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Actuators
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Actuators and Robots for Biomedical Applications
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Actuators and Robots for Biomedical Applications

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Medical Instruments".

Deadline for manuscript submissions: 30 September 2024 | Viewed by 8018

Special Issue Editors

Dr. Wojciech Wolanśki

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Guest Editor
Department of Biomechatronics, Faculty of Biomedical Engineering, Silesian University of Technol ogy (SUT), Akademicka 2A, 44-100 Gliwice, Poland
Interests: biomechanics; biomechatronics; numerical methods (CAE); biomedical engineering; computer-aided design (CAD)
Dr. Damian Gąsiorek

E-Mail Website
Guest Editor
Faculty of Mechanical Engineering, Silesian University of Technology, Konarskiego 18A Street, 44-100 Gliwice, Poland
Interests: robotics; induction motor; fault detection
Prof. Dr. Hartmut Witte

E-Mail Website
Guest Editor
Group of Biomechatronics, Faculty of Mechanical Engineering, Technische Universität Ilmenau, Max-Planck-Ring 12, D-98693 Ilmenau, Germany
Interests: biomechatronics; biomometics; bionics; biomechanics; functional morphology; anatomy
Dr. Mariusz Ptak

E-Mail Website
Guest Editor
Faculty of Mechanical Engineering, Wroclaw University of Science and Technology, Lukasiewicza 7/9, 50-371 Wroclaw, Poland
Interests: CAD; CAE; finite element/multibody simulations; brain modeling; head injury; nonlinear dynamics; pedestrian/cyclist safety; vehicle crashworthiness; injury biomechanics; accident reconstruction
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

This Special Issue is intended to bring together a collection of scholarly research articles that deal with actuators and robots, emphasizing studies related to applications directed to human biology, with a focus on medicine. We invite papers that deal with research into the design, control and biomedical application of modern robots and all types of actuators and actuation technologies, actuator control systems, and their biomedical applications. These robots could yield significant positive impacts, but they also carry the potential to cause negative impacts. Therefore, these impacts should be considered and discussed from the perspectives of not only technical solutions but also relevant safety issues, law, ethics, psychology and philosophy. We especially welcome the submission of articles with topics such as object manipulation, miniaturization, navigation and deep learning that arise in developing the makeup of modern robots as well as experimental components. Here, the question is reliability and miniaturization, especially in surgery or other invasive operations. It is also useful to have a high efficiency (low noise and error), especially in rehabilitation systems. Contributions from all fields related to actuators and robots for biomedical applications are welcome in this Special Issue, particularly those listed in the following keywords.

The proposed Special Issue will create an article collection to broaden the knowledge of the latest research and discuss new ideas for all types of actuators and robots. In particular, contributions from research into their applications in the biomedical field are welcome in this Special Issue.

Dr. Wojciech Wolanśki
Dr. Damian Gąsiorek
Prof. Dr. Hartmut Witte
Dr. Mariusz Ptak
Guest Editors

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. Actuators 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.

Keywords

  • modern robots for medical applications (medical robots)
  • rehabilitation systems (rehabilitation robots)
  • safety issues for human–robot interactions (assistant robots)
  • biomedical devices
  • intelligent control systems (with artificial intelligence (AI) and deep learning)
  • sensing and manipulation
  • miniaturization (nanorobots)
  • actuation technologies
  • design

Published Papers (5 papers)

