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This paper discusses a torque sensor for robot hands along with its novel calibration method. Recently, there has been increasing interest in service robots which can manipulate various objects to assist humans. A dexterous robot with precise sensors can greatly enhance the performance of such robots. In this study, we propose a joint torque sensor for robot hands and a calibration method, which allows...
We have researched an automated gondola-typed robot system for building façade maintenance. Our system moves in vertical direction on walls with two endless winders along wire ropes. Because its main function is to paint, the balance of the gondola system should be kept. Two endless winders are controlled in accordance with ARS (Attitude Reference System). With proposed algorithm, input frequency...
In this study, we propose a new brake system to be used for in-wheel module of active walking aids. Along with the increase in the aged population, there has been many research devoted on active walking aids, which helps the movement of olds and disabled. In this study, a new brake system with low power consumption is developed to maximize the battery life of active walkers. Through the use of two...
For robotic palpation in minimally invasive surgery (MIS), a simple structured tactile sensor is presented in this paper. Within current MIS, it is not easy to detect abnormal tissue. And it is even more difficult in commercial robotic MIS, since there is no tool which can provide haptic information to surgeons. To enable robotic palpation in MIS, a tactile sensor is designed to have the spatial resolution...
This paper describe the robot system for maintenance and inspection of blade on offshore wind turbine power system. Because [three-dimensional model of] the blade surface has a variety, the robot attached on the blade to vertical movement is required the flexible structure. The inchworm type robot equipped the flexible mechanism based on the three-dimensional blade lookup table. To detect the exact...
Exoskeleton robots have been used for rehabilitation in many areas. In order to comprise arm exoskeleton robot, a modular joint unit is proposed. As a module, this unit contains everything for joint actuating. Motor, encoder, harmonic drive, brake, cross roller bearing, and joint torque sensor are included in this unit. Because this unit is applied to exoskeleton robot, the joint torque sensor is...
For a robot hand to make a stable contact with its environment and perform various tasks, it must be equipped with torque sensors to accurately measure its torques. However, conventional torque sensors are too bulky and expensive to be used for a robot hand. To cope with these problems, in this study, we propose a novel 2-DOF torque sensor, which uses the link frame of a robot hand as the torque sensor...
For force control of robot and collision detection with humans, robots that has joint torque sensors have been developed. However, existing torque sensors cannot measure correct torque because of crosstalk error. In order to solve this problem, we proposed a novel torque sensor that can measure the pure torque without crosstalk. The hexaform of the proposed sensor with truss structure increase deformation...
We demonstrate optical pulse trains with sub-100-attosecond high-frequency timing jitter from passively mode-locked, stretched-pulse fiber lasers by operating the lasers at the close-to-zero net cavity dispersion.
In this paper we propose a fast adaptive image restoration filter using DCT-based edge-classification for reducing block artifacts in compressed images. In order to efficiently reduce block artifacts, edge direction of each block is classified by using the DCT coefficients, and an adaptive constrained least squares (CLS) filter along the edge direction is used for filtering the corresponding block...
In order to increase the accuracy in estimating the point spread function (PSF) of out-of-focus blur, we subdivided the input image and then averaged the PSFs from each subimage. The PSF of each subimage is estimated by differentiating the step response along the appropriately estimated edge direction under the assumption that an image usually has a piecewise linear boundary between an object and...
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