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  • 1.
    Azad, A. K. M.
    et al.
    Northern Illinois University, United States.
    Cowan, N. J.Johns Hopkins University, United States.Tokhi, M. O.Univeristy of Sheffield, United Kingdom.Virk, Gurvinder SinghUniversity of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.Eastman, R. D.Loyola University, United States.
    Adaptive Mobile Robotics: Proceedings Of The 15th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines, Baltimore, USA, 23–26 July 20122012Conference proceedings (editor) (Refereed)
    Abstract [en]

    This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.

  • 2. Barattini, P.
    et al.
    Giannaccini, M. E.
    Virk, Gurvinder S.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Tapus, A.
    Mirnig, N.
    Bonsignorio, F.
    Experimenting in HRI for priming real world set-ups, innovations and products2014In: ACM/IEEE International Conference on Human-Robot Interaction, 2014, p. 511-512Conference paper (Refereed)
    Abstract [en]

    Robotics is moving towards real world applications, beyond the well-structured environment of industrial robotics. In the world of assistant robots and medical robots, Human-Robot Interaction is essential. Also in emerging industrial scenarios there is a need of the human to be closely included in the loop. The companies are confronted with the lack of guidelines and of standards on how the higher features of HRI may be safely incorporated. Although the scientific research is burgeoning and worthy of praise, it is clear that its results are scattered and not capable of giving a clear input to be easily taken up by companies and standardization organizations like ISO and IEC. The workshop aims at the integration of empirical findings into complex real world robot systems by focusing on three typical sectors (industrial, service and medical) to develop systematic approaches to benchmark and evaluate experimental systems so that normative results can be realized rapidly. The present workshop focuses on bringing together scientists, representative of robotics companies and of standardization working groups to foster discussion in the definition of experimental scenarios and protocols in HRI, so to be able to prime real world set-ups and help realize the robotic products of the future.

  • 3.
    Christensen, Simon
    et al.
    Aalborg University, Aalborg, Denmark.
    Bai, Shaoping
    Aalborg University, Aalborg, Denmark.
    Rafique, Sajid
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Isaksson, Magnus
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    O'Sullivan, Leonard
    University of Limrick, Limerick, Ireland.
    Power, Valerie
    University of Limrick, Limerick, Ireland.
    Virk, Gurvinder Singh
    Innovative Technology and Science Limited, Cambridge, United Kingdom.
    AXO-SUIT: A Modular Full-Body Exoskeleton for Physical Assistance2018In: Mechanism Design for Robotics: Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics / [ed] Alessandro Gasparetto and Marco Ceccarelli, Cham: Springer, 2018, p. 443-450Conference paper (Refereed)
    Abstract [en]

    This paper presents the design of a modular full-body assistive exoskeleton (FB-AXO) for older adults which was developed with funding under the AAL funded AXO-SUIT project. Processes used to formulate a prioritized set of functional and design requirements via close-end-user involvement are outlined and used in realizing the exoskeleton. Design of the resulting mechanics and electronics details for the lower and upper-body subsystems (LB-AXO and (UB-AXO)) are described. Innovative designs of shoulder and spine mechanisms are presented. TheFB-AXO system comprises 27 degrees of freedom, of which 17 are passive and 10 active. The exoskeleton assists full-body motions such as walking, standing, bending, as well as performing lifting and carrying tasks to assist older users performing tasks of daily living.

  • 4.
    Eissa, M. M.
    et al.
    Electrical Power and Machines Engineering, Helwan University, Egypt.
    Virk, Gurvinder S.
    Electrical Power and Machines Engineering, South Westphalia University, Germany.
    AbdelGhany, A. M.
    Electrical Power and Machines Engineering, Helwan University, Egypt.
    Ghith, E. S.
    Optimum Induction Motor Speed Control Technique Using Genetic Algorithm2013In: American Journal of Intelligent Systems, ISSN 2165-8978, E-ISSN 2165-8994, Vol. 3, no 1, p. 1-12Article in journal (Refereed)
    Abstract [en]

