Displaying publications 1 - 20 of 85 in total

Abstract:
Sort:
  1. Abdul Wahit MA, Ahmad SA, Marhaban MH, Wada C, Izhar LI
    Sensors (Basel), 2020 Jul 27;20(15).
    PMID: 32727150 DOI: 10.3390/s20154174
    Trans-radial prosthesis is a wearable device that intends to help amputees under the elbow to replace the function of the missing anatomical segment that resembles an actual human hand. However, there are some challenging aspects faced mainly on the robot hand structural design itself. Improvements are needed as this is closely related to structure efficiency. This paper proposes a robot hand structure with improved features (four-bar linkage mechanism) to overcome the deficiency of using the cable-driven actuated mechanism that leads to less structure durability and inaccurate motion range. Our proposed robot hand structure also took into account the existing design problems such as bulky structure, unindividual actuated finger, incomplete fingers and a lack of finger joints compared to the actual finger in its design. This paper presents the improvements achieved by applying the proposed design such as the use of a four-bar linkage mechanism instead of using the cable-driven mechanism, the size of an average human hand, five-fingers with completed joints where each finger is moved by motor individually, joint protection using a mechanical stopper, detachable finger structure from the palm frame, a structure that has sufficient durability for everyday use and an easy to fabricate structure using 3D printing technology. The four-bar linkage mechanism is the use of the solid linkage that connects the actuator with the structure to allow the structure to move. The durability was investigated using static analysis simulation. The structural details and simulation results were validated through motion capture analysis and load test. The motion analyses towards the 3D printed robot structure show 70-98% similar motion range capability to the designed structure in the CAD software, and it can withstand up to 1.6 kg load in the simulation and the real test. The improved robot hand structure with optimum durability for prosthetic uses was successfully developed.
    Matched MeSH terms: Robotics*
  2. Al-Abdullah KI, Lim CP, Najdovski Z, Yassin W
    Int J Med Robot, 2019 Jun;15(3):e1989.
    PMID: 30721570 DOI: 10.1002/rcs.1989
    BACKGROUND: This paper presents a model-based bone milling state identification method that provides intraoperative bone quality information during robotic bone milling. The method helps surgeons identify bone layer transitions during bone milling.

    METHODS: On the basis of a series of bone milling experiments with commercial artificial bones, an artificial neural network force model is developed to estimate the milling force of different bone densities as a function of the milling feed rate and spindle speed. The model estimations are used to identify the bone density at the cutting zone by comparing the actual milling force with the estimated one.

    RESULTS: The verification experiments indicate the ability of the proposed method to distinguish between one cortical and two cancellous bone densities.

    CONCLUSIONS: The significance of the proposed method is that it can be used to discriminate a set of different bone density layers for a range of the milling feed rate and spindle speed.

    Matched MeSH terms: Robotics
  3. Che Ab Aziz, Z.A.
    Ann Dent, 2008;15(2):67-70.
    MyJurnal
    Aim: To manufacture a clinical simulation apparatus for the undergraduates' endodontic radiography teaching Objectives: • To provide a model for teaching of parallax method using Kelly's forcep • To provide a model for undergraduates to practice radiographic localization employing parallax method. • To allow students to practice taking radiographs in a way that simulates the clinical situations with a good diagnostic quality Methods: Impressions of a dentate arch (maxillary and mandibullary) were used to form a stone cast. A section of the cast, in the area where the natural teeth were to be placed, is sectioned and removed. Three maxillary extracted teeth (canine, first and second premolar) were selected and mounted with acrylic resin at the sectioned area. The resin was cured in a light box. The arches were mounted in a phantom head with a placement of rubber cheek. The first premolar was isolated with rubber dam. The intraoral holder (Kelly's forcep) was attached to a robotic arm. The students were taught the correct angulations of the x-ray cone for the paralleling technique and parallax method using Kelly's forcep during root canal treatment. Results: All students managed to complete the exercise and were considered competent when they produced acceptable quality of radiographs. Conclusion: The model described was improvised from a model that has been used during the past 2 years for undergraduates' endodontic courses. It has been well accepted as it simulates the clinical situation more closely than was possible previously.
    Matched MeSH terms: Robotics
  4. Abdullah MZ, Awang MS, Tan YC, Abdullah JM
    J Neurol Surg A Cent Eur Neurosurg, 2014 Mar;75(2):155-7.
    PMID: 23636911 DOI: 10.1055/s-0032-1330954
    The study assesses the capability and accuracy of a robotic arm to perform burr holes.
    Matched MeSH terms: Robotics/methods*
  5. Al-Qaysi ZT, Zaidan BB, Zaidan AA, Suzani MS
    Comput Methods Programs Biomed, 2018 Oct;164:221-237.
    PMID: 29958722 DOI: 10.1016/j.cmpb.2018.06.012
    CONTEXT: Intelligent wheelchair technology has recently been utilised to address several mobility problems. Techniques based on brain-computer interface (BCI) are currently used to develop electric wheelchairs. Using human brain control in wheelchairs for people with disability has elicited widespread attention due to its flexibility.

