Multifunctional Robot Research Articles

Developing a Healthcare Technology Acceptance Model (H-TAM) for Older Adults with Hypertension.

Older adults with a chronic health condition (e.g., hypertension) use various self-management methods. Healthcare technologies have the potential to support health self-management. However, it is necessary to understand the acceptance of these technologies as a precursor to older adults' adoption and integration into their health plan. Our focus was on the factors older adults with hypertension initially consider when introduced to three new healthcare technologies that might support their health self-management. We compared their considerations for a blood pressure monitor, an electronic pillbox, and a multifunction robot to simulate incrementally more complex technologies. Twenty-three participants (aged 65-84) completed four questionnaires and a semi-structured interview. The interview transcripts were analyzed using a thematic analysis approach. We identified the factors that were frequently mentioned among the participants for each of the three healthcare technologies. The factors that older adults initially considered were familiarity, perceived benefits, perceived ease of use, perceived need for oneself, relative advantage, complexity, and perceived need for others. Upon further reflection, participants considered advice acceptance, compatibility, convenience, facilitating conditions, perceived usefulness, privacy, subjective norm, and trust. We integrated the factors that older adults considered into the Healthcare Technology Acceptance Model (H-TAM), which elucidates the complexity of healthcare technology acceptance and provides guidance for future explorations.

Real-time cellular-level imaging and medical treatment with a swarm of wireless multifunctional robots

Real-time cellular-level imaging and medical treatment with a swarm of wireless multifunctional robots

The 3in1 Robot Design for Medical Assistant on 2019-nCoV case

Covid-19 (Coronavirus disease 2019) is a new coronavirus (SARS-CoV-2) that is known to have originated in Wuhan, China. It was found at the end of December 2019 with countries infected with the Coronavirus in more than 65 countries. According to WHO data as of the 4th of March 2020, the number of sufferers was 90,308 infected with Covid-19. In Indonesia as of April 14, 2010, people with Covid-19 were positive for 4,839, recovered 426, and died 459. In Indonesia, one of the ways to tackle the Covid-19 pandemic is by spraying with disinfectant liquid and delivering food or medicine to patients infected with Covid. -19 is still in close contact with a patient who is still likely to be infected from that patient. According to general guidelines in dealing with the Covid-19 pandemic, one of them is done by spraying disinfectants in several public facilities such as health clinics, government office, schools, bridges, parks, fields, and other public areas. However, sterilization is still done manually by health workers. This puts medical personnel at risk of being exposed to the covid-19 virus. Therefore, in this study, a multi-functional robot with a remote control equipped with an FPV camera was developed. The robot can be used to spray disinfectant, UV lamp-based sterilization, and deliver food and medicine to patients infected with Covid-19. From the test results, the teleoperation system can work well with a range of 30 meters indoors and 150 meters outdoors.

The Heuristic of Directional Qualitative Semantic: A New Heuristic for Making Decisions about Spinning with Qualitative Reasoning

Multifunctional Robot On Topological Notions (MROTN) is a research program that has as one of its goals to develop qualitative algorithms that make navigation decisions. This article presents new research from MROTN that extends previous results by allowing an agent to carry out qualitative reasoning about direction and spinning. The main result is a new heuristic, the Heuristic of Directional Qualitative Semantic (HDQS), which allows for selecting a spinning action to establish a directional relation between an agent and an object. The HDQS is based on the key idea of encoding directional information into topological relations. The new heuristic is important to the MROTN because it permits the continued development of qualitative navigation methods based on topological notions. We show this by presenting a new version of the Topological Qualitative Architecture of Navigation that uses the HDQS to address situations that require spinning.

Self-optimization of mobile robot actions using voice commands

Annotation. In most cases, multifunctional robots used both in industry and in the home environment to facilitate human labor have a common problem, which is a lack of autonomy and self-learning. This does not mean that it is impossible to implement self-learning within the operation of these machines, but most often such technical units function according to a specific algorithm, without deviating from its principles, even if this may lead to better results. First of all, a clear adherence to the program, in accordance with the acceptable quality of the final result, is put at the forefront. However, when working with technical units that do not depend on clear industrial or household algorithms, it is allowed to use an individual approach to the implementation of management processes. This work is devoted to the construction of the concept and principles of implementing voice control of a mobile robot for performing movement tasks.