    Industrial processes are subjected to variation in parameters and parameter perturbations, which when significant makes the system unstable. In order to overcome this problem of parameter variation the PI controllers are widely used in industrial plants because it is simple and robust. However there is a problem in tuning PI parameters. So the control engineers are on look for automatic tuning procedures. In recent years, many intelligence algorithms are proposed to tuning the PI parameters. Tuning PI parameters using different optimal algorithms such as the simulated annealing, genetic algorithm, and particle swarm optimization algorithm. In this paper a scheduling PI tuning parameters using genetic algorithm strategy for an induction motor speed control is proposed. The results of our work have showed a very low transient response and a non-oscillating steady state response with excellent stabilization. The simulation results presented in this paper show the effectiveness of the proposed method, with satisfied response for GA-PI controller.

  • 5.
    Eissa, M. M.
    et al.
    Electrical Power and Machines Engineering, Helwan University, Egypt.
    Virk, Gurvinder S.
    Electrical Power and Machines Engineering, South Westphalia University, Germany.
    AbdelGhany, A. M.
    Electrical Power and Machines Engineering, Helwan University, Egypt.
    Ghith, E. S.
    Optimum Induction Motor Speed Control Technique Using Particle Swarm Optimization2013In: International Journal of Energy Engineering, ISSN 2163-1891, E-ISSN 2163-1905, Vol. 3, no 2, p. 65-73Article in journal (Refereed)
    Abstract [en]

    Industrial processes are subjected to variation in parameters and parameter perturbations, which when significant makes the system unstable. In order to overcome this problem of parameter variation the PI controllers are widely used in industrial plants because it is simple and robust. However there is a problem in tuning PI parameters. So the control engineers are on look for automatic tuning procedures. In recent years, many intelligence algorithms are proposed to tuning the PI parameters. Tuning PI parameters using different optimal algorithms such as the simulated annealing, genetic algorithm, and particle swarm optimization algorithm. In this paper a scheduling PI tuning parameters using particle swarm optimization strategy for an induction motor speed control is proposed. The results of our work have showed a very low transient response and a non-oscillating steady state response with excellent stabilization. The simulation results presented in this paper show the effectiveness of the proposed method, with satisfied response for PSO-PI controller.

  • 6.
    Haider, Usman
    et al.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics. University Polytechnic Cartagena, Spain.
    Nyoman, Indrawibawa I.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics. University Polytechnic Cartagena, Spain.
    Coronado, Juan Lopez
    University Polytechnic Cartagena, Spain.
    Kim, Chanki
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Virk, Gurvinder S.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    User-centric Harmonized Control for Single Joint Assistive Exoskeletons2016In: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 13, no 3, article id 115Article in journal (Refereed)
    Abstract [en]

    The world is ageing and this poses a challenge to produce cost-effective solutions that can keep elderly people independent and active by assisting them in daily living activities. In this regard, this paper presents a new control method to provide physical assistance for any of the user joints (e.g., hip, knee, elbow, etc.) as needed by the wearer, by means of an assistive non-medical single joint exoskeleton with a "harmonized controller" capable of providing assistance in a natural way, and varying the assistance as needed by the user performing some activity. The control method is aimed at exoskeletons to provide assistance to users facing difficulty in any activity such as walking, sit-to-stand, etc., and, other than providing assistance as needed, it can also reduce the muscular effort for a completely healthy user. Harmonized control uses exoskeleton-integrated force sensors and motion sensors to identify the user's intentions and the assistance level required, generating appropriate control signals for the actuators by implementing a simple PID controller. To verify the proposed harmonized-control technique, simulations using MATLAB/SIMULINK were performed for a single joint system. An experimental test rig for a single joint was also developed using MATLAB Xpc Target for real-time control. User tests were also carried out for the knee joint and the results obtained from simulations, experimentation and user tests are reported and discussed here. The results achieved to date and reported here show harmonized control to be a promising user-centric solution for the development of single joint assistive exoskeletons for support as needed by the user in daily living activities.

