New Trends in Medical and Service Robotics: MESROB 2020 (Mechanisms and Machine Science Book 93)

This book contains the papers of the 7th International Workshop on Medical and Service Robots (MESROB) that was planned to be held in Basel, Switzerland, in July 2020. Since the conference could not be held due to the worldwide Corona pandemic, the proceedings are published in this book and presentation of the accepted papers will be postponed to next year's conference (MESROB 2021). The main topics of the workshop include: design of medical devices, kinematics and dynamics for medical robotics, exoskeletons and prostheses, anthropomorphic hands, therapeutic robots and rehabilitation, cognitive robots, humanoid and service robots, assistive robots and elderly assistance, surgical robots, human-robot interfaces, haptic devices, medical treatments, medical lasers, and surgical planning and navigation. The contributions, which were selected by means of a rigorous international peer-review process, highlight numerous exciting ideas that will spur novel research directions and foster multidisciplinary collaboration among different specialists, demonstrating that medical and service robotics will drive the technological and societal change in the coming decades. Front Matter ....Pages i-xii Front Matter ....Pages 1-1 Trajectory Planning and Fuzzy Control of a Hand Exoskeleton for Assisted Rehabilitation (Berith A. De La Cruz-Sánchez, Manuel Arias-Montiel, Esther Lugo-González)....Pages 3-11 Design of a Novel Robot for Upper Limb Rehabilitation (Elio Matteo Curcio, Giuseppe Carbone)....Pages 12-20 Comfort Perception Analysis of Human Models Interfacing with Novel Biped-Wheeled-Exoskeletons (Angelica Zoccali, Giovanni Gerardo Muscolo)....Pages 21-28 Ankle Rehabilitation of Stroke Survivors Using Kuka LBR Iiwa (Paul Tucan, Ionut Ulinici, Nicoleta Pop, Ferenc Puskas, Giuseppe Carbone, Bogdan Gherman et al.)....Pages 29-36 A Compliant Parallel Manipulator for Trunk Rehabilitation After Stroke (Daniel Diaz-Caneja, Francisco J. Campa, Oscar Altuzarra, Mikel Diez, Ion Lascurain-Aguirrebeña, Leire Santisteban et al.)....Pages 37-43 Design and Motion Analysis of an Exoskeleton Robot for Assisting Human Locomotion (Ionut Geonea, Nicolae Dumitru, Daniela Tarnita, Cristian Copilusi, Adrian Sorin Rosca)....Pages 44-52 Alternative Methods for Direct Kinematic Analysis of a Parallel Robot for Ankle Rehabilitation (Erick D. Flores-Salazar, Manuel Arias-Montiel, Esther Lugo-González, Jaime Gallardo-Alvarado, Ricardo Tapia-Herrera)....Pages 53-61 First Clinical Evaluation of a Spherical Robotic System for Shoulder Rehabilitation (Calin Vaida, Ionut Ulinici, Alexandru Banica, Alin Burz, Bogdan Gherman, Paul Tucan et al.)....Pages 62-70 Experimental Characterization of a Cable-Driven Device for Elbow Motion Assistance (Arnaud Kozisek, Marco Ceccarelli, Med Amine Laribi, Lucia Ferrara)....Pages 71-78 Front Matter ....Pages 79-79 Injection Device for Percutaneous Osteoplasty (Julien Garnon, Laurence Meylheuc, Léo Harrer, Guillaume Koch, Afshin Gangi, Bernard Bayle)....Pages 81-88 A New Correction Coefficient Formula for the Simplified Dynamic Model of a Surgical Robot (Orhan Ayit, Mehmet İsmet Can Dede)....Pages 89-96 Designing Adaptive Nonlinear Controller for Optimal Tracking of Laparoscopic Robotic Arm with Nonholonomic Constraints (Amir Aminzadeh Ghavifekr, Roushanak Haji Hassani, Andrea Calanca)....Pages 97-107 Manipulation of an Wide Angle Endoscope in Minimally Invasive Robotic Surgery and Training (John Mannion, Yeongmi Kim)....Pages 108-117 Tendon Force Control Evaluation for an Endoscope with Series Elastic Actuation (Lorin Fasel, Nicolas Gerig, Philippe C. Cattin, Georg Rauter)....Pages 118-126 Design Evaluation of a Stabilized, Walking Endoscope Tip (Manuela Eugster, Melanie Oliveira Barros, Philippe C. Cattin, Georg Rauter)....Pages 127-135 Experimental Evaluation of Needle Tip Force Sensing Associated to Tactile Feedback for Improving Needle Remote Insertion (Charlélie Saudrais, Lennart Rubbert, Lisa Bonnefoy, Rui Zhu, Hubert Schneegans, Charles Baur et al.)