Dataset Information

Compact Gearboxes for Modern Robotics: A Review.

ABSTRACT: On the eve of Human-Robot-Interaction (HRI) becoming customary in our lives, the performance of HRI robotic devices remains strongly conditioned by their gearboxes. In most industrial robots, two relatively unconventional transmission technologies-Harmonic Drives© and Cycloid Drives-are usually found, which are not so broadly used in other industries. Understanding the origin of this singularity provides valuable insights in the search for suitable, future robotic transmission technologies. In this paper we propose an assessment framework strongly conditioned by HRI applications, and we use it to review the performance of conventional and emerging robotic gearbox technologies, for which the design criterion is strongly shifted toward aspects like weight and efficiency. The framework proposes to use virtual power as a suitable way to assess the inherent limitations of a gearbox technologies to achieve high efficiencies. This paper complements the existing research dealing with the complex interaction between gearbox technologies and the actuators, with a new gearbox-centered perspective particularly focused on HRI applications.

SUBMITTER: Garcia PL

PROVIDER: S-EPMC7806062 | biostudies-literature | 2020

REPOSITORIES: biostudies-literature

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Publications

Compact Gearboxes for Modern Robotics: A Review.

García Pablo López PL Crispel Stein S Saerens Elias E Verstraten Tom T Lefeber Dirk D

Frontiers in robotics and AI 20200814

On the eve of Human-Robot-Interaction (HRI) becoming customary in our lives, the performance of HRI robotic devices remains strongly conditioned by their gearboxes. In most industrial robots, two relatively unconventional transmission technologies-Harmonic Drives© and Cycloid Drives-are usually found, which are not so broadly used in other industries. Understanding the origin of this singularity provides valuable insights in the search for suitable, future robotic transmission technologies. In t ...[more]

PMID: 33501270

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Project description:Simple Summary The means of therapy in oncologic diseases have been developing continuously over the past years, intending to improve the overall survival and quality of life of affected patients. In head and neck oncology the surgical therapy is one of the key pillars in curative treatment. The standardized surgical techniques are supplemented and improved by the application of technical devices. The ambition is the reduction in peri- and postoperative morbidity, hospitalization time, and the enhancement of functional outcome. In other surgical specialties, the application of robotics is widely seen as standard. The purpose of this review is to outline the current status of robotics in head and neck surgery in the context of the present literature, to demonstrate reasonable application fields, and to discuss the expenditure of the usage of such tools. Furthermore, this review offers an overview of current research in this field. Abstract Background. In the past few years, surgical robots have recently entered the medical field, particularly in urology, gynecology, and general surgery. However, the clinical effectiveness and safety of robot-assisted surgery (RAS) in the field of head and neck surgery has not been clearly established. In this review, we evaluate to what extent RAS can potentially be applied in head and neck surgery, in which fields it is already daily routine and what advantages can be seen in comparison to conventional surgery. Data sources. For this purpose, we conducted a systematic review of trials published between 2000 and 2021, as well as currently ongoing trials registered in clinicaltrials.gov. The results were structured according to anatomical regions, for the topics “Costs,” “current clinical trials,” and “robotic research” we added separate sections for the sake of clarity. Results. Our findings show a lack of large-scale systematic randomized trials on the use of robots in head and neck surgery. Most studies include small case series or lack a control arm which enables a comparison with established standard procedures. Conclusion. The question of financial reimbursement is still not answered and the systems on the market still require some specific improvements for the use in head and neck surgery.

Project description:BackgroundAlthough item response theory (IRT) appears to be increasingly used within health care research in general, a comprehensive overview of the frequency and characteristics of IRT analyses within the rheumatic field is lacking. An overview of the use and application of IRT in rheumatology to date may give insight into future research directions and highlight new possibilities for the improvement of outcome assessment in rheumatic conditions. Therefore, this study systematically reviewed the application of IRT to patient-reported and clinical outcome measures in rheumatology.MethodsLiterature searches in PubMed, Scopus and Web of Science resulted in 99 original English-language articles which used some form of IRT-based analysis of patient-reported or clinical outcome data in patients with a rheumatic condition. Both general study information and IRT-specific information were assessed.ResultsMost studies used Rasch modeling for developing or evaluating new or existing patient-reported outcomes in rheumatoid arthritis or osteoarthritis patients. Outcomes of principle interest were physical functioning and quality of life. Since the last decade, IRT has also been applied to clinical measures more frequently. IRT was mostly used for evaluating model fit, unidimensionality and differential item functioning, the distribution of items and persons along the underlying scale, and reliability. Less frequently used IRT applications were the evaluation of local independence, the threshold ordering of items, and the measurement precision along the scale.ConclusionIRT applications have markedly increased within rheumatology over the past decades. To date, IRT has primarily been applied to patient-reported outcomes, however, applications to clinical measures are gaining interest. Useful IRT applications not yet widely used within rheumatology include the cross-calibration of instrument scores and the development of computerized adaptive tests which may reduce the measurement burden for both the patient and the clinician. Also, the measurement precision of outcome measures along the scale was only evaluated occasionally. Performed IRT analyses should be adequately explained, justified, and reported. A global consensus about uniform guidelines should be reached concerning the minimum number of assumptions which should be met and best ways of testing these assumptions, in order to stimulate the quality appraisal of performed IRT analyses.

Dataset Information

Compact Gearboxes for Modern Robotics: A Review.

Publications

Compact Gearboxes for Modern Robotics: A Review.

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