  • 7.
    Haider, Usman
    et al.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Nyoman, Indrawibawa I.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Kim, Chanki
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Masud, Nauman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Virk, Gurvinder Singh
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Coronado, J. L.
    University of Polytechnic, Cartagena, Spain.
    Modular EXO-LEGS for mobility of elderly persons2017In: Advances in Cooperative Robotics: Proceedings of the 19th International Conference in CLAWAR 2016, Singapore: World Scientific, 2017, p. 851-859Conference paper (Refereed)
    Abstract [en]

    The paper presents details of the AAL Call 4 EXO-LEGS project aimed at developing and testing lower body assistive exoskeletons to help elderly persons perform daily living activities independently such as stable standing, sit-to-stand transfers and straight walking. The key components needed have been realized using mobility requirements and design preferences provided by an end user group comprising 118 members via 5 surveys. Modular human-centric concepts are followed for mechanical design, sensing and actuation, system integration, etc., to realize a BASIC exoskeleton prototype able to provide up to 30% power to assist the human perform the intended motions. Two ethical approvals have been obtained to involve end users in the research, development and test phases of the project. To date, 5 test subjects have tested the exoskeleton prototype in walking and the sit-to-stand test; summary results are presented in this paper.

  • 8.
    Indrawibawa, I. Nyoman
    et al.
    Department of Electrical Engineering, South Westphalia University of Applied Sciences, Soest, Germany.
    Virk, Gurvinder S.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Exoskeleton for assisting human walking2013In: Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013, World Scientific Publishing Co. , 2013, p. 117-124Conference paper (Refereed)
    Abstract [en]

    As the ageing society's problems evolve, mobility aid requirements are beginning to gain impetus and detailed studies on humans performing their normal activities for daily living are becoming urgent. The paper presents the design of a lower-body exoskeleton, which can be easily put on and worn, and used for recording human motions. In this way, the mobility requirements for performing daily living tasks are determined. The research involves the design of a 4 degree of freedom (DOF) lower-body prototype system used in acquiring basic motion data from volunteers as they perform basic walking tasks using embedded sensors for recording the hip and knee angles and transmitting them wirelessly. Walking tests with 20 volunteers are carried out after ethical considerations have been addressed; these cover human safety, full informed consent and privacy ensured by presenting the results in an anonymous manner. 

  • 9. Jacobs, Theo
    et al.
    Virk, Gurvinder S.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    ISO 13482 - The new safety standard for personal care robots2014In: Proceedings for the joint conference of ISR 2014, 45th International Symposium on Robotics and Robotik 2014, 8th German Conference on Robotics, 2 - 3 June 2014, Munich, Germany, parallel to AUTOMATICA, VDE Verlag GmbH, 2014, p. 698-703Conference paper (Refereed)
    Abstract [en]

    In the future, personal care robots will work in close interaction with humans. This poses a great challenge to the manufacturers of such robots who have to ensure the safety of their systems. Up to now, only general safety standards for machines were available and the lack of a specialized safety standard with detailed requirements has resulted in uncertainty and a relatively high residual risk for manufacturers. This situation is changed with the publication of ISO 13482, a safety standard for personal care robots. This paper gives an overview about the contents of the new safety standard and the expected effects for service robot manufacturers and the way, personal care robots will be developed in the future. The scope of the standard and its application in the risk assessment process is described. Special focus lies on the aspect of intended close-interaction and contact between human and robot, and the possibility to validate that all safety requirements have been met.

  • 10.
    Kamagaluh, Braisa
    et al.
    South Westphalia Univ Appl Sci, Dept Elect Engn, D-59494 Soest, Germany.
    Kumar, John Sujith
    South Westphalia Univ Appl Sci, Dept Elect Engn, D-59494 Soest, Germany.
    Virk, Gurvinder S.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    DESIGN OF MULTI-TERRAIN CLIMBING ROBOT FOR PETROCHEMICAL APPLICATIONS2012In: Adaptive Mobile Robotics: Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012, 2012, p. 639-646Conference paper (Refereed)
    Abstract [en]

    A multi-terrain climbing robot provides more flexibility while doing inspection in scenarios where the environments comprise several types of landscape such as walls, steps, ceiling, and sloped ferromagnetic surfaces. This paper presents the development of a walking and climbing robot named Winspecbot which uses legs with magnetic padded feet to climb on steel pipes and is planned to have a hand gripper to perform inspection tasks. The robot is designed to carry about 1 kg inspection tools while it is climbing. With the use of Wi-Fi communications, the user is able to monitor the operational conditions of the robot when it is working in complex environments.

