A systematic review on cooperative dual-arm manipulators: modeling, planning, control, and vision strategies

Abbas, Mohamed; Narayan, Jyotindra; Dwivedy, Santosha K.

doi:10.1007/s41315-023-00292-0

Cited by 14 publications

(1 citation statement)

References 157 publications

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“…This feature is being exploited in application fields that are different from traditional production, where the use of classical industrial robots would be impossible due to obvious safety reasons. Healthcare, for example, is a widely investigated field that many researchers have focused on since it provides a wide range of challenges and applications [ 4 , 5 , 6 ].…”

Section: Introductionmentioning

confidence: 99%

A Robot-Assisted Framework for Rehabilitation Practices: Implementation and Experimental Results

Chiriatti,

Carbonari,

Ceravolo

et al. 2023

Sensors

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One of the most interesting characteristics of collaborative robots is their ability to be used in close cooperation scenarios. In industry, this facilitates the implementation of human-in-loop workflows. However, this feature can also be exploited in different fields, such as healthcare. In this paper, a rehabilitation framework for the upper limbs of neurological patients is presented, consisting of a collaborative robot that helps users perform three-dimensional trajectories. Such a practice is aimed at improving the coordination of patients by guiding their motions in a preferred direction. We present the mechatronic setup, along with a preliminary experimental set of results from 19 volunteers (patients and control subjects) who provided positive feedback on the training experience (52% of the subjects would return and 44% enjoyed performing the exercise). Patients were able to execute the exercise, with a maximum deviation from the trajectory of 16 mm. The muscular effort required was limited, with average maximum forces recorded at around 50 N.

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Section: Introductionmentioning

confidence: 99%