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Movement in micro-scale precision cannot be achieved by unaided human hand. This paper describes the design of a six degrees of freedom (DOF) micromanipulator based on compliant parallel mechanism. It is capable of delivering 6-DOF pure motions with high precision and featured by piezo-driven actuators, flexure hinges and integrated force sensor that can provide the system with real-time force information...
This paper presents the development of a micro-scale positioning device based on two degrees of freedom (DOF) plane compliant parallel mechanism, which is featured by piezo-driven actuators and flexure joints, integrated force/torque sensor that capable of delivering 2-DOF motions with high precision and providing real-time force/torque or position information for feedback control. With optimization...
In this paper, we present an arm wrestling robot (AWR) system. This system is designed with the purpose of imitating the real force-applying process of human player when people play in the game of hand wrestling. In order to achieve the expected function, special mechanical structure of robot arm is designed in according to human hand, two force sensors and a motor with special driver are adopted...
The advantage of neural network (NN) controllers lies on their capability of learning from training data to approximate highly nonlinear functions for nonlinear system control. In this paper, we present a MIMO neural network controller with two inputs and two outputs for flight control of a small-scale unmanned helicopter. The feedback is based on multiple on-board sensors including altitude meter,...
This paper analyzes the changes in interaction force between the arm wrestling entertainment system and human hand, and presents a control strategy of force/velocity for arm wrestling robot (AWR) system. Based on the mass-spring-viscidity system model, the AWR control system adjusts the motor rotating direction and speed by using the information of force and angular speed feedback. This robotic machine...
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