size of, 179–181
Young's modulus, estimation of for a single cell, 175–176
Z
Zernike moments
experimental results of using for CE image recognition, 214–215