公开(公告)号：WO2016164936A1

公开(公告)日：2016-10-13

申请号：PCT/US2016/027256

申请日：2016-04-13

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： ONAL, Cagdas D. ,  CHEN, Fuchen ,  TAO, Weijia

IPC: B25J11/00 ,  B25J5/00

CPC classification number: B25J19/007 ,  B62D57/032 ,  Y10S901/01

Abstract: A robotic configuration employs a system of low-cost, relatively lightweight beams and linkages fabricated from a planer material from a series of cuts and folds. The beams are folded along crease lines to form a 3-dimensional structure from a 2-dimeansionsl substrate such as a polyester or other semi-rigid sheet. Tabs and appendages, or keys, cut into the planar material engage slots or apertures cut into adjacent members to define linkages. The linkages include tabs that are insertable in a one-way manner, such that removal is prevented but articulate and rotational movement is permitted by the resilient and flexible nature of the planar sheet material. An arrangement of beams and linkages are cut and formed based on a pattern imposed on a single planar sheet. The beam and linkage arrangement defines a robotic configuration for transport and other actions from an actuation source such as a motor.

Abstract translation: 机器人配置采用由一系列切割和折叠的平面材料制成的低成本，相对较轻的梁和连杆的系统。 梁沿着折线折叠，以从2-二甲基硅烷基材料如聚酯或其它半刚性片材形成三维结构。 切割成平面材料的标签和附件或键将与切割成相邻构件的狭缝或孔相接合以限定连接。 连杆包括可以以单向方式插入的突出部，从而防止了移除，而是通过平面片材的弹性和柔性来允许旋转运动。 基于施加在单个平面片上的图案切割并形成梁和连杆的布置。 梁和连杆装置限定了用于运输和其它动作的机器人配置，诸如马达等动作源。

公开(公告)号：WO2016145011A1

公开(公告)日：2016-09-15

申请号：PCT/US2016/021457

申请日：2016-03-09

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： ONAL, Cagdas, D. ,  OZEL, Selim

IPC: G01L1/12

CPC classification number: G01L1/122 ,  B25J13/088 ,  B25J15/12 ,  G01L5/226 ,  Y10S901/46

Abstract: A robotic sensing and touch apparatus detects gradual deformations in a resilient surface, in contrast to conventional rigid member displacement. Hall effect sensors coupled to rare-earth magnets in a deformable base allow sensing of surface curvature and compression against grasped objects. The deformable base, such as a silicone mold or other resilient encapsulation, fixes a magnetic source and an opposed Hall effect sensor. Calibration of a received magnetic field is defined by a sensor element voltage in an "at rest" (undeformed) state, and at successive degrees of deformation resulting from compression of the deformable base that draws the magnet in different orientations relative to the Hall effect sensor. An array of magnet and sensor element pairs allows relative sensing over an area for detecting curvature of a translated or articulated member, or engagement with a curved surface.

Abstract translation: 与传统的刚性构件位移相比，机器人感测和触摸装置检测弹性表面中的逐渐变形。 耦合到可变形基座中的稀土磁体的霍尔效应传感器允许感测表面曲率和对被抓住物体的压缩。 可变形基座，例如硅树脂模具或其他弹性封装，固定磁源和相对的霍尔效应传感器。 接收磁场的校准由“静止”（未变形）状态的传感器元件电压定义，并且由相对于霍尔效应传感器以不同取向拉动磁体的可变形基座的压缩引起的连续变形度 。 磁体和传感器元件对的阵列允许在用于检测平移或铰接构件的曲率的区域上相对感测，或者与弯曲表面接合。

公开(公告)号：WO2016077703A1

公开(公告)日：2016-05-19

申请号：PCT/US2015/060590

申请日：2015-11-13

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： BABU, Benzun Wisely ,  CYGANSKI, David ,  DUCKWORTH, R. James

IPC: G01C21/34

CPC classification number: G01C21/206 ,  G01C21/18 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0274 ,  G06T7/246 ,  G06T7/85 ,  G06T2207/10012 ,  G06T2207/30244

Abstract: An indoor localization system uses Visual Simultaneous Localization and Mapping (VSLAM) aided by gyroscope sensor information. Indoor environments pose several challenges which could cause a vision only system to fail due to tracking errors. Investigation revealed significant feature loss in a vision only system when traversing plain walls, windows and staircases. However, the addition of a gyroscope helps in handling such difficult conditions by providing additional rotational information. A portable system consisting of an Inertial Measurement Unit (IMU) and a stereo camera has been developed for indoor mapping. The images and gyroscope rates acquired by the system are stored and post-processed using Gyroscope Assisted Scalable Visual Simultaneous Localization and Mapping Algorithm.

