The evolution of robotics:research and application progress of dental implant robotic systems

The use of robots to augment human capabilities and assist in work has long been an aspiration.Robotics has been developing since the 1960s when the first industrial robot was introduced.As technology has advanced,robotic-assisted surgery has shown numerous advantages,including more precision,efficiency,minimal invasiveness,and safety than is possible with conventional techniques,which are research hotspots and cutting-edge trends.This article reviewed the history of medical robot development and seminal research papers about current research progress.Taking the autonomous dental implant robotic system as an example,the advantages and prospects of medical robotic systems would be discussed which would provide a reference for future research.

Assistive Robotics for Upper Limb Physical Rehabilitation:A Systematic Review and Future Prospects

Physical assistive robotics are oriented to support and improve functional capacities of people.In physical rehabilitation,robots are indeed useful for functional recovery of affected limb.However,there are still open questions related to technological aspects.This work presents a systematic review of upper limb rehabilitation robotics in order to analyze and establish technological challenges and future directions in this area.A bibliometric analysis was performed for the systematic literature review.Literature from the last six years,conducted between August 2020 and May 2021,was reviewed.The methodology for the literature search and a bibliometric analysis of the metadata are presented.After a preliminary search resulted in 820 articles,a total of 66 articles were included.A concurrency network and bibliographic analysis were provided.And an analysis of occurrences,taxonomy,and rehabilitation robotics reported in the literature is presented.This review aims to provide to the scientific community an overview of the state of the art in assistive robotics for upper limb physical rehabilitation.The literature analysis allows access to a gap of unexplored options to define the technological prospects applied to upper limb physical rehabilitation robotics.

Spatial Patterns and Drivers of Intelligent Manufacturing from a‘Glob-allocal'Perspective:A Study of China's Industrial Robotics

The advancement of the intelligent manufacturing industry(IMI)represents the future direction for the world's manufactur-ing sector,offering a promising avenue to bolster national competitiveness and enhance industrial manufacturing efficiency.In this study,we took the industrial robot industry(IRI)as a case study to elucidate the spatial distribution and interconnections of IMI from a geographical perspective,and the modified diamond model(DM)was used to analyze the influencing factors.Results show that:1)the spatial pattern of IRI with various investment attributes in different industrial chain links is generally similar,centered in the southeast.Key investment areas are in the east and south.The spatial distribution of China's IRI covers a multitude of provinces and obtains differ-ent scales of investment in different countries(regions).2)The spatial correlation between foreign investors and China's provincial-level administrative regions(PARs)forms a network,and the network of foreign-invested enterprises is more stable.Different countries(regions)have distinct location preferences in China,with significant spatial differences in correlation degrees.3)Overall,the interac-tion of these factors shapes the location decisions and correlation patterns of industrial robot enterprises.This study not only contributes to our theoretical knowledge of the industrial spatial structure and industrial economy but also offers valuable references and sugges-tions for national IMI planning and relevant industry investors.

Robotics in total knee replacement:Current use and future implications

Robotic total knee replacement(TKR)surgery has evolved over the years with the aim of improving the overall 80% satisfaction rate associated with TKR surgery.Proponents claim higher precision in executing the pre-operative plan which results in improved alignment and possibly better clinical outcomes.Opponents suggest longer operative times with potentially higher complications and no superiority in clinical outcomes alongside increased costs.This editorial will summarize where we currently stand and the future implications of using robotics in knee replacement surgery.

Artificial intelligence and robotics in regional anesthesia

Artificial intelligence(AI)technology is vital for practitioners to incorporate AI and robotics in day-to-day regional anesthesia practice.Recent literature is encouraging on its applications in regional anesthesia,but the data are limited.AI can help us identify and guide the needle tip precisely to the location.This may help us reduce the time,improve precision,and reduce the associated side effects of improper distribution of drugs.In this article,we discuss the potential roles of AI and robotics in regional anesthesia.

Robots into Reality--The booming of China’s robotics industry points to intelligent future

“Galbot,please help fetch a plush toy!”After receiving the order,Galbot,a humanoid robot,was able to identify and deliver the toy from among a range of items.The demonstration was given at the 2024 World Artificial Intelligence Conference(WAIC)held in Shanghai from July 4 to 6.

