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This paper presents a method to generate a haptic illusion of compliance using a vibrotactile actuator when a tangential force is applied to a rigid surface. The novel method builds on a conceptual compliance model where a physical object moves on a textured surface in response to a tangential force. The method plays vibration patterns simulating friction-induced vibrations as an applied tangential...
The cycloid drive usually has a cycloidal wheel meshing with pins to achieve transmission. The profile of the cycloidal wheel is generally a curve derived from an epitrochoid. This paper presents two design types of cycloid drive, the cycloidal wheel profile of one is internal offset of epicycloid and the other is external offset of hypocycloid. Parametric 3-D models of the two design types are constructed...
Co-simulation for adaptive vibration isolation system with the piezoelectric stack actuator is done by employing ADAMS and SIMULINK. The structure and properties of the piezoelectric stack actuator is analyzed, and the actuator is simplified to the stiffness-damping model to obtain the mechanical equation. Then the virtual prototype of the piezoelectric stack actuator is established in ADAMS, meanwhile,...
We describe the concept and first prototype of a novel mechatronic design of a robotic gripper, which aims at being mounted on a humanoid robot to achieve firm (i.e. locked) and robust grasps. Such grasps could ideally support complex multi-contact motions, such as ladder climbing, or manipulation of complex tools, with energy efficiency. For this purpose, we propose a solution by designing a smart...
Stroke and other neurological pathologies are an increasing cause of hand impairment, involving expensive rehabilitative therapies. In this scenario, robotics applied to hand rehabilitation and assistance appears particularly promising in order to lower therapy costs and boost its efficacy. This work shows a recently conceived hand exoskeleton, from the design and realization to its preliminary evaluation...
This paper presents the design, mathematical model, and evaluation of a novel variant of a variable stiffness actuator. The actuator combines a cam and a variable lever mechanism. The lever length changes through the rotation of the follower and results in the change of the mechanism stiffness. The design of the actuator results in a nearly linear torque-deflection characteristic, earning it its name:...
Lower back pain is a major health concern worldwide. One cause of lower back pain is the burden on the lumbar region caused by the handling of heavy objects. To reduce this burden, the Ministry of Health, Labour and Welfare in Japan has recommended “squat lifting.” However, this technique, which supports a large force on lower limbs, is not very popular. Therefore, we aimed to develop a power assist...
Water-running locomotion has been interested by researchers, inspired by Basilisk lizard running on water-surface. Energy efficiency and high running speed are main advantages of water-running while the stability is issue for realizing water-running prototype. In this work-in-progress paper, we analyzed two different quadruped gaits on water-surface: gallop and trot. Based on measurement set-up, the...
Despite rapid advancements in the field of fingertip haptics, rendering tactile cues with six degrees of freedom (6 DOF) remains an elusive challenge. In this paper, we investigate the potential of displaying fingertip haptic sensations with a 6-DOF parallel continuum manipulator (PCM) that mounts to the user's index finger and moves a contact platform around the fingertip. Compared to traditional...
One of the important tasks for a personal vehicle is accompanying a human partner. In our previous works, we discussed how the vehicle should lead its partner, or follow its partner according to their relative position and environmental conditions for a cooperative movement when they entered into narrow space. This study, next, aims to develop a method of a path planning in the case that the personal...
This paper considers to develop a prototype master-slave robotic system for teleoperated ultrasonography. Six DOF motions for ultrasonography are provided through Stewart-Gough mechanisms for both master/slave devices. As a slave robot, a ultrasound probe is installed inside of the platform and contacts with patients skin through the hole in the base frame to minimize the size of the robot. The master...
The pseudo-haptic feedback is a method to represent illusion of haptic sensation, induced by non-haptic stimuli, such as vision and acoustics. This is a prospective method that enables us to develop haptic display without using any actuators. That considered to be a benefit for composing a small, light weighted haptic display. However quantitative control of haptic representation is often difficult...
Forward head posture is one of the most common symptoms that modern people experience as sedentary life with prolonged use of computers or smart devices becomes more common. In this research, we propose a rehabilitation device that actively corrects the neck posture for treating forward head posture. The device is composed of a flex sensor and a pneumatic artificial muscle and a flex sensor that help...
This paper presents design of mechanical structure and control method for an upper-limb powered exoskeleton platform. The exoskeleton shoulder frame is composed of 3 revolution joints that are connected serially to enable 3 DOF motion of human shoulder. Interaction forces between a user and the robot are used to predict the user's intention of motion. A prototype and preliminary experiments are also...
The paper describes simulations and measurements performed on the double-layer planar motor (DLPM), in order to analyze the static decoupling of the machine. By standstill levitation of the translator above the stator, the static coupling of force and torque components can be obtained. Possible sources of cross-coupling are predicted using an electromagnetic model and the obtained results are used...
The radial and lévitation forces, necessary to suspend a double conical permanent magnet synchronous rotor, are generated by superposition of the rotor field and two stator fields with one pole pair difference. Due to the superposition of the fields in the air gap, some force interferences are disturbing the levitated drive. The origin of these perturbations are explained and described in a simplified...
Alow-cost and low-power generic counting system prototype is proposed and designed in this paper for counting the occurrences of certain events. A sensor strip was developed on a rough acrylic sheet by placing a very thin film (50ßm) of PTFE on aluminium with a gap between them. This strip requires no input power and is efficient for long term use due to its robustness. On applying a lateral force...
This paper presents the design of the Interacting-BoomCopter (I-BoomCopter) unmanned aerial vehicle (UAV), designed specifically for environmental interactions. The novel design consists of a horizontally mounted four-blade reversible propeller on a front boom that is attached to a standard tri-rotor UAV configuration. A custom end-effector and force sensor is placed at the end of the front boom for...
The ability to change stiffness is a capability exhibited through the animal kingdom, with many recent advances in tunable stiffness in the area of robotics. In this paper, we propose a mechanism design that provides the ability to make modular subcomponents with tunable stiffness by creating a bi-stable mechanism that exhibits different stiffnesses in each of the stable configurations. The design...
This paper reports on a novel 3D-printed polymeric compliant constant-force buffering gripping mechanism. The motivation of this work is to develop a buffering gripping mechanism to avoid the damage of manipulated biological object induced by excessive displacement output. The presented zero-stiffness mechanism is realized by connecting the negative-stiffness part and positive-stiffness part in parallel...
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