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Collision Free Motion Planning on Graphs
A topological theory initiated in [4,5] uses methods of algebraic topology to estimate numerically the character of instabilities arising in motion...
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Computing Protein Structures from Electron Density Maps: The Missing Fragment Problem
Rapid protein structure determination relies greatly on the availability of software that can automatically generate a protein model from an...
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Analysis and Architecture of Clinical Workflow Systems using Agent-Oriented Lifecycle Models
Healthcare executives are grappling with a climate of great change in the healthcare industry. This is coming from a number of sources. First, there...
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Pareto Optimal Coordination on Roadmaps
Given a collection of robots sharing a common environment, assume that each possesses an individual roadmap for its C-space and a cost function for...
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Coordinating Multiple Droplets in Planar Array Digital Microfluidics System
This paper presents an approach to coordinate the motions of droplets in digital microfluidic systems used for biochemical analysis. A digital...
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Semi-Differential Invariants for Recognition of Albebraic Curves
This paper studies the recognition of low-degree polynomial curves based on minimal tactile data. Differential and semi-differential invariants have...
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Computing Deform Closure Grasps
In prior work, we extended the well-known form closure grasp framework for rigid parts to a class of deformable parts, modeled as frictionless...
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Current Status of Computerized Decision Support Systems in Mammography
Breast cancer is one of the most devastating and deadly diseases for women today. Despite advances in cancer treatment, early mammographic detection...
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6 Shared Control
Based on the successful implementations of the lateral balancing and tiltup motion, in this chapter, we are going to develop a shared control...
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Uniform Coverage of Simple Surfaces Embedded in $\mathbb{R}^3$ for Auto-Body Painting
We develop a procedure for automated trajectory generation for robotic spray painting applications. Painting requires that the spray gun deposit...
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Sampling-Based Motion Planning under Kinematic Loop-Closure Constraints
Kinematic loop-closure constraints significantly increase the difficulty of motion planning for articulated mechanisms. Configurations of...
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13 Usability of an Assistive Robot Manipulator: Toward a Quantitative User Evaluation
This chapter describes our research activity on the integration of a robotic arm in the environment of persons with disabilities. People who have...
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2 Rehabilitation Robotics from Past to Present – A Historical Perspective
Popular culture presents the image of a robot as a mechanical, humanoid device, often evil in intent. Those with a slightly more informed technical...
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12 Risk Reduction Mechanisms for Safe Rehabilitation Robots
Safety is one of the most important features of rehabilitation robots. However, strategies for safe rehabilitation robots are not yet clarified. A...
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4 Welfare-Oriented Service Robotic Systems: Intelligent Sweet Home & KARES II
Utopia – it would be a society where the welfare of the people is properly guaranteed. In the society, each constituent would live his/her life with...
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5 “FRIEND” – An Intelligent Assistant in Daily Life
The research and development in the field of rehabilitation robots produced a multiplicity of rehabilitation robots available as off-the- shelf...
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6 GIVING-A-HAND System: The Development of a Task-Specific Robot Appliance
The rapidly changing demographics in industrialized nations create a pressing need for effective personal assistive aids that appeal to elderly and...
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10 A Safety Strategy for Rehabilitation Robots
It was reported previously that many MANUS users thought that the MANUS was useful, but not useful enough to gain totally independent lifestyles for...
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14 Processes for Obtaining a “Manus” (ARM) Robot within the Netherlands
This chapter describes both the current (Anno Domini 2003) and future processes of prescribing the Assistive Robotic Manipulator (ARM, also known as...
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7 Conclusions
Gyrover is a novel concept for mobility that has distinct advantages over conventional, statically stable vehicles. The concept has been veri.ed with...