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Research

19 pages, 8412 KiB  
Article
Design and Analysis of a Spatial 2R1T Remote Center of Motion Mechanism for a Subretinal Surgical Robot
by Yunyao Li, Sujian Wu, Jinyu Fan, Tianliang Jiang and Guohua Shi
Actuators 2024, 13(4), 124; https://doi.org/10.3390/act13040124 - 28 Mar 2024
Viewed by 527
Abstract
With advances in minimally invasive ophthalmic surgery (MIOS), novel vitreoretinal surgeries have been proposed to treat retinal diseases. Due to the limitations of manual techniques, surgical robots have been introduced for such surgeries. Among ophthalmic surgical robots, the remote center of motion (RCM) [...] Read more.
With advances in minimally invasive ophthalmic surgery (MIOS), novel vitreoretinal surgeries have been proposed to treat retinal diseases. Due to the limitations of manual techniques, surgical robots have been introduced for such surgeries. Among ophthalmic surgical robots, the remote center of motion (RCM) mechanism is widely used due to its unique advantages. In this paper, a novel RCM is proposed. Based on the configuration, the kinematics and singularity are analyzed. Subsequently, the planar workspace is analyzed based on ocular anatomy and the requirements of MIOS. The optimal configuration is selected according to the workspace coverage analysis, and the three-dimensional workspace is obtained. Finally, a prototype is built, and the motion is validated. When compared with the related prior RCM mechanisms, the resulting design has qualified workspace coverage, more concise kinematics, and reduced motion coupling with all actuators placed at the distal end of the base. The proposed RCM mechanism is suitable for common MIOS. Future research will further optimize the mechanical structure and control algorithm to improve the accuracy of the prototype. Full article
(This article belongs to the Special Issue Actuators and Robots for Biomedical Applications)
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26 pages, 9753 KiB  
Article
Design and Research of Series Actuator Structure and Control System Based on Lower Limb Exoskeleton Rehabilitation Robot
by Chenglong Zhao, Zhen Liu, Liucun Zhu and Yuefei Wang
Actuators 2024, 13(1), 20; https://doi.org/10.3390/act13010020 - 05 Jan 2024
Cited by 1 | Viewed by 1416
Abstract
Lower limb exoskeleton rehabilitation robots have become an important direction for development in today’s society. These robots can provide support and power to assist patients in walking and movement. In order to achieve better interaction between humans and machines and achieve the goal [...] Read more.
Lower limb exoskeleton rehabilitation robots have become an important direction for development in today’s society. These robots can provide support and power to assist patients in walking and movement. In order to achieve better interaction between humans and machines and achieve the goal of flexible driving, this paper addresses the shortcomings of traditional elastic actuators and designs a series elastic–damping actuator (SEDA). The SEDA combines elastic and damping components in parallel, and the feasibility of the design and material selection is demonstrated through finite element static analysis. By modeling the dynamics of the SEDA, using the Bode plot and Nyquist plot, open-loop and closed-loop frequency domain comparisons and analyses were carried out, respectively, to verify the effect of damping coefficients on the stability of the system, and the stiffness coefficient ks = 25.48 N/mm was selected as the elastic element and the damping coefficient cs = 1 Ns/mm was selected as the damping element. A particle swarm optimization (PSO)-based algorithm was proposed to introduce the fuzzy controller into the PID control system, and five parameters, namely the the fuzzy controller’s fuzzy factor (ke, kec) and de-fuzzy factor (kp1, ki1, kd1), are taken as the object of the algorithm optimization to obtain the optimal fuzzy controller parameters of ke = 0.8, kec = 0.2, kp1 = 0.5, ki1 = 8, kd1 = −0.1. The joint torque output with and without external interference is simulated, and the simulation model is established in the MATLAB/Simulink environment The results show that when fuzzy PID control is used, the amount of overshooting in the system is 14.6%, and the regulation time is 0.66 s. This has the following advantages: small overshooting amount, short rise time, fast response speed, short regulation time, good stability performance, and strong anti-interference ability. The SEDA design structure and control method breaks through limitations of the traditional series elastic actuator (SEA) such as its lack of flexibility and stability, which is very helpful to improve the output effect of flexible joints. Full article
(This article belongs to the Special Issue Actuators and Robots for Biomedical Applications)
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10 pages, 1836 KiB  
Article
Analysis of the Possibility of Using the UR10e Cobot in Neurological Treatment
by Wojciech Wolański, Robert Michnik, Sławomir Suchoń, Michał Burkacki, Miłosz Chrzan, Hanna Zadoń, Piotr Szaflik, Justyna Szefler-Derela and Dagmara Wasiuk-Zowada
Actuators 2023, 12(7), 268; https://doi.org/10.3390/act12070268 - 30 Jun 2023
Cited by 1 | Viewed by 1137
Abstract
Due to the increasing number of people requiring rehabilitation and an aging society, the need to streamline, improve, and, above all, increase the availability of rehabilitation has been identified. In the present study, research was conducted to evaluate the feasibility of adapting an [...] Read more.