Using a functional field to assess the effectiveness of a robotic terrain monitoring system

Currently, systems equipped with scanning equipment and a variety of sensors are increasingly used to monitor the area. At the same time, the growing need to automate the monitoring of closed and open areas stimulated the development of robotic systems and mobile sensors. Mobile and multifunctional robots are usually accepted as a means to reduce the structuring of the environment and the number of devices required to perform the tasks. However, the number of different sensors installed on the robotic system and the number of complex tasks related to intelligence, monitoring and surveillance make the design of the overall system extremely complex. Construction of a robotic monitoring system requires appropriate scientific justification. This raises the need to develop appropriate theoretical provisions, especially in relation to assessing the effectiveness of the system. As the robotic terrain monitoring system is dynamic due to the use of mobile elements, it makes it difficult to assess its effectiveness. The structure of the system assumes the dependence of the efficiency of each element of the system on its spatio-temporal location and the corresponding location of the monitoring objectives. The aim of the article is to use the functional field of the system to evaluate the effectiveness of the robotic area monitoring system. From the above it follows the need to develop mathematical models of the structure of the robotic system for monitoring the area and its functioning. Thus, as a result of construction and application of a system with a dynamic structure in the space of functioning of the system, its functional field is formed. A functional model based on the functional field of the system with a dynamic structure is proposed, which will allow solving the problems of building the structure of the system and evaluating its efficiency. The procedure for determining the parameters of the functional field of a system with a dynamic structure is much simpler than determining the numerical values of system performance indicators. This will ensure sufficient accuracy of the results and simplicity of computational procedures.

New Tasks for Medical Robotics in Rehabilitation and Hospital Services in a Pandemic Time – New Solutions: a Concept Model of an Autonomous Multifunctional Robot «Helper»

The article is devoted to an overview of modern medical robots used in everyday rehabilitation practice and hospital services. At thesame time, the emerging problems and new challenges associated with the COVID-19 pandemic are analyzed. Logically structured medical and technical solutions using innovative robotics are proposed. The concept model of the multifunctional autonomous robot “Helper” which is presented in the article has 7 functions that are critical in the face of a pandemic: movement along the specified routes; disinfection of premises and robot self disinfection; biometric identification; delivery of medicines; interpersonally communication;possibilities of telepresence and telemedicine; interactive musical-acoustic and virtual psychotherapy. It is an attempt to find effective practical response to the most serious challenges of our time associated with the pandemic aimed at reducing the risks of nosocomial spread of infection, unloading medical staff, providing psychological and service assistance to patients with COVID-19 who are undergoing rehabilitation treatment. The conclusive idea of the article is that medical robotics plays an increasingly significant role in the process of modern rehabilitation treatment and hospital services, which become especially important during a pandemic control and liquidation of its consequences. The relevant robotization of Healthcare Service has strategic importance with high medical,social and economic potential.

Robots for search site monitoring, suspect guarding, and evidence identification

As an initial trial and in response to a lack of technological applications in government agencies, we have developed three multifunctional robots in accordance with the work environment and the nature of our tasks. Search site monitoring robot is fitted with a panoramic camera and large wheels for walk-around search site monitoring. Suspect guarding robot follows and guards a suspect by tracking an augmented reality marker worn by the suspect and identifying the human body through an infrared thermal camera. For the evidence identification robot, <em>You Only Look Once</em> (YOLO) is utilized to identify some specific evidence on search site and is equipped with a carrier and a high-torque motor for evidence transportation; it is set to issue warnings and emails to relevant personnel on specific emergencies. We have performed multiple experiments and tests to confirm the robots’ effectiveness, verifying their applicability of technological task support in government agencies.