  • 11.
    Kozlowski, K.
    et al.
    Poznan University of Technology, Poland.
    Tokhi, M. O.
    University of Sheffield, United Kingdom.
    Virk, Gurvinder Singh
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Preface2014In: Mobile service robotics: Proceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines / [ed] Kozlowski, K; Tokhi, MO; Virk, GS, 2014, p. v-viConference paper (Refereed)
  • 12.
    Kozłowski, K.
    et al.
    Poznan University of Technology, Poland.
    Tokhi, M. O.
    University of Sheffield, United Kingdom.
    Virk, Gurvinder Singh
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Mobile service robotics2014 (ed. 1)Book (Other academic)
    Abstract [en]

    Interest in control of climbing and walking robots has remarkably increased over the years. Novel solutions of complex mechanical systems such as climbing, walking, flying and running robots with different kinds of locomotion and the technologies that support them and their applications are the evidence of significant progress in the area of robotics. Supporting technologies include the means by which robots use to sense, model, and navigate through their environments and, of course, actuation and control technologies. Human interaction including exoskeletons, prostheses and orthoses, as well as service robots, are increasingly active important pertinent areas of research. In addition, legged machines and tracked platforms with software architecture seem to be currently the research idea of most interest to the robotics community.

  • 13.
    Moon, Seungbin
    et al.
    Department of Computer Engineering, Sejong University, South Korea .
    Rhim, Sungsoo
    Department of Mechanical Engineering, Kyung Hee University, South Korea.
    Cho, Young-Jo
    Robot/Cognitive System Research Department, Electronics and Telecommunication Research Institute, South Korea .
    Park, Kwang-Ho
    Machinery and Construction Standards Division, Korea Agency for Technology and Standards, Gwacheon, South Korea .
    Virk, Gurvinder S.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics. CLAWAR Association Ltd, United Kingdom.
    Summary of recent standardization activities in the field of robotics2013In: Robotica (Cambridge. Print), ISSN 0263-5747, E-ISSN 1469-8668, Vol. 31, no 2, p. 217-224Article in journal (Refereed)
    Abstract [en]

    This paper summarizes the recent standardization activities in the field of robotics by ISO (International Organization for Standardization), IEC (International Electrotechnical Commission), OMG (Object Management Group), and other organizations. While the standards in industrial robots have been mainly developed by ISO, the standards on the emerging service robots are initiated by many organizations. One of the goals of this paper is to coordinate the efforts among these groups so that more effective standardization activity can be executed. Standardization in the emerging service robots will eventually promote the proliferation of service robot markets in the near future.

  • 14.
    O’Sullivan, Leonard
    et al.
    Design Factors Reserach Group, University of Limerick, Limerick, Ireland.
    Power, Valerie
    Design Factors Reserach Group, University of Limerick, Limerick, Ireland.
    Virk, Gurvinder Singh
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Masud, Nauman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Haider, Usman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Christensen, Simon
    Aalborg University, Aalborg, Denmark.
    Bai, Shaoping
    Aalborg University, Aalborg, Denmark.
    Cuypers, Ludo
    OMmeto, Hamburg, Belgium.
    D’Have, Michel
    OMmeto, Hamburg, Belgium.
    Voncke, Kristl
    University Hospital, Ghent, Belgium.
    End user needs elicitation for a full-body exoskeleton to assist the elderly2015In: 6TH International Conference on Applied Human Factors and Ergonomics (AHFE 2015) and the  affiliated conferences / [ed] Ahram, T., Karwowski, W. and Schmorrow, D., Amsterdam: Elsevier, 2015, p. 1403-1409Conference paper (Refereed)
    Abstract [en]

