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Machines
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Robots in Healthcare: Design, Control and Applications
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Robots in Healthcare: Design, Control and Applications

A special issue of Machines (ISSN 2075-1702). This special issue belongs to the section "Automation and Control Systems".

Deadline for manuscript submissions: closed (15 November 2023) | Viewed by 6941

Special Issue Editor

Dr. Md Rasedul Islam

E-Mail Website
Guest Editor
Richard J. Resch School of Engineering, University of Wisconsin-Green Bay, Green Bay, WI 54311, USA
Interests: bio-robotics—wearable robots, robot-aided rehabilitation, exoskeleton robots, human-assist robots, humanoid robotics, medical robots, human–machine interface; ergonomic mechanisms—parallel mechanisms and hybrid mechanisms for rehabilitation robots and exoskeleton robots; intelligent systems and control—nonlinear control, force-based control

Special Issue Information

Dear Colleagues,

The future trends in robotics technology, the increasing number of patients (due to stroke, surgery, etc.), and the need to serve more patients mean that medical robots must operate more flexibly and in customizable configurations. For example, an upper limb rehabilitative robot is expected to perform endpoint and joint-based exercises as patients go through different recovery stages. However, variability in the diverse impairments and requirements of patients necessitates the optimization of robots to make them affordable and usable in the healthcare industry. This means that improvements in the design of robots’ hardware and control must be made.

Over the years, high computational capability, artificial intelligence (AI), machine learning, IoT, and data-driven decisions have transformed medical robots, expanding their capabilities into many other areas of healthcare (e.g., cleaning and preparing rooms for patients during the COVID-19 pandemic). New methods are required for the maneuvering of robots, operation optimization, performance monitoring, and risk minimization. In addition, sophisticated control algorithms using AI and machine learning need to be deployed in robot control to perform more intelligent operations.

This Special Issue aims to gather cutting-edge research contributions from the entire field of healthcare robotics, including orthotics and prosthetics for upper limbs, lower limbs, and the full body for rehabilitation, surgery robots, mobile robots, service robots, and assistive robots.

Dr. Md Rasedul Islam
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Machines is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Published Papers (4 papers)

