About Book

Robotics can be described as the current pinnacle of technical development. Robotics is an amalgamation of fields like computer science, mechanical engineering and electrical engineering. It is concerned with the design, construction and programming of robots. It is also used to control process information and obtain sensory feedback from computer systems. Robots changed the structure of society and allowed for safer conditions for labour. Industry has benefited drastically from the expanse of a robotic work force. Automated machines have taken over the duties of dangerous and mundane jobs from humans, allowing greater productivity. Just as industrial robots are remaking the manufacturing industry by creating higher production rates and improved quality and revolutionizing the way we think about and administer business processes, IT support processes, workflow processes, remote infrastructure and back-office work. This comprehensive book provides authoritative source of information on the development and advances in robotics, contributing to the understanding of different complex engineering systems. It includes diverse fields such as cognitive robotics, anthropomorphic robotic system, biarticular actuation, fuzzy inference system, inflatable structures, cloud robotics, therapeutic exercise, robotic thyroidectomy and dexterous manipulation. Latest technological developments in computational models, robotic rehabilitation and robotic classifications, are glanced in this book. It is compiled in such a manner, that it will provide in-depth knowledge about the theory and practice of this subject. This book will be useful for mechanical, electrical, electronics and computer engineering students.

Preface............................................................................................................v

Chapter 1 Application of a Robotic Rehabilitation Training System for Recovery of Severe Plegie Hand Motor Function after a Stroke...1

Abstract...................................................................................................1

1. Introduction............................................................................................1

2. Facilitation training for finger extension..........................................3

3. Training system for recovery of motor function............................6

4. Clinical evaluation of therapeutic effect...........................................8

5. Conclusions..........................................................................................11

Acknowledgements.............................................................................12

Chapter 2 Computational Models of Consciousness-Emotion Interactions in Social Robotics: Conceptual Framework.............................................15

Abstract ................................................................................................15

1. Introduction..........................................................................................16

2. Designing human-robot interaction.................................................16

3. Consciousness-emotion interaction as fu-nctions of the human

brain.......................................................................................................17

4. Consciousness-emotion interaction and machine consciousness

approach: establishing formal assumptions...................................19

5. Modeling consciousness-emotion interaction using a combination

of signal-detection and threshold approaches..............................19

6. Signal-detection theory to encode objective consciousness of

emotion in a social robot...................................................................21

7. Signal-detection approach to encode me-tacognitive consciousness

of emotion in a social robot..............................................................23

8. Threshold approach to establish access consciousness for

encoding C-E interaction by social robot.......................................26

9. Conclusions..........................................................................................28

Acknowledgements.............................................................................29

Conflict of interest..............................................................................29

Chapter 3 Biomimetic Based EEG Learning for Robotics Complex Grasping

and Dexterous Manipulation.................................................................35

Abstract.................................................................................................35

1. Introduction..........................................................................................36

2. Gasping events detection...................................................................43

3. Time-frequency analysis of grasping EEG waves........................46

4. Conclusion............................................................................................52

Acknowledgements.............................................................................53

Chapter 4 Bilateral Axillo-Breast Approach Robotic Thyroidectomy:

Introduction and Update.........................................................................57

Abstract.................................................................................................57

1. History and introduction to bilateral axillo-breast approach

robotic thyroidectomy (BABA RoT)................................................58

2. Patient selection: indications and contraindications....................59

3. Basic equipment and operating room (OR) setup.......................59

4. Procedure and techniques.................................................................63

5. Review of the evidence: the safety of performing BABA RoT.77

6. Special concerns for BABA RoT......................................................84

Chapter 5 Application of Robotics for Therapeutic Exercise of Neural

Disorder.......................................................................................................91

Abstract.................................................................................................91

1. Introduction..........................................................................................92

2. Method..................................................................................................92

3. Results...................................................................................................95

4. Discussions...........................................................................................98

5. Conclusions........................................................................................100

Acknowledgements...........................................................................100

Chapter 6 Cloud Robotics and Autonomous Vehicles......................................101

Abstract ..............................................................................................101

1. Introduction........................................................................................101

2. Historical backgrounds....................................................................107

3. Potential benefits...............................................................................112

4. Research challenges and future diretions....................................115

5. Conclusion..........................................................................................116

Chapter 7 Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures.......................................................................124

1. Introduction........................................................................................124

2. Historical background......................................................................126

3. Flexible fl uidic actuators - fabrication..........................................134

4. Series of fl exible fl uidic actuators..................................................141

5. Designing with fl exible fl uidic actuators.....................................144

6. Modeling and control of fl exible fl uidic actuators...................147

7. Infl atable structural elements.........................................................158

8. Flexure hinges in the fi eld of robotics..........................................159

9. Applications.......................................................................................160

10. Conclusions........................................................................................165

Acknowledgments.............................................................................165

Chapter 8 Control of Efficient Intelligent Robotic Gripper Using Fuzzy Inference System.....................................................................................178

1. Introduction........................................................................................178

2. Logical inference ..............................................................................179

3. Adaptive Neuro-Fuzzy Inference System (ANFIS) ...................182

4. Fuzzy controllers using susbtractive clustering ........................185

5. ANFIS control of an intelligent robotic gripper ........................188

6. Robotic gripper modeling ............................................................191

7. Gripper system controller .............................................................199

8. Experimental results ........................................................................204

Chapter 9 Biarticular Actuation of Robotic Systems.........................................212

1. Introduction........................................................................................212

2. Role of biarticular muscles in human jump ..............................214

3. Biarticular legged robot ..................................................................225

4. Acknowledgement.............................................................................234

Chapter 10 Autonomous Anthropomorphic Robotic System with Low-Cost Colour Sensors to Monitor Plant Growth in a Laboratory .......237

1. Introduction........................................................................................237

2. Robotic systems in agriculture ......................................................238

3. Overview of the robotic system.....................................................239

4. Sensors ...............................................................................................247

5. Conclusion .........................................................................................258

6. Acknowledgment..............................................................................258

Chapter 11 Cognitive Robotics in Industrial Environments.............................262

1. Introduction........................................................................................262

2. State-of-the-art ..................................................................................263

3. System overview ..............................................................................269

4. Theoretical considerations and algorithms .................................272

5. Experimental evaluation .................................................................279

6. Conclusion .........................................................................................284

7. Acknowledgment .............................................................................286

Citation......................................................................................................291

Index...........................................................................................................293

About Author

Tim Bechdal is M.Sc. in Robotics and Automation Engineering. He received his Ph.D. in Robotics from Technological University, Manila. He has written several articles, research report, and papers on robotics. He is a Guest Lecturer at Public University, Lorient. He has been professionally involved in producing high quality 3D models, i.e. electrical equipment and devices for automotive and other machineries. His research areas are in robotics, mobile computing, software engineering, computer engineering, systems engineering and sciences.