    For ageing individuals, declining physical functional capacity can lead to loss of independence, decreased engagement in the community and reductions in quality of life. As such, solutions that can effectively and affordably supplement older adults’ diminishing functional capacity, and thus facilitate maintained independence and social participation over time are urgently required. The AXO-SUIT project - funded by the European Commission under the Ambient Assisted Living Joint Programme is developing assistive exoskeleton devices for older adults with impaired mobility and/or difficulties in performingactivities of daily living. This paper will report on-going research which aims to identify end user needs, and thus provide inputs to specify the design requirements of the AXO-SUIT exoskeletons. The objectives of this initial questionnaire study are to identify the functional assistance requirements of potential end users of the AXO-SUIT in terms of mobility, reaching and handling, and full-body support for performing activities of daily livingat home and in the wider community. The end user requirements identified will be used to formulate functional specifications for the AXO-SUIT lower-body and upper-body sub-systems, which will ensure that the AXO-SUIT prototypes will provide for the specific mobility, reaching and handling needs of end users, and also to provide useful insights into the perspectives and needs of end users in relation to assistive exoskeletons in general.

  • 15. Raut, Sushil
    et al.
    Kota, Solomon Raju
    Central Electronics Engineering Research Institute, New Dehli, India.
    Virk, Gurvinder Singh
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Design and motion planning of quadruped robotic platform2014In: Mobile Service Robotics: Proceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, World Scientific, 2014, p. 207-214Conference paper (Refereed)
    Abstract [en]

    The 8 DOF quadruped robotic platform is designed and constructed for ground surveillance purpose. Designed model is simulated in physics environment by considering various physical parameters like weight of the robotic platform, torque of actuators, effect of collision. This paper also explains motion planning of a quadruped robotic platform by means of various walking patterns. Walking patterns are tested on different virtual terrains which helps to achieve reliable algorithm and modify robot as per dynamics. The agility and sustainability of robot is employed by biomimetic locomotion. Lateral leg insect is imitated by two DOF leg configuration, which enables basic motion of lifting and shifting. The basic prototype is realized by using eight servo actuators and it is tested on various surfaces having avoidable obstacles.

  • 16.
    Srinivas, Samvrit
    et al.
    Department of Mechanical Engineering, RNS, Institute of Technology, Bangalore, India.
    Virk, Gurvinder Singh
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Haider, Usman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Multipurpose supernumerary robotic limbs for industrial and domestic applications2015In: 2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR), IEEE conference proceedings, 2015, p. 289-293Conference paper (Refereed)
    Abstract [en]

    Robotic exoskeleton arms have been around for a long time and they have successfully evolved from research prototypes to commercial products. Multipurpose supernumerary robotic limbs (MSRLs) have been recently introduced as new types of aids which do not directly replace missing limbs, but they are additional mechanical arms with changeable end-effectors which can be worn by the user to provide needed functionalities. This paper presents the mechanical design and kinematics modelling and control of a MSRL system. The MSRL presented could have good application in industrial and domestic situations.

  • 17.
    Tokhi, Mohammad O.
    et al.
    University of Sheffield, UK.
    Virk, Gurvinder S.University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics. KTH; CLAWAR.
    Advances in Cooperative Robotics: Proceedings of the 19th International Conference on CLAWAR 20162017Conference proceedings (editor) (Refereed)
  • 18.
    Ullah, S. M. Arman
    et al.
    South Westphalia Univ Appl Sci, Iserlohn, Germany.
    Virk, Gurvinder S.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Mobile robot navigation via olfaction2012In: Adaptive Mobile Robotics: Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012, 2012, p. 97-104Conference paper (Refereed)
    Abstract [en]

    Mobile robot navigation via olfaction has been receiving considerable interest over recent years to assist in the development of advanced cognitive robots which are able to operate in natural environments. With the related advances in electronic noses, it is now possible to detect and recognize and locate a range of different odours for a variety of applications. This paper involves designing and building a chemical sensing mobile robot that is able to navigate using these latest olfactory sensors. A smart robot equipped with olfactory sensors is designed for performing various search tasks in chemical fields; these search tasks include locating point sources, following chemical trails and plume following and investigating how the search efficiencies can be enhanced.

