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For the purpose of developing a human-friendly robot, a texture recognition method using tactile sensing in which a magnetic type tactile sensor is used is proposed. The magnetic sensor has soft and elastic structure part which interact with a object and two sensing elements. One is GMR (Giant MagnetoResistance) which can sense displacement of the elastic part. The other is IND (INDuctor) which can...
Crawler type rescue robots with flipper arms have good running ability for rough terrains. Each flipper of these robots has a pitch DOF. The pitching motion of the flipper arms is effective to climb up a step obstacles. However, most of rescue robots cannot easily turn on stairs or steep ramps. In this paper, we developed a crawler type rescue robot that has a steering mechanism on each flipper arm...
Random motion of mixed different sized particles causes a segregation and larger particles come up to the top. This phenomenon is a basic characteristic of power system. Here we reports an object transport inspired by this effect, in which the group of robots and a handled object correspond to small particles and a large particle, respectively. Based on this effect, the passive object can be transported...
This paper presents a model and controller design for a pneumatic actuator system. Three control strategies of position, force and compliance control are proposed. From the compliance control, stiffness characteristic of the pneumatic actuator will be presented in real-time system. Model of the pneumatic actuator system (transfer function) is obtained from System Identification (SI) method. Next,...
Antero-posterior ground reaction forces are the driving forces affecting walking speed. This study examined the relation between hip, knee, and ankle joint moment and the production of antero-posterior ground reaction forces during walking in the elderly and younger individuals. Forty elderly people, ≥65 years old, and 40 younger people, 20 to 29 years old, participated in this study. Gait analyses...
This study presents simple obstacle avoidance of a mobile robot that moves through via points in a dynamic environment in which obstacles move. This proposed system consists of two controllers, a reference controller and a PI-controller. The reference controller generates a robot motion reference trajectory in reaching goals and avoiding obstacles by referring sensor information in real time trajectory...
This research proposes a novel robust passive control approach for a robot manipulator with model uncertainties to interact with its dynamic environment by considering the robot's mechanic energy. Here, we analyze the robot's robust passivity as seen from its environment. By adjusting a scaling parameter of the robot's desired velocity with respect to the robot's mechanic energy, we propose our robust...
Compared with machining by automation, handwork is suitable for high-variety low-volume manufacturing, because such manufacturing requires a lower cost and shorter lead time. However, high-concentration machining should be implemented in handwork. Our goal is to develop a finish machining support robot system that can realize high accuracy machining in the case of initial phase of deburring process...
In this paper the control of an Inverted PENdulum Type Assistant Robot (I-PENTAR) during climbing over of steps is discussed. A mobile robot must be able to traverse its environment with a certain degree of robustness otherwise the usability of the robot is compromised. As initial steps to solving the step climbing motion the modeling of the different phases involved was performed. In-depth analysis...
When we operate a robot hand remotely with teleoperation system, it is difficult for an operator to operate the robot hand collectly without the reaction. Thus, the haptic feedback system is required to provide reaction force in the robot hand to an operator. In this paper, we develop a force feedback device which can present reaction force on operator's multiple finger knuckles. By using this device,...
This research describes the construction of a biomechanical simulation model of the cervical spine for traction therapy analysis. By building a 3D computer model of the musculoskeletal cervical spine region using a physics-based software environment, we were able to calculate and visualize the changes of the cervical vertebrae and intervertebral discs due to external traction applied during a traction...
This paper discusses an underactuated robotic hand for grasping a free-flying object. We introduce a concept of creating a closure called caging before locking the target in an immobilizing grasp. The caging is a closure that geometrically constrains the target such that the target can not escape from its closure created by robotic fingers. The design of the underactuated hand that performs caging-based...
Though several kinds of equipment such as wheelchairs and electrical wheelchairs exist to support lower limb disabilities, there were still problems because of disuse of lower limbs that limits effect of rehabilitation and also cause disuse syndrome. To overcome these problems, cycling-wheelchair was invented by Handa et al. It is a pedal-driven wheelchair and can be applied to most of the patients...
This study aims to develop a device to support the use of PCs by the elderly and visually impaired. The force display touch pad is a pointing device that presents the position of a window frame or buttons on a PC screen to the user using a force feedback function. We consider this device as a mockup, therefore we will perform demonstrations of the device, and then modify it according to surveyed user...
The models of motion and perception characteristics of humans are helpful to evaluate subjective efforts associated with intuitive, safe, and easy-to-use products. Traditionally, the muscle activity and/or the joint torque estimated by using a musculoskeletal model have been evaluated, whereas there are few studies that consider human's perception characteristics. In this paper, the perception characteristics...
Cooperative control algorithms for a redundant finger-arm robot were proposed in a previous study, based on the movement of the human hand-arm system. With these algorithms, the finger-arm robot arm was able to complete a constrained task by integrating admittance control and impedance control with the manipulability control of the fingers. The manipulability of the fingers was controlled using both...
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