Workshop: Design and Control of Robotic Exoskeletons with Compliant Joints and Actuation Systems
ICORR 2013, the International Conference on Rehabilitation Robotics
Seattle, USA; Wednesday, June 26, 13:45-18:15
http://depts.washington.edu/uwconf/i...skeletons.html
http://depts.washington.edu/uwconf/icorr2013
The workshop will feature invited speakers and a rapid-fire session where
attendees can present preliminary research results or summaries of emerging
topics related to the workshop topic.
Attendees interested in giving a rapid-fire talk should prepare an abstract
and presentation slides for submission and review by the workshop
organizers. Abstracts for 5-minute talks must fit on one US letter page,
including the title and all author names and affiliations. Short talk
abstracts and presentation slides (maximum 3) are due on Friday, June 14,
2013 (11:59pm PT). In case there is room after this initial selection, we
may also consider short talk abstracts/slides submitted after this deadline,
up until the end of the first day of the conference (Monday, June 24, 2013).
The short talks will be held during the workshop on Wednesday (June 26,
2013) 3:40-4:40pm, and time limits will be strictly enforced.
Submission Deadline: Friday, June 14, 2013 (11:59pm PT)
Notification: June 19, 2013
Submission Address:
Reneu.Mahi@gmail.com
Submission Subject Line: ICORR Short Talk
Workshop Description:
Robotic exoskeleton systems provide a promising avenue for assisting stroke
patients to recover motor function and for easing the burden of labor
intensive, highly repetitive, and therefore, costly conventional physical
therapy. Design of robotic exoskeletons is challenging due to the limits on
size and weight, and the need to address technical challenges in areas
ranging from biomechanics, rehabilitation, actuation, sensing, physical
human-robot interaction, and control based on the user intent. Since the
exoskeletons are meant to be in a close physical contact with the subjects,
a synergistic approach that accounts for the coupled human-robot system may
be necessary.
Recently novel robotic designs, including exoskeleton designs, have been
introduced with compliance at the joints and actuation. The goal of this
workshop is to understand the effects of introduction of compliance on the
overall performance of the robotic systems, and to explore how compliant
actuation and transmission may be advantageous in exoskeleton designed for
rehabilitation.
Compliance plays a critical role in the human movements, for example, in
walking and object manipulation, so it seems reasonable that exoskeletons
with compliance may perform better than rigid exoskeletons. One big
advantage of compliance is that it may lead to safer interactions by
allowing for the user to push against the robot. Also by introducing
appropriate compliance in the exoskeletons, specific impedance may be
introduced at the human-robot interaction, which may lead to better controls
and more comfort for the user. And compliance can also be utilized as a
low-cost for force sensing, especially, in the case of series elastic
actuation.
The workshop intends to provoke a discussion on why introducing compliance
might be beneficial, to gain insights into what we really add and loose, to
generalize findings across robotic systems (humanoids, industrial arms,
mobile manipulators), and to identify specific effects in case of
exoskeletons for rehabilitation (walking, shoulder-arm rehabilitation and
wrist-hand rehabilitation).
Our speakers will be:
* Raffaella Carloni (University of Twente, Energy Efficient Locomotion With
Variable Stiffness Actuators
* Ashish Deshpande (The University of Texas at Austin), Effects of
Introduction of Compliance in Actuation vs at Joints in Rehabilitation
Robots
* Urs Keller (ETH Zurich), Compliant Robots for Pediatric Arm Rehabilitation
* Lorenzo Masia (Instituto Italiano di Tecnologia), Variable Impedance
actuation principles for Emerging Assistive/rehabilitation Systems
* Peter Neuhaus (IHMC), Design and Evaluation of IHMC's Force Controllable
Actuators
* Marcia O'Malley (Rice University), Design and Evaluation of a Robot with
Series Compliance for Wrist Rehabilitation
* Fabrizio Sergi (Universita' Campus Bio-Medico Di Roma and Rice
University), A non-anthropomorphic wearable robot for locomotion assistance
with series elastic actuators
* Herman van der Kooij (University of Twente), Advantages and Disadvantages
Of Series Elastic Actuators in Rehabilitation Robotics
* Conor Walsh (Harvard University), Soft Wearable Robots for Gait Assistance
Workshops are included in conference registration.
The most up-to-date information on the workshop and rapid-fire talks is
available here:
http://mahilab.rice.edu/content/icorr-2013-workshop-design-and-control-robot
ic-exoskeletons-compliant-joints-and-actuation
We look forward to seeing you at ICORR!
-- Ashish Deshpande & Marcie O'Malley, Workshop Organizers
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