基于MATLAB Robotics Toolbox的机器人学仿真实验教学

简要介绍MATLAB Robotics Toolbox在机器人学仿真实验教学中的基本应用,具体内容包括齐次坐标变换、机器人对象构建、机器人运动学求解以及轨迹规划等。该工具箱可以对机器人进行图形仿真,并能分析真实机器人控制时的实验数据结果,因此非常适宜于机器人学的教学和研究。

基于MATLAB Robotics Toolbox的ABB IRB1660机器人运动仿真研究

为验证ABB IRB1660机器人改装为空间点焊机器人后的运动性能,根据ABB IRB1660机器人空间结构图,使用D-H参数法对其进行参数设计,在MATLAB中建立仿真模型,调用Robotics Toolbox中的功能函数对该机器人的正、逆运动学进行仿真计算,验证了仿真模型的正确性。最后调用jtraj函数对该机器人进行PTP轨迹规划仿真分析,仿真结果表明:改装后机器人各关节运动性能良好,运动曲线平稳无振动。该研究为ABB IRB1660工业机器人改装试验提供了可靠的理论指导。

基于MATLAB-Robotics工具箱的工业机器人轨迹规划及仿真研究

对Cincinnati T3-746工业机器人的运动学轨迹规划进行了分析与仿真。通过实验对该工业机器人的三关节的关节轨迹进行了三次多项式插值运算。利用MATLAB-Robotics工具箱对该工业机器人进行了建模,实现了对工作空间内任意直线、圆弧轨迹拟合插值运算。通过运动学正反解的计算,得到了实时的关节空间坐标的数值解。为该工业机器人进一步的研究和应用提供了理论分析依据。

基于Robotics Toolbox的6R型机械臂运动学仿真及分析

针对6R型机械臂运动学进行了研究。首先采用D-H法建立机械臂关节坐标系并确定其连杆参数,应用MATLAB软件中的Robotics Toolbox仿真工具箱建立该机械臂模型,其次对机械臂进行轨迹规划研究和运动学仿真,最后,基于机械臂运动学模型应用可操作度指标分析机械臂的灵巧性能,本文阐述了机械臂运动学仿真的一般规律,由仿真得出的结果可知,本文的研究对于关节型机械臂的运动学仿真具有重要意义。

基于DELMIA/Robotics的白车身焊接机器人路径仿真研究

针对汽车焊接机器人工位缺乏精确可靠的焊接过程分析,本文应用DELMIA/Robotics软件实现汽车侧围的机器人焊接工位运动仿真。结果表明,运用DELMIA/Robotics可以有效降低运行成本和机器人编程时间。

基于Robotics Toolbox挖掘机工作装置的运动仿真

运用Danevit-Hartenberg方法,建立挖掘机工作装置运动坐标系,推导出其正、逆运动学数学模型。然后以某挖掘机为例,在MATLAB 2009b仿真环境下,用Robotics Toolbox建立该挖掘机工作装置运动学仿真模型,测定其作业空间,并进行运动学、轨迹规划仿真;同时可直观地观察所建运动学仿真模型各关节的变化,末端的位姿也作相应的变化,检验各部件关键运动参数的合理性,为挖掘机运动学分析与仿真提供了一个简便的方法。

工业机器人在MATLAB-Robotics中的运动学分析

本文设计了一种基于工业机器人的自动化处理系统,能够将工人从繁重的体力劳动中解放出来,避免了工人长时间在恶劣的环境中工作,首先需要在MATLAB Robotics环境下,建立机器人运动模型,对6R机器人的正运动学方程进行仿真验证。对机器人运动轨迹进行插补运算,运用MATLAB Robotics Toolbox工具箱编写了简单的命令程序,对工作空间内机器人进行关节轨迹规划与笛卡尔空间内的轨迹规划仿真,为6R工业机器人的运动学分析及轨迹仿真提供了参考依据。

Ambient Robotics for Meaningful Life of the Elderly

It is innovative if people can be free from aged body and continue their career with assistance of robotics. It is supposed to see the change soon as smart phone changed life style. This research aims to figure out the direction of this change, development in technique for elders. It also studies various theories to justify various methods for ambient assistance robotic design for elders. In the long life expectancy world, this design will enhance the life quality of elders and encourage young people get pride in their own job, because their career will continue and it deserves to invest all their energy and sincerity in a specific area. As ambient robotics are a design for elders＇ adjacent assistive design and part of everyday, it is related with quality of elders＇ life. Some theories are cited for the importance of meaningful life. Meaningfulness is regarded as the fundamental goal of design purpose, because meaning stands upon the concept of human being and its consciousness activity. Phenomenological background of this research is introduced. It can be suggested in field observation to get real stories containing meanings and essence of life of elders. In conclusion, this study is a beginning of long process to prepare aging society with technique as well as perspective to see elders as valuable work force.