Abstract translation: 室内定位系统使用由陀螺传感器信息辅助的视觉同步定位和映射（VSLAM）。 室内环境造成几个挑战，这可能导致视觉系统由于跟踪错误而失败。 调查显示，当穿过平原的墙壁，窗户和楼梯时，视觉系统中的显着特征损失。 然而，添加陀螺仪有助于通过提供额外的旋转信息来处理这样的困难条件。 已经开发了用于室内映射的由惯性测量单元（IMU）和立体摄像机组成的便携式系统。 使用陀螺仪辅助可扩展视觉同步定位和映射算法对系统采集的图像和陀螺仪速率进行存储和后处理。

公开(公告)号：WO2015168652A1

公开(公告)日：2015-11-05

申请号：PCT/US2015/028946

申请日：2015-05-01

Applicant: WORCESTER POLYTECHNIC INSTITUTE ,  CHON, Ki, H. ,  CHONG, Jowoon

Inventor： CHON, Ki, H. ,  CHONG, Jowoon

IPC: A61B5/024

CPC classification number: A61B5/02405 ,  A61B5/0464 ,  A61B5/6898 ,  A61B5/7282

Abstract: A real-time arrhythmia discrimination method is used in smartphones, which can discriminate between NSR, AF, PACs and PVCs using pulsatile time series collected from a smartphone's camera. To increase the sensitivity of AF detection and add the new capabilities of PVC and PAC identification, the arrhythmia discrimination method of these teachings combines Root Mean Square of Successive RR Differences (RMSSD), Shannon Entropy (ShE) and turning point ratio (TPR),, with the Poincare plot, and utilizes the features of puise rise/fall time and amplitude for arrhythmia discrimination.

Abstract translation: 在智能手机中使用实时心律失常识别方法，可以使用从智能手机相机收集的脉动时间序列来区分NSR，AF，PAC和PVC。 为了提高AF检测的灵敏度，增加了PVC和PAC识别的新功能，这些教学的心律失常辨别方法结合了连续RR差异均方根（RMSSD），香农熵（ShEON）和转折点比（TPR） ，与庞加莱图，并利用巡航上升/下降时间和振幅的心律失常辨别的特点。

公开(公告)号：WO2015161056A2

公开(公告)日：2015-10-22

申请号：PCT/US2015/026138

申请日：2015-04-16

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： BROWN, Christopher A. ,  FOY, John ,  VERRELLI, Alexander ,  BASEHORE, Sarah ,  WHITCHER, Chadwick ,  HEISER, Jerrod ,  BOUCHARD, Tyler

CPC classification number: A61F2/6607 ,  A61F2/60 ,  A61F2002/5036 ,  A61F2002/5079 ,  A61F2002/6657

Abstract: A prosthetic appliance disposes a plurality of elongated, resilient members in a circular configuration around a pivot point representing a skeletal joint such as an ankle, wrist or shoulder. The resilient members are resilient and adapted to deformable respond to pivoting forces of the fulcrum, and forcibly deform in response to the pivoting of the shaft forcing the fulcrum against the resilient members. The circular orientation of the resilient members pivot the shaft orthogonal to the base from which the resilient members extend, such that the resilient members bias the fulcrum and shaft in the orthogonal position at a rest position. Forces drawing the shaft off-center disposed the fulcrum against one or more of the resilient members and causing resilient deformation and counterforces against the fulcrum back to the centered rest position. In response to pivoting movement, the resilient members apply increasing forces for biasing the pivoting shaft.

Abstract translation: 假体器具围绕表示诸如脚踝，腕部或肩部的骨骼关节的枢轴点处于圆形构造中的多个细长弹性构件。 弹性构件是弹性的并且适于能够响应于支点的枢转力而变形，并且响应于轴的枢转而迫使该支点抵抗弹性构件而强制变形。 弹性构件的圆形方位使正交于弹性构件延伸的基部的轴枢转，使得弹性构件将支点和轴在垂直位置偏置在静止位置。 将轴偏心拉拔的部队将支点设置在一个或多个弹性部件上，并且使弹性变形和抵靠支点的抵抗力回到中心静止位置。 响应于枢转运动，弹性构件施加增加的力以偏置枢转轴。

公开(公告)号：WO2015117054A1

公开(公告)日：2015-08-06

申请号：PCT/US2015/014040

申请日：2015-02-02

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： DESSEL, Steven Van

IPC: B29C67/00 ,  B33Y50/00 ,  B33Y80/00

CPC classification number: B29C67/0088 ,  B29C64/386 ,  B29L2031/10 ,  E04F13/0875 ,  E04F13/16 ,  G06F17/5004 ,  G06F2217/80 ,  H04N1/00827

Abstract: A three-dimensional (3D) laser-based scan of a facade of a structure is conducted. Based on data of the 3D laser-based scan, a 3D computer model of the facade is generated. Then, a design of insulation to be installed on the facade is determined based on the generated 3D computer model. According to the determined design, insulation is fabricated via an automated fabrication process.