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Research

18 pages, 18905 KiB  
Article
Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery
by Kapil Sawant, Antonios E. Gkikakis and Leonardo S. Mattos
Machines 2023, 11(6), 662; https://doi.org/10.3390/machines11060662 - 19 Jun 2023
Cited by 2 | Viewed by 1192
Abstract
Continuum manipulators, with their characteristics of flexibility and dexterity, have gained significant interest in various applications across industries such as inspection, manufacturing, space exploration, and medical surgery. However, because of their inherent compliance, handling payloads may prove challenging due to shape distortion and [...] Read more.
Continuum manipulators, with their characteristics of flexibility and dexterity, have gained significant interest in various applications across industries such as inspection, manufacturing, space exploration, and medical surgery. However, because of their inherent compliance, handling payloads may prove challenging due to shape distortion and deflection. This demonstrates the need to optimize the manipulator’s stiffness. The primary objective of this work was to show the merits of sensitivity analysis in the design of flexible surgical manipulators. Such analysis can guide important design decisions and enable the more efficient use of available resources, contributing to designing more effective prototypes. A new sensitivity analysis framework based on a multi-model and a multi-method approach was proposed to achieve this. This framework was then demonstrated by studying a tendon-driven rolling contact joint hyper-redundant manipulator for transoral laser microsurgery. In this analysis, the effects of independent design parameters on the stiffness of the manipulator were examined. Then, scaled-up 3D-printed prototypes were used to validate the accuracy of the stiffness model experimentally, which enabled us to assess the outcome of the sensitivity analysis framework. The results demonstrated that only two out of five design parameters for the considered manipulator significantly impacted the device’s performance. This information could enable the designer to efficiently allocate resources toward correctly setting these two most important parameters to achieve the desired system. Overall, the proposed analysis framework is a general tool that can be applied to any design architecture, helping to develop optimal manipulators for various applications. Full article
(This article belongs to the Special Issue Robots in Healthcare: Design, Control and Applications)
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19 pages, 1269 KiB  
Article
An Experimental Methodology for Introducing Educational Robotics and Storytelling in Therapeutical Activities for Children with Neurodevelopmental Disorders
by Elena Peribañez, Sofia Bayona, Jose San Martin, Ana Verde, Carlos Garre, Janika Leoste and Luis Pastor
Machines 2023, 11(6), 629; https://doi.org/10.3390/machines11060629 - 06 Jun 2023
Cited by 1 | Viewed by 1461
Abstract
Educational robotics is a valuable tool in education and therapy for children with neurodevelopmental disorders (NDD), especially when introduced in activities, combined with gamification and storytelling elements. However, the lack of familiarity of therapists with the technologies involved makes their widespread introduction difficult [...] Read more.
Educational robotics is a valuable tool in education and therapy for children with neurodevelopmental disorders (NDD), especially when introduced in activities, combined with gamification and storytelling elements. However, the lack of familiarity of therapists with the technologies involved makes their widespread introduction difficult and leads to case-specific rather than more generalizable methods. In this paper, we present an experimental methodology which provides a guide for the introduction of these elements in therapeutical activities with children with NDD. Providing a common framework reduces the gap between the different expertise of therapists, educators, and engineers. While establishing a common vocabulary and objectives, the methodology provides a guide for designing activities and evaluating their therapeutic effectiveness. We provide an example with a pilot study using a low-cost robot (Ozobot) in a therapeutic environment. Results regarding the children’s task involvement, level of attention, and use of social skills were positive. In addition, the attitude of some children changed throughout the sessions, improving frustration tolerance. The discussion of the pilot study provides clues for improving future implementations of the presented methodology, which serves as a framework for the design of future experiments that include therapeutic activities with educational robotics, gamification, and storytelling. Full article
(This article belongs to the Special Issue Robots in Healthcare: Design, Control and Applications)
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21 pages, 12487 KiB  
Article
The Design and User Evaluation of Body-Transfer System via Sliding Transfer Approach for Assisting Functionally Impaired People
by Chyi-Yeu Lin, Salman Masroor, Bahrudin and Hasan Bulut
Machines 2023, 11(5), 555; https://doi.org/10.3390/machines11050555 - 15 May 2023
Cited by 1 | Viewed by 1367
Abstract
Assistive devices can significantly improve caregivers’ ability to help disabled people with their daily activities. Existing assistive devices are not fully capable of safe transfer and are still in their early stages of development. In this research, a body-transfer system is designed and [...] Read more.
Assistive devices can significantly improve caregivers’ ability to help disabled people with their daily activities. Existing assistive devices are not fully capable of safe transfer and are still in their early stages of development. In this research, a body-transfer system is designed and developed to ensure that the posture and body angle of the person in the sagittal plane remains unaltered while transferring from bed to wheelchair and vice versa. Two independently controlled conveyor belts (2-DOF) mounted on the indigenously developed bed are employed to transfer the disabled person using a sliding approach. Additionally, a wheelchair with conveyor belts that are fully automated is used to carry and transfer the user to and from the wheelchair. Furthermore, an integrated control architecture has been developed for safely operating the entire body-transfer system (from an indigenously developed bed and wheelchair). Finally, an experimental assessment of the body-transfer system’s performance has been conducted. The experimental findings demonstrate that the system can transfer up to 120 kg of body weight while the user’s posture remains unaltered in the sagittal plane. Users perceive a reduction in wrist and shoulder pain index using the body-transfer system. The system has great potential for relocating disabled persons safely while reducing the load on caregivers. Full article
(This article belongs to the Special Issue Robots in Healthcare: Design, Control and Applications)
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26 pages, 3456 KiB  
Article
Caregivers’ Perspectives on Human–Robot Collaboration in Inpatient Elderly Care Settings
by Robert Klebbe, Kim Klüber, Rebecca Dahms and Linda Onnasch
Machines 2023, 11(1), 34; https://doi.org/10.3390/machines11010034 - 28 Dec 2022
Cited by 1 | Viewed by 2270
Abstract
Due to serious challenges in the healthcare sector, high expectations are placed on the use of assistive robotics. However, only a few systems are currently commercially available. Key challenges in the automation of care activities concern the identification and robust mediation of medical [...] Read more.
Due to serious challenges in the healthcare sector, high expectations are placed on the use of assistive robotics. However, only a few systems are currently commercially available. Key challenges in the automation of care activities concern the identification and robust mediation of medical and nursing standards as well as the distribution of agency between caregivers, robots, and patients. With regard to successful mediation of this relational framework, this research aims to identify (1) prerequisites for the implementation and use of robots, (2) potential areas of application as well as ethical considerations, and, finally, (3) requirements for the design of human–robot interactions (HRI) within inpatient elderly care settings. Using a qualitative research approach with semi-structured interviews, a total of 19 health professionals were interviewed in two constitutive studies. The results illustrate that robotic assistance is expected to provide potential relief in various application areas. At the same time, there was a great need for measures that support professionals in their responsibility for the care process and consider the professional values of care in the interpersonal relationship. To ensure high acceptance and use of robotics in care, its capabilities, role models, and agency must be increasingly aligned to professional standards and values. Full article
(This article belongs to the Special Issue Robots in Healthcare: Design, Control and Applications)
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