....Pages 136-142 A Compliant Mechanism as a Sternum Prosthesis (Octavio Ramirez, Christopher R. Torres-San-Miguel, Marco Ceccarelli, José Luis Rueda Arreguín, Guillermo Urriolagoitia-Calderón)....Pages 143-151 Design and Lab Experiences for a Fixator of Rib Fractures (Ludovica Sommariva, Josè Luis Arreguin, Cuauhtémoc Morales Cruz, Marco Ceccarelli, Vincenzo Ambrogi, Lucrezia Puglisi)....Pages 152-160 Learned Task Space Control to Reduce the Effort in Controlling Redundant Surgical Robots (Murali Karnam, Manuela Eugster, Riccardo Parini, Philippe C. Cattin, Elena De Momi, Georg Rauter et al.)....Pages 161-168 Design, Static and Performance Analysis of a Parallel Robot for Head Stabilisation in Vitreoretinal Surgery (Hans Natalius, Patrice Lambert, Manish K. Tiwari, Lyndon da Cruz, Christos Bergeles)....Pages 169-179 Front Matter ....Pages 181-181 Multimodal Risk-Map for Navigation Planning in Neurosurgical Interventions (Maximilian Gerst, Christian Kunz, Pit Henrich, Franziska Mathis-Ullrich)....Pages 183-191 Augmented Reality Based Surgical Navigation of the Periacetabular Osteotomy of Ganz – A Pilot Cadaveric Study (Armando Hoch, Florentin Liebmann, Fabio Carrillo, Mazda Farshad, Stefan Rahm, Patrick O. Zingg et al.)....Pages 192-201 Optoacoustic Tissue Classification for Laser Osteotomes Using Mahalanobis Distance-Based Method (Hervé Nguendon Kenhagho, Yakub Aqib Bayhaqi, Ferda Canbaz, Raphael Guzman, Tomas E. Gomez Alvarez-Arenas, Philippe C. Cattin et al.)....Pages 202-210 Simulation of Echellogram Using Zemax OpticStudio and Matlab for LIBS (Hamed Abbasi, Negin Sahraei, Ferda Canbaz, Philippe C. Cattin, Azhar Zam)....Pages 211-218 Robot- and Laser-Assisted Bio-Sample Preparation: Development of an Integrated, Intuitive System (Cédric Duverney, Hamed Abbasi, Lina M. Beltrán Bernal, Tino Stauber, Jess G. Snedeker, Philippe C. Cattin et al.)....Pages 219-226 Front Matter ....Pages 227-227 Lab Experiences on Impact Biomechanics of Human Head (José Luis Rueda Arreguín, Marco Ceccarelli, Christopher R. Torres-San-Miguel, Cuauhtémoc Morales Cruz)....Pages 229-237 Nonlinear Dynamic Analysis of Human Sit-to-Stand Movement with Application to the Robotic Structures (Daniela Tarnita, Alin Petcu, Marius Georgescu, Ionut Geonea, Danut Tarnita)....Pages 238-246 Human Squat Motion: Joint Torques Estimation with a 3D Model and a Sagittal Model (Olivier Bordron, Clément Huneau, Éric Le Carpentier, Yannick Aoustin)....Pages 247-255 Visuo-Otolithic and Electrodermal Interactions in Experimental 3D Environments (Irini Giannopulu, A. Pisla, D. Pisla)....Pages 256-264 Development and Characterization of a Versatile, Force-Range Adjustable, Low-Cost, Tri-Axial Force Sensor (Ivan Sušić, Philippe C. Cattin, Raphael Guzman, Georg Rauter)....Pages 265-272 Development of an Automatic Perturbator for Dynamic Posturographic Analysis (Carlo Ferraresi, Carlo De Benedictis, Giovanni Gerardo Muscolo, Oliviero Walter Pica, Marco Genovese, Daniela Maffiodo et al.)....Pages 273-282 An Indirect Method Based on Capture Data Is Usable for Muscle Fatigue Treatment (Olfa Jemaa, Sami Bennour, David Daney, Lotfi Romdhane)....Pages 283-289 Daily Life Activities Analysis for Rehabilitation Purposes (Ferdaws Ennaiem, Abdelbadiâ Chaker, Med Amine Laribi, Juan Sandoval, Sami Bennour, Abdelfattah Mlika et al.)....Pages 290-297 Method for 3D Modeling of Human Osteo-Articular System Bones (Cristian Copilusi, Nicolae Dumitru, Alexandru Margine, Ionut Geonea, Adrian Sorin Rosca, Eugen Rosu)....Pages 298-305 Front Matter ....Pages 307-307 Human Gait Analysis Using Non-invasive Methods with a ROS-Based Mobile Robotic Platform (Diego Guffanti, Alberto Brunete, Miguel Hernando Gutierrez)....Pages 309-317 Introducing a Modular Framework for Human Tracking with Inhomogeneous Sensor Systems (Nils Mandischer, Mathias Huesing, Burkhard Corves)....Pages 318-324 Mobile Robot with Wheeled-Legs for Inspection of Pipes with Variable Diameter and Elbow Shapes (Eduardo Castillo-Castañeda, Ana Rocío Córdoba-Malaver)....Pages 325-331 Back Matter ....Pages 333-335