    OBJECTIVE: This study aims to determine the background of recent studies on wheelchair control based on BCI for disability and map the literature survey into a coherent taxonomy. The study intends to identify the most important aspects in this emerging field as an impetus for using BCI for disability in electric-powered wheelchair (EPW) control, which remains a challenge. The study also attempts to provide recommendations for solving other existing limitations and challenges.

    METHODS: We systematically searched all articles about EPW control based on BCI for disability in three popular databases: ScienceDirect, IEEE and Web of Science. These databases contain numerous articles that considerably influenced this field and cover most of the relevant theoretical and technical issues.

    RESULTS: We selected 100 articles on the basis of our inclusion and exclusion criteria. A large set of articles (55) discussed on developing real-time wheelchair control systems based on BCI for disability signals. Another set of articles (25) focused on analysing BCI for disability signals for wheelchair control. The third set of articles (14) considered the simulation of wheelchair control based on BCI for disability signals. Four articles designed a framework for wheelchair control based on BCI for disability signals. Finally, one article reviewed concerns regarding wheelchair control based on BCI for disability signals.

    DISCUSSION: Since 2007, researchers have pursued the possibility of using BCI for disability in EPW control through different approaches. Regardless of type, articles have focused on addressing limitations that impede the full efficiency of BCI for disability and recommended solutions for these limitations.

    CONCLUSIONS: Studies on wheelchair control based on BCI for disability considerably influence society due to the large number of people with disability. Therefore, we aim to provide researchers and developers with a clear understanding of this platform and highlight the challenges and gaps in the current and future studies.

    Matched MeSH terms: Robotics
  6. Tang, S.H., Khaksar, W., Ismail, N.B., Ariffin, M.K.A.
    MyJurnal
    The ability of a robot to plan its own motion seems pivotal to its autonomy, and that is why the motion planning has become part and parcel of modern intelligent robotics. In this paper, about 100 research are reviewed and briefly described to identify and classify the amount of the existing work for each motion planning approach. Meanwhile, around 200 research were used to determine the percentage of the application of each approach. The paper includes comparative tables and charts showing the application frequency of each approach in the last 30 years. Finally, some open areas and challenging topics are presented based on the reviewed papers.
    Matched MeSH terms: Robotics
  7. Khalid YM, Gouwanda D, Parasuraman S
    Proc Inst Mech Eng H, 2015 Jun;229(6):452-63.
    PMID: 25979442 DOI: 10.1177/0954411915585597
    Ankle rehabilitation robots are developed to enhance ankle strength, flexibility and proprioception after injury and to promote motor learning and ankle plasticity in patients with drop foot. This article reviews the design elements that have been incorporated into the existing robots, for example, backdrivability, safety measures and type of actuation. It also discusses numerous challenges faced by engineers in designing this robot, including robot stability and its dynamic characteristics, universal evaluation criteria to assess end-user comfort, safety and training performance and the scientific basis on the optimal rehabilitation strategies to improve ankle condition. This article can serve as a reference to design robot with better stability and dynamic characteristics and good safety measures against internal and external events. It can also serve as a guideline for the engineers to report their designs and findings.
    Matched MeSH terms: Robotics/instrumentation*
  8. Shaari AR, Mohd Jani MN, Mohamed Yunus AS
    MyJurnal
    Wheelchair has been an important assistive device and the demand are ever rising because of the increasing physically handicapped and old age populations. The recent development in the robotics artificial intelligence extends vast scope for developing the more advanced and intelligent one to overcome limitations of the existing traditional wheelchairs. The prototype smart wheelchair were present on this paper using hardware implementation with the help of simple hand gesture which is comprises of an accelerometer mounted on the hand glove senses the tilt angle of the user hand movements and transmits control signal to the receiver mounted on wheelchair. This will interpret the movement accordingly required by user. The wheelchair control unit is developed by integration of ATMEGA328 microcontroller with Arduino UNO. The wheelchair is developed to allow peoples to move safely and put reliability in accomplishment of some important tasks in daily life.
    Matched MeSH terms: Robotics
  9. Yang T, Xiao Y, Zhang Z, Liang Y, Li G, Zhang M, et al.
    Sci Rep, 2018 09 28;8(1):14518.
    PMID: 30266999 DOI: 10.1038/s41598-018-32757-9
    Soft robots driven by stimuli-responsive materials have their own unique advantages over traditional rigid robots such as large actuation, light weight, good flexibility and biocompatibility. However, the large actuation of soft robots inherently co-exists with difficulty in control with high precision. This article presents a soft artificial muscle driven robot mimicking cuttlefish with a fully integrated on-board system including power supply and wireless communication system. Without any motors, the movements of the cuttlefish robot are solely actuated by dielectric elastomer which exhibits muscle-like properties including large deformation and high energy density. Reinforcement learning is used to optimize the control strategy of the cuttlefish robot instead of manual adjustment. From scratch, the swimming speed of the robot is enhanced by 91% with reinforcement learning, reaching to 21 mm/s (0.38 body length per second). The design principle behind the structure and the control of the robot can be potentially useful in guiding device designs for demanding applications such as flexible devices and soft robots.
    Matched MeSH terms: Robotics/instrumentation*
  10. Zhang G, Jing W, Tao H, Rahman MA, Salih SQ, Al-Saffar A, et al.
    Work, 2021;68(3):935-943.
    PMID: 33612535 DOI: 10.3233/WOR-203427
    BACKGROUND: Human-Robot Interaction (HRI) has become a prominent solution to improve the robustness of real-time service provisioning through assisted functions for day-to-day activities. The application of the robotic system in security services helps to improve the precision of event detection and environmental monitoring with ease.