  • 19.
    Villaronga, Eduard Fosch
    et al.
    University of Bologna, Bologna, Italy; Universitat Autònoma de Barcelona, Barcelona, Spain .
    Virk, Gurvinder S.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics. KTH Royal Inst Technol, Robot, Stockholm, Sweden.
    Legal issues for mobile servant robots2017In: Advances in Robot Design and Intelligent Control / [ed] A. Rodić, T. Borangiu, Springer, 2017, p. 605-612Conference paper (Refereed)
    Abstract [en]

    This paper identifies key legal issues which are emerging for Mobile Servant Robots (MSRs), a sub-type of Personal Care Robots (PCR) defined in ISO 13482. New cases are likely to be introduced in the market soon even though appropriate and specific binding legal regulations regarding MSRs are missing and several questions need to be carefully considered. The main issues of concern are the need for a concrete and holistic definition of MSR, clarification on the confusion among new emerging ISO/IEC robot categories (especially between boundaries and gaps in machinery with medical device regulations), unclear liability scenarios (avoiding harm, prospective liability, butterfly effect), defining and regulating human-robot collaborations and relationships, ethical issues (mass surveillance, post-monitoring personal data), autonomy (from the robot but also from the user perspective), isolation scenarios, etc. Despite the recent technical advances, there is still a long way ahead and further research is needed to overcome a variety of associated legal and ethical issues which are emerging. 

  • 20.
    Virk, Gurvinder S.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics. CLAWAR Assoc Ltd, Sheffield, S Yorkshire, England.
    INTERNATIONAL ROBOT SAFETY STANDARDISATION2012In: Adaptive Mobile Robotics: Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012, 2012, p. 841-848Conference paper (Refereed)
    Abstract [en]

    The paper presents results of international standardization work items within ISO and IEC to develop safety requirements for new types of non-industrial robots, namely, personal care robots, and for medical robots. The key requirements for the three defined types of personal care robots focus on how the intended close robot-human interactions can be facilitated without causing harm. For medical robots, the key issue is how the degree of autonomy that is included in the new definition of a robot can be handled in medical electrical equipment to ensure basic safety and essential performance. The standardization work is continuing, and the paper describes the current thinking within the work groups and summarises the results that have been achieved.

  • 21.
    Virk, Gurvinder S.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Robot ethics2012In: Industrial robot, ISSN 0143-991X, E-ISSN 1758-5791, Vol. 39, no 3, p. 224-225Article in journal (Other academic)
  • 22.
    Virk, Gurvinder S.
    et al.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Moon, Seungbin
    Department of Computer Science, Sejong University, Seoul, Republic of Korea.
    Safety for emerging service robots2012In: Field Robotics - Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2011, 2012, p. 956-963Conference paper (Refereed)
    Abstract [en]

    The paper presents an update on the international standardization activities in emerging areas of service robotics; two areas of activity are described, namely, safety of personal care robots, and medical robot safety and essential performance. The personal care robot safety work has reached the DIS balloting stage, and the standard considers issues that must be addressed by robot designers and manufacturers to reduce risk; these include hazards due to robot shape, robot motion, incorrect autonomous actions, etc. The medical robot standardization work focuses on existing safety regulations for medical electrical equipment, and how these may be extended to cover robots intended to perform surgery, rehabilitation, medical diagnosis and treatment. The key issues that medical robots bring to the medical electrical equipment area are their autonomous capabilities which make the task of formulating basic safety and essential performance requirements quite unique and challenging.

  • 23.
    Virk, Gurvinder S.
    et al.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics. KTH Royal Institute Technology, CLAWAR, United Kingdom; KTH Royal Institute Technology, CLAWAR, Sweden.
    Park, Hong Seong
    Kangwon National University, Gangwon Do, South Korea..
    Yang, Shuping
    Beijing Research Institute of Automation for Machinery Industry, Beijing, China.
    Wang, Jason
    Beijing E-Cube Technologies Co Ltd, Beijing, China..
    ISO modularity for service robots2017In: Advances in Cooperative Robotics: Proceedings of the 19th International Conference in CLAWAR 2016 / [ed] M. Tokhi and G. S. Virk, Singapore: World Scientific, 2017, p. 663-671Conference paper (Refereed)
    Abstract [en]

    Robot modularity has been an active area of research for several years and many innovative solutions have been developed which have as yet, not made significant impact on the world stage. To assist market developments, ISO robot modularity standardization was started in 2012 and the current paper presents an overview of the work to develop plug-n-play robot module specifications for service robots. Key definitions are presented together with generic modularization issues which have been identified for service robots.

