Page 11 - Control Theory in Biomedical Engineering

xvi Preface

and writing parameters is described. Advantages and drawbacks are
summarized.
Chapter 7 highlights the impact of medical robotics to improve human
abilities. Different classification approaches of these robots, including surgi-
cal robots, rehabilitation, and assistive devices, is presented via a historical
viewpoint and a comprehensive survey of the literature.
In Chapter 8, the state of the art of wearable devices for upper limb
amputees is presented. New directions are also exposed to go further in con-
tinuous development.
In Chapter 9, a review of existing upper limb exoskeletons was done to
find key challenges that need to be solved for improved functionality.
Chapter 10 focuses on the human locomotion system and its complex
dynamics. Double-pendulum based models are exploited to design control-
lers for walking on a treadmill. The step length, time, velocity, and position
on the treadmill are considered as walking parameters. For the designed con-
trollers, time series of those parameters are compared to real experimental
data of human walking.
In Chapter 11, an inexpensive endoscope design for nasopharyngeal can-
cer investigation is introduced. This cancer is the most widespread one in
Asia. The prototype is a small portable device with the main aim of being
affordable and home-based. A comparison between the current nasopharyn-
goscope and the proposed prototype is evaluated via metrics and needs. A list
of acceptance criteria is also specified to ensure safety regulations and
effectiveness.
Chapter 12 proposes a new design of an emerging class of “invertebrate-
like” continuum robots for minimal invasive surgery. It is a combined actu-
ation and tunable stiffness mechanism obtained by using 3D-printed auxetic
structures as well as origami and kirigami structures. It uses simple and cost-
effective structures that can also be highly miniaturized.
In conclusion, control is a crucial theory in medicine and this book treats
all the previous themes together in a very educational way. I owe an enor-
mous debt of gratitude to all those who helped me through the years that
have led up to this achievement. I want to thank EVERYONE who ever
said anything positive to me or taught me something. I heard it all, and it
meant something.
To Professor Mekki Ksouri from the National Engineering School of
Tunis and Private Higher School of Engineering and Technology, Tunisia,
thank you for being a leader in whom I have confidence, honor, and respect.
I will always be happy to have been your PhD student, part of your research