    OBJECTIVES: This paper discusses activity detection and analysis (ADA) using security robots in workplaces. The application scenario of this method relies on processing image and sensor data for event and activity detection. The events that are detected are classified for its abnormality based on the analysis performed using the sensor and image data operated using a convolution neural network. This method aims to improve the accuracy of detection by mitigating the deviations that are classified in different levels of the convolution process.

    RESULTS: The differences are identified based on independent data correlation and information processing. The performance of the proposed method is verified for the three human activities, such as standing, walking, and running, as detected using the images and sensor dataset.

    CONCLUSION: The results are compared with the existing method for metrics accuracy, classification time, and recall.

    Matched MeSH terms: Robotics
  11. Timmis J, Ismail AR, Bjerknes JD, Winfield AF
    Biosystems, 2016 Aug;146:60-76.
    PMID: 27178784 DOI: 10.1016/j.biosystems.2016.04.001
    Swarm robotics is concerned with the decentralised coordination of multiple robots having only limited communication and interaction abilities. Although fault tolerance and robustness to individual robot failures have often been used to justify the use of swarm robotic systems, recent studies have shown that swarm robotic systems are susceptible to certain types of failure. In this paper we propose an approach to self-healing swarm robotic systems and take inspiration from the process of granuloma formation, a process of containment and repair found in the immune system. We use a case study of a swarm performing team work where previous works have demonstrated that partially failed robots have the most detrimental effect on overall swarm behaviour. We have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that effect swarm behaviour associated with partially failed robots.
    Matched MeSH terms: Robotics*
  12. Spinelli A, Carrano FM, Laino ME, Andreozzi M, Koleth G, Hassan C, et al.
    Tech Coloproctol, 2023 Aug;27(8):615-629.
    PMID: 36805890 DOI: 10.1007/s10151-023-02772-8
    Artificial intelligence (AI) has the potential to revolutionize surgery in the coming years. Still, it is essential to clarify what the meaningful current applications are and what can be reasonably expected. This AI-powered review assessed the role of AI in colorectal surgery. A Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA)-compliant systematic search of PubMed, Embase, Scopus, Cochrane Library databases, and gray literature was conducted on all available articles on AI in colorectal surgery (from January 1 1997 to March 1 2021), aiming to define the perioperative applications of AI. Potentially eligible studies were identified using novel software powered by natural language processing (NLP) and machine learning (ML) technologies dedicated to systematic reviews. Out of 1238 articles identified, 115 were included in the final analysis. Available articles addressed the role of AI in several areas of interest. In the preoperative phase, AI can be used to define tailored treatment algorithms, support clinical decision-making, assess the risk of complications, and predict surgical outcomes and survival. Intraoperatively, AI-enhanced surgery and integration of AI in robotic platforms have been suggested. After surgery, AI can be implemented in the Enhanced Recovery after Surgery (ERAS) pathway. Additional areas of applications included the assessment of patient-reported outcomes, automated pathology assessment, and research. Available data on these aspects are limited, and AI in colorectal surgery is still in its infancy. However, the rapid evolution of technologies makes it likely that it will increasingly be incorporated into everyday practice.
    Matched MeSH terms: Robotics
  13. Sundram M
    Urol Oncol, 2010 Nov-Dec;28(6):677-81.
    PMID: 21062651 DOI: 10.1016/j.urolonc.2010.03.003
    Matched MeSH terms: Robotics/trends*; Robotics/statistics & numerical data*
  14. Ahmed M. M. ALmassri, Chikamune Wada, Wan Hasan, W.Z., Ahmad, S.A.
    MyJurnal