  • 24.
    Virk, Gurvinder S.
    et al.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Zandian, Reza
    Univ Appl Sci South Westphalia, D-59494 Soest, Germany.
    "Uniball" a novel method of movement for pipe climbing robots2012In: Adaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012, 2012, p. 305-312Conference paper (Refereed)
    Abstract [en]

    Most of the proposed robots for pipe inspection are slow and include many mechanical parts leading to complex and unreliable operation. In this paper a novel moving robot for pipe applications, so called "UNIBALL" is proposed which overcomes these problems. Here, instead of wheels, just one ball coupled with electromagnets is used and all the movements are performed by driving the ball beneath the robot. The paper presents the robot design procedure and its detailed structure together with initial experimental test results.

  • 25.
    Virk, Gurvinder Singh
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    CLAWAR to service robots2014In: Mobile service robotics / [ed] Krzysztof Kozłowski, Mohammad O Tokhi, Gurvinder S Virk, Singapore: World Scientific, 2014, p. 40-41Conference paper (Refereed)
    Abstract [en]

    Since the 1960’s, robotics has focused on manufacturing robots for use in industrial applications to perform operations such as handling, joining, inspection, machining, spot welding, assembling, etc. In order for the robots to perform their required tasks in these classical applications, the “workpiece” has had to be brought to the robots. Since the mid-1980s, interest has grown in developing new robots for applications where tasks need to be performed in-situ locations demanding that problems of localisation and locomotion are also important. In these scenarios, robot mobility is the key capability, and this can be realised in a variety of ways, e.g., via wheels, tracks, legs, etc. In some applications, the mobile robots also need a climbing capability due to their working environments and tasks to be performed (e.g., inspecting the external walls of tall buildings); these requirements present interesting challenges as seen in the area of climbing and walking robots focussed on by the EC funded Network of Excellence CLAWAR (climbing and walking robots) coordinated by Professor Virk during 1996-2005. Researchers have used CLAWAR to discuss climbing AND walking AND running robots but in fact any form of robot mobility is relevant and presents interesting challenges for robotics.

  • 26.
    Virk, Gurvinder Singh
    et al.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Haider, Usman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Indrawibawa, I. Nyoman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Thekkeparanipumadom, Rakesh Krishnan
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Masud, Nauman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Exo-legs for elderly persons2014In: Mobile service robotics / [ed] Krzysztof Kozłowski, Mohammad O. Tokhi, Gurvinder S. Virk, Singapore: World Scientific, 2014, p. 85-92Conference paper (Refereed)
    Abstract [en]

    The paper presents a research update on the AAL Call 4 EXO-LEGS project aimed at developing lower-body mobility exoskeletons to assist elderly persons to stay independent in their normal daily living activities for as long as possible. The important movement functionalities and key design issues to be included in the process are identified via specifically developed questionnaires and responses from a pan-European end user group set up as part of the project. The user requirements are used together with the recently published ISO safety requirements for personal care robots to perform targeted technical research in the areas of human gait analysis, modelling and simulation, mechanical engineering, embedded system design, and ergonomic user interfacing.