A conductive polyacrylamide/double bond chitosan/polyaniline hydrogel for flexible sensing

Flexible strain sensors, based on their good electrical conductivity and strain sensitivity, are widely used in wearable health monitoring, sensitive tactile information display and multi-functional robot skin. However, it is still a challenge for wearable devices to prepare conductive hydrogel with flexibility, high strain, high sensitivity and biocompatibility. Herein, we designed an interpenetrating network conductive composite hydrogel, which composed with polyaniline, double bond modified chitosan and acrylamide, has excellent strength and toughness due to its unique physically and chemically cross-linked double network. The obtained hydrogel exhibited good tensile strength (0.3 MPa), high electrical conductivity (6.97 S/m) and strain sensitivity (gauge factor 15.9). The results showed that the strain sensor could detect the movement of human joints through electrical signals, and had good stability and reproducibility, which indicated that it was expected to be used in wearable health monitoring and multi-functional robot skin.

Design of Household Items Delivery Robot

The household items delivery robot is a multi-functional robot mainly facing the delivery and handling of household goods. It can handle a variety of items while delivering them, such as cup cleaning and fruit cutting. It achieves the grabbing and delivery of various items through multi-degree of freedom robotic arms and claw-changing devices. Its versatile internal structure enables clean cups, cut fruit and transport items. The multi-functional robot as mainly household goods delivery service will make people living feeling standards having a greater improvement and bring great convenience to home living.

A User-Driven Design Framework for Coupled-Serial-Chain Mechanism Synthesis for Assisting Sit-to-Stand Motion

Abstract This paper presents a novel coupled-serial-chain (CSC) mechanism based multifunctional rehabilitation robot to assist the patients with lower-limb disability in their sit-to-stand (STS) movement. The CSC mechanism is constructed by coupling the joint rotations of a multilink serial chain with gears and operates by following the natural movement of human joints and limbs during the STS motion. The goal is to design an ergonomic and lightweight assistive robot with CSC mechanism that helps minimize the patient's joint/muscle strength and requires the least number of external actuators. A user-driven design framework is proposed to synthesize the CSC mechanism with type and dimensions personalized to the hip trajectory of an individual user. An example CSC mechanism is generated and verified by virtual prototyping and simulation. A physical prototype of the mechanism is built, which will be tested on the human subject to evaluate its maneuverability and physical compatibility with the subject's STS movement.

Multifunctional and Low Cost Autonomous Mobile Robot

Mikro denetleyicilerin ve tek kartli bilgisayar teknolojilerinin gelismesiyle robotik sistemler daha dusuk maliyetle tasarlanabilmektedir. Bu baglamda, sunulan calismada dusuk maliyetli bir otonom mobil robot gelistirilmistir. Otonom mobil robota cesitli sistemler eklenerek uzaktan kumandali ve yonlendirilen robot tasarlanmistir. Bu calismada, dort tekerlekli ve paletli yapiya sahip otonom mobil robot icin Arduino ve Raspberry kartlari kullanilmistir. Robotta bulunan Raspberry kart ve Pi kamera kullanilarak robotun etrafindaki aktiviteler internet uzerinden baska bir bilgisayara aktarilmistir. Internete baglanmak icin bir Wi-Fi (kablosuz uygunluk) modulu kullanilmistir. Bluetooth modulu, kameranin sagdan sola veya yukaridan asagiya hareket etmesini saglamaktadir. Robotun otonom hareket etmesi icin GPS (kuresel konumlandirma sistemi) modulu kullanilmistir. Ultrasonik mesafe sensoru ile otonom mobil robot, engelleri asarak yeni bir rota bulabilmektedir. Hareket sirasinda bataryanin zayiflamasi durumunda batarya bir kablo ile sarj edilmesine gerek kalmadan kablosuz sarj ile sarj edilebilmektedir. Bu robot, felaket durumlarinda bir yardim araci olan kargo hizmetlerine yardimda, hasta yardimi, yiyecek ve icecek hizmetlerinde kullanilabilir. Tasarlanan dusuk maliyetli otonom mobil robot, ayirt edici ozelliklere sahiptir ve robotun sundugu gelistirme asamalari arastirmacilara yardimci olabilir.