    This paper presents an auto grasping algorithm of a proposed robotic gripper. The purpose is to enhance the grasping mechanism of the gripper. Earlier studies have introduced various methods to enhance the grasping mechanism, but most of the works have not looked at the weight measurement method. Thus, with this algorithm, the weight of the object is calculated based on modified Wheatstone Bridge Circuit (WBC) which is controlled by programmable interface controller (PIC) method. Having this approach introduces and improves the grasping mechanism through an auto grasping algorithm. Experimental results show that an auto grasping algorithm based on pressure sensor measurements leads to a more precise grasping measurement and consequently enhance the sensitivity measurement as well as accurate movement calibration. Furthermore, several different grasping objects based on the proposed method are examined to demonstrate the performance and robustness of our approach.
    Matched MeSH terms: Robotics
  15. Yahaya MR, Hj Razali MH, Abu Bakar CA, Ismail WI, Muda WM, Mat N, et al.
    Pak J Biol Sci, 2014 Jan 01;17(1):141-5.
    PMID: 24783795
    This alkaloid automated removal machine was developed at Instrumentation Laboratory, Universiti Sultan Zainal Abidin Malaysia that purposely for removing the alkaloid toxicity from Dioscorea hispida (DH) tuber. It is a poisonous plant where scientific study has shown that its tubers contain toxic alkaloid constituents, dioscorine. The tubers can only be consumed after it poisonous is removed. In this experiment, the tubers are needed to blend as powder form before inserting into machine basket. The user is need to push the START button on machine controller for switching the water pump ON by then creating turbulence wave of water in machine tank. The water will stop automatically by triggering the outlet solenoid valve. The powders of tubers are washed for 10 minutes while 1 liter of contaminated water due toxin mixture is flowing out. At this time, the controller will automatically triggered inlet solenoid valve and the new water will flow in machine tank until achieve the desire level that which determined by ultra sonic sensor. This process will repeated for 7 h and the positive result is achieved and shows it significant according to the several parameters of biological character ofpH, temperature, dissolve oxygen, turbidity, conductivity and fish survival rate or time. From that parameter, it also shows the positive result which is near or same with control water and assuming was made that the toxin is fully removed when the pH of DH powder is near with control water. For control water, the pH is about 5.3 while water from this experiment process is 6.0 and before run the machine the pH of contaminated water is about 3.8 which are too acid. This automated machine can save time for removing toxicity from DH compared with a traditional method while less observation of the user.
    Matched MeSH terms: Robotics/instrumentation*
  16. Teo J, Abbass HA
    Evol Comput, 2004;12(3):355-94.
    PMID: 15355605
    In this paper, we investigate the use of a self-adaptive Pareto evolutionary multi-objective optimization (EMO) approach for evolving the controllers of virtual embodied organisms. The objective of this paper is to demonstrate the trade-off between quality of solutions and computational cost. We show empirically that evolving controllers using the proposed algorithm incurs significantly less computational cost when compared to a self-adaptive weighted sum EMO algorithm, a self-adaptive single-objective evolutionary algorithm (EA) and a hand-tuned Pareto EMO algorithm. The main contribution of the self-adaptive Pareto EMO approach is its ability to produce sufficiently good controllers with different locomotion capabilities in a single run, thereby reducing the evolutionary computational cost and allowing the designer to explore the space of good solutions simultaneously. Our results also show that self-adaptation was found to be highly beneficial in reducing redundancy when compared against the other algorithms. Moreover, it was also shown that genetic diversity was being maintained naturally by virtue of the system's inherent multi-objectivity.
    Matched MeSH terms: Robotics
  17. Ali MAH, Mailah M, Jabbar WA, Moiduddin K, Ameen W, Alkhalefah H
    Sensors (Basel), 2020 Jul 01;20(13).
    PMID: 32630340 DOI: 10.3390/s20133694
