A Recursive Algorithm for the Forward Kinematic Analysis of Robotic Systems Using Euler Angles

Forward kinematics is one of the main research fields in robotics, where the goal is to obtain the position of a robot’s end-effector from its joint parameters. This work presents a method for achieving this using a recursive algorithm that builds a 3D computational model from the configuration of a robotic system. The orientation of the robot’s links is determined from the joint angles using Euler Angles and rotation matrices. Kinematic links are modeled sequentially, the properties of each link are defined by its geometry, the geometry of its predecessor in the kinematic chain, and the configuration of the joint between them. This makes this method ideal for tackling serial kinematic chains. The proposed method is advantageous due to its theoretical increase in computational efficiency, ease of implementation, and simple interpretation of the geometric operations. This method is tested and validated by modeling a human-inspired robotic mobile manipulator (CHARMIE) in Python.

"That's Something for Children"

Robotic systems are increasingly seen as possible technical aids against the background of demographic change and the associated pressures on care systems, with increasing numbers of care recipients and a decreasing number of trained caregivers. In human-computer interaction and computer-supported cooperative work, different design paradigms are currently being pursued to explore which features and appearances are favorable for meaningful interactions of humans with robotic systems. One such approach, labeled as "otherware", proposes to conceptualize robots beyond a naive anthropomorphism or zoomorphism, rather developing the idea of a figure that goes beyond the dichotomy between "being alive" and "being a technical artefact". We present an ethnographic study on the perceptions, attitudes, and practices of care attendants and nursing-home residents in their experimenting with off-the-shelf robotic cats and dogs. The three-week study shows specific appropriation practices of the robotic pets, and how the care attendants - partly together with the residents - define their experiences of the robotic pets, i.e., in which situations the robotic pets are considered either as living beings or as technology toys. The study provides practice-based insights into how possible uses of robotic pets could be meaningfully integrated into care practices, but also which ethical reflections were discussed during their use. Finally, this ethnographic study functioned as a collaborative learning process between researchers, care attendants, and residents, and thus also points out possible aspects that arose with regard to future learning spaces of professional and organizational development for dealing with innovative technologies in residential care contexts.

Intraocular Robotic Surgical Systems

Purpose of Review In this review, we provide a brief history of intraocular robotic surgical systems and review the latest technological advancements. The goals are to (a) provide readers with a clear understanding of the important work that has been done in this field; (b) illuminate existing challenges towards full clinical adoption; and (c) speculate on future directions. Recent Findings The majority of work on intraocular robotic surgical systems has been done in university research settings, although two systems have been evaluated in human clinical trials and one system is commercially available for use in human patients. Summary The future of robotic systems in intraocular surgical procedures will depend on the results of ongoing clinical trials and the success of recent start-up companies. Many challenges remain before such systems can become safe and effective treatment options. However, the future of intraocular robotic surgical systems is bright and full of promise.

Interdependence as the key for an ethical artificial autonomy

Currently, the autonomy of artificial systems, robotic systems in particular, is certainly one of the most debated issues, both from the perspective of technological development and its social impact and ethical repercussions. While theoretical considerations often focus on scenarios far beyond what can be concretely hypothesized from the current state of the art, the term autonomy is still used in a vague or too general way. This reduces the possibilities of a punctual analysis of such an important issue, thus leading to often polarized positions (naive optimism or unfounded defeatism). The intent of this paper is to clarify what is meant by artificial autonomy, and what are the prerequisites that can allow the attribution of this characteristic to a robotic system. Starting from some concrete examples, we will try to indicate a way towards artificial autonomy that can hold together the advantages of developing adaptive and versatile systems with the management of the inevitable problems that this technology poses both from the viewpoint of safety and ethics. Our proposal is that a real artificial autonomy, especially if expressed in the social context, can only be achieved through interdependence with other social actors (human and otherwise), through continuous exchanges and interactions which, while allowing robots to explore the environment, guarantee the emergence of shared practices, behaviors, and ethical principles, which otherwise could not be imposed with a top-down approach, if not at the price of giving up the same artificial autonomy.

Switching Control of Latex Balloon Expansion by using Switching Valve mediated with the Coanda Effect

Soft robots have advantages in terms of safety, softness, and compliance compared to traditional robotic systems. However, fluid-driven soft actuators, often employed in soft robots, require a corresponding number of bulky pressure supplies/valves to drive. Here, we consider a valve that can control the flow without mechanical moving parts for simplifying the driving system of soft actuators. We developed a system comprising a pump, a switching valve, and two latex balloons to demonstrate the feasibility of introducing a fluid valve into soft robotics. As the valve, which makes use of the Coanda effect, can switch the flow between two outlets when the pressure difference between the outlets is 3 kPa, we employed a latex balloon connected to each outlet. The system can control the expansion of each balloon by switching the flow from the pump. The experimental results proved that the system could actuate each balloon.

Robotic Systems in Radiotherapy and Radiosurgery

Purpose of Review This review provides an overview of robotic systems in radiotherapy and radiosurgery, with a focus on medical devices and recently proposed research systems. We summarize the key motivation for using robotic systems and illustrate the potential advantages. Recent Findings. Robotic systems have been proposed for a variety of tasks in radiotherapy, including the positioning of beam source, patients, and imaging devices. A number of systems are cleared for use in patients, and some are widely used, particularly for beam and patient positioning. Summary The need for precise and safe delivery of focused high doses to the target region motivates the use of robots in radiotherapy. Flexibility in the arrangement of beams and the ability to compensate for target motion are key advantages of robotic systems. While robotic patient couches are widely used and robotic beam positioning is well established, brachytherapy robots are mostly considered in a research context.

Design-Centered HRI Governance for Healthcare Robots

Recent developments have shown that not only are AI and robotics growing more sophisticated, but also these fields are evolving together. The applications that emerge from this trend will break current limitations and ensure that robotic decision making and functionality are more autonomous, connected, and interactive in a way which will support people in their daily lives. However, in areas such as healthcare robotics, legal and ethical concerns will arise as increasingly advanced intelligence functions are incorporated into robotic systems. Using a case study, this paper proposes a unique design-centered approach which tackles the issue of data protection and privacy risk in human-robot interaction.

Development of a Mechatronic System for the Mirror Therapy

This paper fits into the field of research concerning robotic systems for rehabilitation. Robotic systems are going to be increasingly used to assist fragile persons and to perform rehabilitation tasks for persons affected by motion injuries. Among the recovery therapies, the mirror therapy was shown to be effective for the functional recovery of an arm after stroke. In this paper we present a master/slave robotic device based on the mirror therapy paradigm for wrist rehabilitation. The device is designed to orient the affected wrist in real time according to the imposed motion of the healthy wrist. The paper shows the kinematic analysis of the system, the numerical simulations, an experimental mechatronic set-up, and a built 3D-printed prototype.