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Stabilization
In this chapter, we shall deal with the stabilization problem for singular systems. The purpose is the design of controllers such that the...
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Structural Solutions to Disturbance Decoupling
This chapter develops a novel algorithm which solves the disturbance decoupling problem by repeatedly decoupling one output variable at a time. The...
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Marginal Filter Stability
Two fundamental aspects in the use of the Kalman Filter for simultaneous localization and map** are the issues of observability and...
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C Sigma Points
A set of p + 1 sigma points $\mathcal{S} = \{\mathcal{X}^i, W^i\}$...
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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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6 Fundamental “Uncertainty” in Science
The conference on “Uncertainty and Surprise” was concerned with our fundamental inability to predict future events. How can we restructure...
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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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17 Uncertainty as Certaint
I am trying to make money in the biotech industry from complexity science. And I am doing it with inspiration that I picked up on the edge of...
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2 Surprises in a Half Century
Ilya Prigogine participated early in the organization of our meeting and was invited to give a keynote address. Due to poor health he...
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9 A View from the Inside: The Task of Managing Uncertainty and Surprise
Let me shift the flow of the day a little bit, because I am not here to present a theory, or prove a theory. Actually, I come here with questions....
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13 Haptic Interfaces: Collocation and Coherence Issues
Multi-modality, collocation and immersive VE nowadays represents the break-trough barrier of human computer interaction. Typical VE systems...
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6 Efficient and Precise Grasp Planning for Real World Objects
With the development of .exible and highly integrated dexterous grip** devices (e.g. fig.6.1) the research results on grasp and manipulation...
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4 Modelling and Controlling the Compliance of a Robotic Hand with Soft Finger-pads
Compliant pads greatly contribute to increase the robustness and the stability of grasps of robot hands, because of their conformability to the...
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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...