Due to the increasing number of people requiring rehabilitation and an aging society, the need to streamline, improve, and, above all, increase the availability of rehabilitation has been identified. In the present study, research was conducted to evaluate the feasibility of adapting an industrial robot to assist in the rehabilitation process. The study included four measurement series, which consisted of ten repetitions of Proprioception Neuromuscular Facilitation (PNF) movements. The first two series were performed with the assistance of a physiotherapist, the next two with the support of the Cobot UR10e. The lower limb movement was analyzed using the Noraxon Ultium Motion system using inertial sensors (IMU). The study analyzed the following parameters: hip flexion and abduction angles; knee flexion and rotation angles; ankle dorsiflexion angle; and motion cycle. Based on the results, it can be seen that the robot reproduces physiotherapeutic movements more precisely and with greater repeatability. The robot reproduced the movements in the hip and knee joints very well. From the analysis, it can be concluded that with proper adaptation, the robot could be used in the rehabilitation process. Full article
(This article belongs to the Special Issue Actuators and Robots for Biomedical Applications)
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24 pages, 6546 KiB  
Article
Characterization of an Antagonistic Actuation System with Nonlinear Compliance for an Upper-Arm Exoskeleton
by Max Jäger, Thomas Helbig, Moritz Goos, Sebastian Köhring and Hartmut Witte
Actuators 2023, 12(5), 196; https://doi.org/10.3390/act12050196 - 10 May 2023
Cited by 1 | Viewed by 1686
Abstract
The parallel connection of technical and biological systems with a comparable mechanical behavior offers the possibility of reducing the interaction forces between those systems. Especially in the context of human–robot interaction (e.g., exoskeletons), it can improve user safety and acceptance at the same [...] Read more.
The parallel connection of technical and biological systems with a comparable mechanical behavior offers the possibility of reducing the interaction forces between those systems. Especially in the context of human–robot interaction (e.g., exoskeletons), it can improve user safety and acceptance at the same time. With this aim, we used antagonistic actuators with nonlinear compliance for a modular upper-extremity exoskeleton following biological paragons, mirroring the “blueprint” of its human user. In a test-bed setup, we compared antagonistic compliant actuation with antagonistic stiff, unilateral stiff and unilateral compliant actuation in the artificial “elbow joint” of the exoskeleton test bed. We show that this type of actuation allows the variation of the joint stiffness during motion, independent of the position. With the approach we propose, compliance leads to reduced force peaks and angular jerk, without sacrifices in terms of time constants and overshoot of amplitudes. We conclude that the presented actuation principle has considerable benefits in comparison to other types of exoskeleton actuation, even when using only commercially available and 3D printed components. Based on our work, further investigations into the control of compliant antagonistically actuated exoskeletons become realizable. Full article
(This article belongs to the Special Issue Actuators and Robots for Biomedical Applications)
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17 pages, 7233 KiB  
Article
Design and Analysis of a Novel Variable Stiffness Joint for Robot
by Hui Jin, Mulin Luo, Shiqing Lu, Qingsong He and Yuanchang Lin
Actuators 2023, 12(1), 10; https://doi.org/10.3390/act12010010 - 24 Dec 2022
Cited by 2 | Viewed by 2252
Abstract
The variable stiffness of robot joints plays an important role in improving the robot’s compliance, safety, and energy efficiency. In this paper, a novel type of variable stiffness joint based on a rack and pinion structure (VSJ-RP) is proposed. The structure and the [...] Read more.
The variable stiffness of robot joints plays an important role in improving the robot’s compliance, safety, and energy efficiency. In this paper, a novel type of variable stiffness joint based on a rack and pinion structure (VSJ-RP) is proposed. The structure and the variable stiffness principle of the joint are described in detail. The theoretical stiffness calculation and the dynamic model of the joint are established, and the correctness of the model is validated by simulation. The compliance, safety, energy storage, and release characteristics of the joint are validated by position, bearing capacity, hitting ball, and safety detection experiments, respectively. These experimental results show that the joint stiffness can be adjusted from 14.74 Nm/rad to 726.58 Nm/rad, and the overshoot of the position response is about 5.56–0.5%. The larger the stiffness of the joint, the faster the adjustment response, the smaller the fluctuation, and the more stable the operation are. The maximum output torque of the joint is about 20 Nm, and the torque difference between the minimum and the maximum stiffness of the joint is about 10%. The energy conversion efficiency of the joint is 17.56%~89.86%, and the deformation angle range is 2.66°~4.37°. These phenomena reflect the safety, energy storage, and release capacity of the joint. An effective exploration is performed regarding the miniaturization, safety, and energy utilization of robot variable stiffness joints. Full article
(This article belongs to the Special Issue Actuators and Robots for Biomedical Applications)
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