  • 27.
    Virk, Gurvinder Singh
    et al.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Haider, Usman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Nyoman, Indrawibawa I.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Masud, Nauman
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Mamaev, I.
    Karlsruhe Institute of Technology, Karlsruhe, Germany.
    Hopfgarten, P.
    Karlsruhe Institute of Technology, Karlsruhe, Germany.
    Hein, B.
    Karlsruhe Institute of Technology, Karlsruhe, Germany.
    Design of EXO-LEGS exoskeletons2015In: Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, 2015, p. 59-66Conference paper (Refereed)
    Abstract [en]

    The paper describes the design details for realising the EXO-LEGS assistive exoskeletons for Ambient Assisted Living (AAL) applications based on modelling and simulation studies performed for key mobility functionalities in activities for daily living such as stable standing in open space and straight walking. The results provide the basis for selecting sensors and actuators to develop the needed assistive exoskeletons to help the elderly to stay active and independent for as long as possible.

  • 28.
    Virk, Gurvinder Singh
    et al.
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics. CLAWAR Association Ltd, United Kingdom.
    Herman, Carol
    Association for the Advancement of Medical Instrumentation, USA.
    Bostelman, Roger
    National Institute of Standards and Technology, USA.
    Haidegger, Tamas
    Óbuda University, Hungary.
    Challenges of the changing robot markets2013In: Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013, Singapore: World Scientific, 2013, 1, p. 833-840Conference paper (Refereed)
    Abstract [en]

    Service robots are becoming an integral part of daily life, entering even the most complex scenarios, yet at a slower pace than previously anticipated. This paper presents an overview of the changing area of robotics and the new challenges being faced. The case is made for all stakeholders to focus on the bottlenecks preventing the realization of the mass markets in robotics expected since the late 1990s. Some of the key issues are discussed and possible strategies analysed to allow the emerging service robotics sector to reach its full potential. The goal is to create a unified vision and good working relationships with the key players throughout the world, active in both robotics R&D and robotics standardization. This paper presents an overview of these activities and provides suggestions for future plans. Along these lines, example cases of industrial, personal service, and medical robots are presented to highlight the desired development directions.

  • 29.
    Waldron, Kenneth J.
    et al.
    Stanford & University of Technology Sydney, Australia.
    Tokhi, Mohammad O.University of Sheffield, UK.Virk, Gurvinder SinghUniversity of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Nature-inspired mobile robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 20132013Conference proceedings (editor) (Refereed)
    Abstract [en]

    The proceedings provide state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and assistive technologies. The proceedings collected together peer reviewed articles presented at the CLAWAR 2013 conference. It contains a strong showing of articles on legged locomotion with numbers of legs from two onwards. There is also a good collection of articles on systems that walls climbing, poles balancing, and other more complex structures following the traditional of CLAWAR themes. In addition, the proceedings also cover the subject of robot-human interaction, which focus on a more “human” way of communicating with humanoid robots. As for human assistive devices, proceedings also cover exoskeletal and prosthetic devices, robots for personal and nursing cares to address the issues of ageing population in our society. Finally, the issue of the deployment of robots in society, it social and ethically consideration are also addressed in the proceedings. © 2013 by World Scientific Publishing Co. Pte. Ltd. All rights reserved.

  • 30.
    Waldron, Kenneth J.
    et al.
    Stanford & University of Technology Sydney, Australia.
    Tokhi, Mohammad O.
    University of Sheffield, UK.
    Virk, Gurvinder Singh
    University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
    Preface2013Other (Other academic)
  • 31.
    Yang, Canjun
    et al.
    Department of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China.
    Virk, Gurvinder SinghUniversity of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.Yang, HuayongZhejiang University, Hangzhou, Zhejiang, China.
    Wearable Sensors and Robots: Proceedings of International Conference on Wearable Sensors and Robots 20152017Conference proceedings (editor) (Refereed)
    Abstract [en]

    These proceedings present the latest information on regulations and standards for medical and non-medical devices, including wearable robots for gait training and support, design of exoskeletons for the elderly, innovations in assistive robotics, and analysis of human–machine interactions taking into account ergonomic considerations. The rapid development of key mechatronics technologies in recent years has shown that human living standards have significantly improved, and the International Conference on Wearable Sensor and Robot was held in Hangzhou, China from October 16 to 18, 2015, to present research mainly focused on personal-care robots and medical devices. The aim of the conference was to bring together academics, researchers, engineers and students from across the world to discuss state-of-the-art technologies related to various aspects of wearable sensors and robots.  

1 - 31 of 31
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