基于MATLAB/Robotics Toolbox的六自由度机械臂仿真

设计了一种六自由度的机械臂,用D-H法建立数学模型,并运用MATLAB中的simulink模块对机械臂的运动学和路径规划问题进行了仿真。给出关节变量值,求解机械臂末端姿态;已知空间姿态,求解关节变量;采用改进点到点的路径规划,得到了仿真时间为2s,间隔为0.025s的机械臂末端运行轨迹图,进而得到机械臂末端在坐标空间的姿态和速度、加速度的关联图形。仿真结果作为机械臂控制系统设计的依据。

Rolling in Nature and Robotics: A Review

This paper presents a review of recent rolling robots including Rollo from Helsinki University of Technology, Spherical Mobile Robot from the Politecnico of Bad, Sphericle from the University of Pisa, Spberobot from Michigan State University, August from Azad University of Qazvin and the University of Tehran, Deformable Robot from Ritsumeijan University, Kickbot from the Massachusetts Institute of Technology, Gravitational Wheeled Robot from Kinki University, Gyrover from Carnegie Mellon University, Roball from the Université de Sherbrooke, and Rotundus from the Angstroem Space Technology Center. Seven rolling robot design principles are presented and discussed （Sprung central member, Car driven, Mobile masses, Hemispherical wheels, Gyroscopic stabilisation, Ballast mass - fixed axis, and Ballast mass - moving axis）. Robots based on each of the design principles are shown and the performances of the robots are tabulated. An attempt is made to grade the design principles based on their suitability for movement over an unknown and varied but relatively smooth terrain. The result of this comparison suggests that a rolling robot based on a mobile masses principle would be best suited to this specific application. Some wonderful rolling organisms are introduced and defined as ＂active＂ or ＂passive＂ depending on whether they generate their own rolling motion or external forces cause their rolling.

Research Advance in Swarm Robotics

The research progress of swarm robotics is reviewed in details. The swarm robotics inspired from nature is a combination of swarm intelligence and robotics, which shows a great potential in several aspects. First of all, the cooperation of nature swarm and swarm intelligence are briefly introduced, and the special features of the swarm robotics are summarized compared to a single robot and other multi-individual systems. Then the modeling methods for swarm robotics are described by a list of several widely used swarm robotics entity projects and simulation platforms. Finally, as a main part of this paper, the current research on the swarm robotic algorithms are presented in detail, including cooperative control mechanisms in swarm robotics for flocking, navigating and searching applications.

Application of robotics in gastrointestinal endoscopy:Areview

Multiple robotic flexible endoscope platforms have been developed based on cross specialty collaboration between engineers and medical doctors. However, significant number of these platforms have been developed for the natural orifice transluminal endo-scopic surgery paradigm. Increasing amount of evidence suggest the focus of development should be placed on advanced endolumenal procedures such as endoscopic submucosal dissection instead. A thorough literature analysis was performed to assess the current status of robotic flexible endoscopic platforms designed for advanced endolumenal procedures. Current efforts are mainly focused on robotic locomotion and robotic instrument control. In the future, advances in actuation and servoing technology, optical analysis, augmented reality and wireless power transmission technology will no doubt further advance the field of robotic endoscopy. Globally, health systems have become increasingly budget conscious; widespread acceptance of robotic endoscopy will depend on careful design to ensure its delivery of a cost effective service.

Human Interaction Dynamics for Its Use in Mobile Robotics:Impedance Control for Leader-follower Formation

A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields.As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure.Finally, with the best fictitious force and its identified impedance,an impedance control is designed for a mobile robot Pioneer 3AT,which is programmed to follow a human in a structured scenario.According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.

Towards Collaborative Robotics in Top View Surveillance:A Framework for Multiple Object Tracking by Detection Using Deep Learning

Collaborative Robotics is one of the high-interest research topics in the area of academia and industry.It has been progressively utilized in numerous applications,particularly in intelligent surveillance systems.It allows the deployment of smart cameras or optical sensors with computer vision techniques,which may serve in several object detection and tracking tasks.These tasks have been considered challenging and high-level perceptual problems,frequently dominated by relative information about the environment,where main concerns such as occlusion,illumination,background,object deformation,and object class variations are commonplace.In order to show the importance of top view surveillance,a collaborative robotics framework has been presented.It can assist in the detection and tracking of multiple objects in top view surveillance.The framework consists of a smart robotic camera embedded with the visual processing unit.The existing pre-trained deep learning models named SSD and YOLO has been adopted for object detection and localization.The detection models are further combined with different tracking algorithms,including GOTURN,MEDIANFLOW,TLD,KCF,MIL,and BOOSTING.These algorithms,along with detection models,help to track and predict the trajectories of detected objects.The pre-trained models are employed;therefore,the generalization performance is also investigated through testing the models on various sequences of top view data set.The detection models achieved maximum True Detection Rate 93%to 90%with a maximum 0.6%False Detection Rate.The tracking results of different algorithms are nearly identical,with tracking accuracy ranging from 90%to 94%.Furthermore,a discussion has been carried out on output results along with future guidelines.