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M,J,Johnson,G,A,Di Lauro,M,C,Carrozza,E,Gugllelmelli,P,Dario 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2003 International Journal of Assistive Robotics and Me Vol.4 No.1
To reduce the potential healthcare costs arising from a rapidly aging industrial world population, the problem of sustaining independent living for the elderly and persons with low to high levels of disabilities must be addressed. Using the kitchen as a microcosmic design space for the residential environment, the proposed design solution is the development of the GIVING-A-HAND system, a low cost, modular system of aids that relies on domotic, telematic, and robotic technologies to provide more affordable and universally accessible solutions to elderly and disabled persons. This paper presents the system concept and the results of interviews with elderly and people with medium to high level functional disabilities, which prioritized and refined requirements for the robotic component of the system: a small, counter-top mobile robot, “Addams Hand” that users can remotely control to interact with typical kitchen appliances.
M. Zecca,G. Cappiello,F. Sebastiani,S. Roccella,F. Vecchi,M. C. Carrozza,P. Dario 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2003 International Journal of Assistive Robotics and Me Vol.4 No.4
The development of a prosthetic hand able to replicate as much as possible the grasping and sensory features of the natural hand represents an ambitious project for scientists. State of the art technology is still far to provide engineers with components with similar performance of their natural models, and active prosthetic hands can be only a pale replication of the missing natural limb. <BR>This paper presents the current research efforts towards the development of a self-adaptative and anthropomorphic prosthetic hand. In particular, the paper is focused on the problem of replicating the natural sensory system of the hand with an artificial proprioceptive and exteroceptive sensory system.
A Robotic System for Soft Tissue Characterization
P,Vacalebri,R,Lazzarini,S,Roccella,F,Vecchi,M,C,Carrozza,M,Zecca,P,Dario 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2003 International Journal of Assistive Robotics and Me Vol.4 No.2
A miniature robotic system has been designed and fabricated to perform in vivo mechanical characterization of soft tissues. The tissue tester employs a stepper motor, which is controlled using micro-stepping techniques to prevent irregular rotation of motor shaft at low speeds. There is also a load cell to measure the reaction force of the tissue under test. At the end of tests session, data could be post elaborated on a PC with special software that reconstructs the force-displacement curves of the tissues being tested. Position and rate feedback are implemented with a digital encoder to minimize errors in motor control during the evaluation of typical viscoelastic phenomena of biological tissues. Calibration tests indicate that the force-displacement curves of the miniature robotic indenter are consistent with that obtained using an ordinary universal testing machine.