Abstract translation: 进行结构立面的三维（3D）激光扫描。 基于3D激光扫描的数据，生成立面的3D计算机模型。 然后，基于生成的3D计算机模型确定要安装在立面上的绝缘体设计。 根据确定的设计，通过自动化制造工艺制造绝缘。

公开(公告)号：WO2015066297A1

公开(公告)日：2015-05-07

申请号：PCT/US2014/063108

申请日：2014-10-30

Applicant: WORCESTER POLYTECHNIC INSTITUTE ,  PEDERSEN, Peder, C. ,  STRONG, Diane, M. ,  AGU, Emmanuel ,  TULU, Bengisu ,  WANG, Lei ,  HE, Qian

Inventor： PEDERSEN, Peder, C. ,  STRONG, Diane, M. ,  AGU, Emmanuel ,  TULU, Bengisu ,  WANG, Lei ,  HE, Qian

IPC: A61B5/00 ,  A61B10/00

CPC classification number: G06T7/408 ,  A61B5/445 ,  G06T7/0012 ,  G06T7/11 ,  G06T7/194 ,  G06T7/90 ,  G06T2207/10024 ,  G06T2207/20076 ,  G06T2207/20081 ,  G06T2207/30088

Abstract: The wound assessing method and system of the present teachings provide a convenient, quantitative mechanism for diabetic foot ulcer assessment.

Abstract translation: 本发明的伤口评估方法和系统为糖尿病足溃疡评估提供了方便，定量的机制。

公开(公告)号：WO2014179544A1

公开(公告)日：2014-11-06

申请号：PCT/US2014/036329

申请日：2014-05-01

Applicant: WORCESTER POLYTECHNIC INSTITUTE ,  CHON, Ki, H. ,  CHONG, Jowoon

Inventor： CHON, Ki, H. ,  CHONG, Jowoon

IPC: A61B5/046

CPC classification number: A61B5/7282 ,  A61B5/02416 ,  A61B5/02438 ,  A61B5/046 ,  A61B5/6898 ,  A61B5/7264

Abstract: Enhanced real-time realizable AF algorithm for accurate detection of, and discrimination between, NSR, AF, PVC, and PAC. The method of these teachings includes an AF detection method having a modified Poincare approach in order to differentiate various patterns of PAC and PVC from NSR and AF. The method of these teachings can also apply to the Kullback-Leibler divergence or the Turning Point Ratio (TPR) to differentiate between various patterns of PAC and PVC from NSR and AF.

Abstract translation: 增强型实时可实现AF算法，用于NSR，AF，PVC和PAC的精确检测和辨别。 这些教导的方法包括具有修改的庞加莱方法的AF检测方法，以便将PAC和PVC的各种图案与NSR和AF区分开。 这些教导的方法也可以应用于Kullback-Leibler发散度或转折点比（TPR），以区分不同类型的PAC和PVC与NSR和AF。

公开(公告)号：WO2014018719A1

公开(公告)日：2014-01-30

申请号：PCT/US2013/051976

申请日：2013-07-25

Applicant: WORCESTER POLYTECHNIC INSTITUTE ,  CHON, Ki, H.

Inventor： CHON, Ki, H.

IPC: G01N33/48 ,  G01N27/26 ,  G01N33/50

CPC classification number: A61B5/7275 ,  A61B5/0006 ,  A61B5/0059 ,  A61B5/02405 ,  A61B5/04012 ,  A61B5/0402 ,  A61B5/1455 ,  A61B5/4035 ,  A61B5/72 ,  A61B5/742

Abstract: The present disclosure provides a method and an apparatus for identifying development of diabetic cardiovascular autonomic neuropathy (DCAN) in a biological subject. In one aspect, the method includes collecting data associated with heart rates of a biological subject, and processing the collected data to extract primary and secondary components of the collected data by performing a principal dynamic mode (PDM) analysis. A significant reduction of the primary or secondary component at a predetermined time period can be indicative of the DCAN development.

Abstract translation: 本公开提供了用于鉴定生物学对象中糖尿病心血管自主神经病变（DCAN）的发展的方法和装置。 一方面，所述方法包括收集与生物学对象的心率相关的数据，以及通过执行主动态模式（PDM）分析来处理收集的数据以提取所收集数据的主要和次要组件。 初级或次级组件在预定时间段的显着减少可以指示DCAN发展。

公开(公告)号：WO2013126812A1

公开(公告)日：2013-08-29

申请号：PCT/US2013/027478

申请日：2013-02-22

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： GOBERT, Janice D. ,  TOTO, Ermal

IPC: G09B7/04 ,  G09B19/00

CPC classification number: G06N99/005 ,  G06F3/013 ,  G09B5/02 ,  G09B7/04 ,  G09B19/00 ,  G09B19/0069

Abstract: A digital instructional environment leverages an infrared eye-tracker to monitor a learner's reading and viewing of text and simulations for subject matter. The system detects out-of-order reading/viewing patterns that could lead to poor comprehension. The digital learning environment communicates with other tutorial components including simulation environments, pedagogical agents and may respond in real-time to such patterns with messages that guide learners (knowledge acquirers) to return to effective reading/viewing patterns so as to promote effective construction of mental model(s) developed during knowledge acquisition/learning.

Abstract translation: 数字教学环境利用红外眼睛跟踪器监视学习者的阅读和观看文本以及主题的模拟。 系统检测到可能导致理解差的无序阅读/查看模式。 数字学习环境与其他辅导组件（包括模拟环境，教学代理人）进行通信，并且可以通过引导学习者（知识获取者）返回有效阅读/观看模式的消息实时回应这些模式，从而促进心理上的有效构建 在知识获取/学习过程中开发的模型。