    A real-time roundabout detection and navigation system for smart vehicles and cities using laser simulator-fuzzy logic algorithms and sensor fusion in a road environment is presented in this paper. A wheeled mobile robot (WMR) is supposed to navigate autonomously on the road in real-time and reach a predefined goal while discovering and detecting the road roundabout. A complete modeling and path planning of the road's roundabout intersection was derived to enable the WMR to navigate autonomously in indoor and outdoor terrains. A new algorithm, called Laser Simulator, has been introduced to detect various entities in a road roundabout setting, which is later integrated with fuzzy logic algorithm for making the right decision about the existence of the roundabout. The sensor fusion process involving the use of a Wi-Fi camera, laser range finder, and odometry was implemented to generate the robot's path planning and localization within the road environment. The local maps were built using the extracted data from the camera and laser range finder to estimate the road parameters such as road width, side curbs, and roundabout center, all in two-dimensional space. The path generation algorithm was fully derived within the local maps and tested with a WMR platform in real-time.
    Matched MeSH terms: Robotics
  18. Zayer, Iman, Aris, I.B., Marhaban, M.H, Ishak, A.J
    MyJurnal
    The new millennium witnessed increasing attention to the field of robotics, especially the development of humanoid bipedal robot. Attention is noticed from the increasing number of publications as a result of a multitude of humanoid projects for commercial and academic goals. This paper briefly visits the recent activities in this field, highlighting the importance and motivation behind adopting bipedal humanoid projects, particularly underlining biologically inspired design concept, bipedal locomotion and communication. Ultimately, emphasising on power-efficient design. The problem of endurance and effective duty cycle were presented. Finally, potential future application for the humanoid robot was briefly listed.
    Matched MeSH terms: Robotics
  19. Aslan MF, Hasikin K, Yusefi A, Durdu A, Sabanci K, Azizan MM
    Front Public Health, 2022;10:855994.
    PMID: 35734764 DOI: 10.3389/fpubh.2022.855994
    Artificial intelligence researchers conducted different studies to reduce the spread of COVID-19. Unlike other studies, this paper isn't for early infection diagnosis, but for preventing the transmission of COVID-19 in social environments. Among the studies on this is regarding social distancing, as this method is proven to prevent COVID-19 to be transmitted from one to another. In the study, Robot Operating System (ROS) simulates a shopping mall using Gazebo, and customers are monitored by Turtlebot and Unmanned Aerial Vehicle (UAV, DJI Tello). Through frames analysis captured by Turtlebot, a particular person is identified and followed at the shopping mall. Turtlebot is a wheeled robot that follows people without contact and is used as a shopping cart. Therefore, a customer doesn't touch the shopping cart that someone else comes into contact with, and also makes his/her shopping easier. The UAV detects people from above and determines the distance between people. In this way, a warning system can be created by detecting places where social distance is neglected. Histogram of Oriented-Gradients (HOG)-Support Vector Machine (SVM) is applied by Turtlebot to detect humans, and Kalman-Filter is used for human tracking. SegNet is performed for semantically detecting people and measuring distance via UAV. This paper proposes a new robotic study to prevent the infection and proved that this system is feasible.
    Matched MeSH terms: Robotics*
  20. Al-Quraishi MS, Ishak AJ, Ahmad SA, Hasan MK, Al-Qurishi M, Ghapanchizadeh H, et al.
    Med Biol Eng Comput, 2017 May;55(5):747-758.
    PMID: 27484411 DOI: 10.1007/s11517-016-1551-4
    Electromyography (EMG)-based control is the core of prostheses, orthoses, and other rehabilitation devices in recent research. Nonetheless, EMG is difficult to use as a control signal given the complex nature of the signal. To overcome this problem, the researchers employed a pattern recognition technique. EMG pattern recognition mainly involves four stages: signal detection, preprocessing feature extraction, dimensionality reduction, and classification. In particular, the success of any pattern recognition technique depends on the feature extraction stage. In this study, a modified time-domain features set and logarithmic transferred time-domain features (LTD) were evaluated and compared with other traditional time-domain features set (TTD). Three classifiers were employed to assess the two feature sets, namely linear discriminant analysis (LDA), k nearest neighborhood, and Naïve Bayes. Results indicated the superiority of the new time-domain feature set LTD, on conventional time-domain features TTD with the average classification accuracy of 97.23 %. In addition, the LDA classifier outperformed the other two classifiers considered in this study.
    Matched MeSH terms: Robotics/methods
Filters
Contact Us

Please provide feedback to Administrator (afdal@afpm.org.my)

External Links