Modeling the motion processes of a multifunctional robot for animal units

The goal of the research is a mathematical modeling of the motion process of a wheeled robot along a given trajectory with the turn drill. Matlab software with the Simulink option package was used as the environment for artificial modeling of the motion process. In order to control the movement of a wheeled robot using the computational and graphic methods, a kinematic and dynamic model of a wheeled robot was determined. The robot has two independent drive wheels located on the same axis and operating on electric traction. Based on the obtained mathematical correlations, a nomenclature of artificial components was formed in the Matlab (Simulink) environment, which made possible to simulate the process of controlling the robot’s electric drive. A voltage that was twice as different was applied to the electric drive of independent wheels located on the same axis as a reliability check of the mathematical model in the Matlab (Simulink) artificial medium. The artificially simulated motion process of a wheeled robot involved studying the motion process using the “PLOT (X; Y)” function. At the moment of the robot’s movement, the trajectory of the00point, which is the center of robot’s mass, for a set unit of time, was obtained. This allowed confirming the reliability of the developed mathematical model for the control system of a multifunctional robot for animal units.

Güneş Paneli Temizliği ve Bakımı için Robotik Sistemin Uygulanması

In this study, a portable and low-cost solar panel cleaning robot with a functioning to blow away dust was designed and built to incur labor costs.The robot is service effective, environmentally friendly, energy independent, self-automated, long durable, and cost-effective. After cleaning operation, output voltage and current in solar panelincreased by 8.02% and 18.78%, respectively. Moreover, the image processing with the photos taken by a camera fixed on the robot made classification according to color changes in the solar panel. Therefore, it can be concluded that the automated and multifunctional robot may facilitate the solar panel surface cleaning and be an applicable maintenance method through remote monitoring of the surface conditions.

UNDERSTANDING ACCEPTANCE OF HEALTHCARE TECHNOLOGY BY OLDER ADULTS: IMPLICATIONS FOR ADOPTION

Healthcare Technology (HCT) can support older adults as it is not uncommon for them to be managing one or more chronic diseases at a time. Thus, understanding older adults’ willingness to use HCTs can guide introduction of new technologies to help with their health management. The purpose of the research is to understand what influential factors emerged when older adults considered using new HCTs and how well current models of technology acceptance represented these factors. Twenty-three older adults (age 65-84) with hypertension completed a semi-structured interview to gain insight into these factors. During the interview, participants were first presented with a scenario to imagine and one of three HCTs (blood pressure monitor, electronic pillbox, and multifunctional healthcare robot) to consider. The qualitative coding identified: (a) facilitators: perceived advantages, easy to use, familiar, useful, and advice acceptance from a healthcare provider; (b) barriers: good for others, not good for me, disadvantages, and unfamiliar; and (c) transition factors that can lead to acceptance: with advice acceptance from a healthcare provider. These findings provide recommendations which can inform dissemination of new HCTs. Recommendations include: highlight the facilitators when introducing new HCT, understand the barriers and transition factors to give support where needed, and include the care network (i.e., people knowledgeable about the HTC and health conditions) to recommend the technology.

Robo Car for Military Application

Military and battlefield applications are in an accelerated pace due to its demand fueled by government investment. In this paper a modern approach is presented for surveillance at border and remote areas using multifunctional robot based on Bluetooth technology and ARM Cortex M4. It will control both an autonomous and manually controlled robots using wireless technologies. The applications of this multisensory robot is used to detect human, bombs and metallic weapons at remote and war field areas and share the live feed and the location to the operator. Instead of having people get close to hazards such as unattended objects robots are used. An autonomous operation is performed to control using ultrasonic sensor acting as an obstacle detector. In this paper the robotic vehicle is designed for reconnaissance as well as surveillance under certain circumstances. The use of ARM Cortex M4 as the main controller helps in tight integration of system peripherals thereby reducing area and development costs in comparison with existing conventional wireless security robots.

Piston Fire Rescue Robot Arm Design Specification Introduction to the Work

At present, there is no research and development of personalized escape and rescue mechanical products based on arm loads. Firstly, according to the complex and diverse actual situation, the functions of the arm-mounted multi-functional robot arm and the mechanism and device required to realize the squat function are determined; then, the two-dimensional design and three-dimensional modeling of the overall structure and main components are carried out. Finally, considering the various factors, the arm-mounted multi-functional mechanical arm that combines the advantages of the rope-type bionic mechanical gripper is designed. The arm-mounted multifunctional machine the arm can be used for self-help, help or rescue in sudden disasters such as earthquakes and fires. The article proposes a new type of piston fire rescue robot arm. When the house collapses in rescue, it can not only serve as a rescue bracket, but also prevent danger and obstacles caused by wall collapse. It can also be used as a broken window tool. Smoke; can also help rescuers to enhance their mobility and support, save time for rescue, is a very practical rescue mechanical design.

Stochastic optimization of two-machine flow shop robotic cells with controllable inspection times: From theory toward practice

Abstract This paper considers the stochastic scheduling of a two-machine flow shop robotic cell with controllable inspection times. The inspection here is performed by a multi-function robot which can inspect identical parts with two alternatives for the inspection strategy: either at the back of the upstream machine or in transit between upstream and downstream machines. A characteristic of the inspection process is that its time is changed by altering the inspection cost. If the inspection time is reduced, more failures in parts may result regardless of when failures are identified. The challenge is therefore to find a suitable trade-off between inspection time and internal and external quality costs to increase reliability benefits. Initially, we complete a structural analysis of costs of quality and partial cycles, and then consider a simultaneous analysis of them. Then, through a sensitivity analysis, an epsilon-constraint method is used to find useful upper bounds on costs of quality and partial cycle times. The outcomes of the research are (i) an integrated framework for designing robotic cells with different levels of quality: low (e.g., disassembly industries), medium (e.g., automotive industries), and high (e.g., aerospace industries); and (ii) a sensitivity analysis for studying the impact of inspection strategies to assist production and quality managers with decision-making processes in stochastic environments. Finally, we extend the analysis to show that the given framework can be generalized for subtle variations found in practical applications with regard to (i) the quality of the part and (ii) accuracy of the inspection process. Robotic cells with scrap consideration and robotic cells with decreasing failure rates of the inspection process are studied as examples of the former, and robotic cells with either convex cost function or discrete cost function are studied for the latter.

Soft Three-Dimensional Robots with Hard Two-Dimensional Materials.

Inspired by biological organisms, soft engineered robots seek to augment the capabilities of rigid robots by providing safe, compliant, and flexible interfaces for human-machine interactions. Soft robots provide significant advantages in applications ranging from pick-and-place, prostheses, wearables, and surgical and drug-delivery devices. Conventional soft robots are typically composed of elastomers or gels, where changes in material properties such as stiffness or swelling control actuation. However, soft materials have limited electronic and optical performance, mechanical rigidity, and stability against environmental damage. Atomically thin two-dimensional layered materials (2DLMs) such as graphene and transition metal dichalcogenides have excellent electrical, optical, mechanical, and barrier properties and have been used to create ultrathin interconnects, transistors, photovoltaics, photocatalysts, and biosensors. Importantly, although 2DLMs have high in-plane stiffness and rigidity, they have high out-of-plane flexibility and are soft from that point of view. In this Perspective, we discuss the use of 2DLMs either in their continuous monolayer state or as composites with elastomers and hydrogels to create soft three-dimensional (3D) robots, with a focus on origami-inspired approaches. We classify the field, outline major methods, and highlight challenges toward seamless integration of hybrid materials to create multifunctional robots with the characteristics of soft devices.

Research on mechanical design of a multi-function finger rehabilitation robot

Training with robots for injured fingers has achieved the efficacy of treatment. However, most of finger rehabilitation robots just have bending/extending movement. This paper presents a new multi-function finger rehabilitation robot with a simple mechanical structure, which could help fingers and thumb realize bending/extending movement and stretch/adduction movement. The paper firstly analyzes the hand physiological movement mechanism, confirming the motion range of each finger’s joint. Based on the fingers movement rules, the robot driving structure has been developed, which includes thumb training module and fingers training module and frame. In order to prove the rationality of mechanism design, an experiment was conducted. The experiment proved that the mechanism can run smoothly, and its rope wheels also drive well without skidding phenomenon as well as its tension is appropriate.