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Robustness of pattern recognition is a key point for myoelectric prosthesis developed in laboratory to be applied successfully in real life. This study investigated the issue about effect of dynamic change of arm position on myoelectric pattern recognition. Six kinds of surface electromyography (sEMG) features were used and compared in detail. The classifier was trained in static (S) condition (i...
The synthesis of movement and the biomechanics are introduced into the design methodology for the development of a minimally invasive surgery (MIS) robot manipulator : compact, lightweight and close to the surgical gesture. The goal of this study is progress toward a next-generation surgical robot system that will help surgeons deliver health-care more effectively. Based on an extensive database surgical...
In order to work in the rough terrains, the mechanisms of mobile robot have been proposed including wheeled, legged, crawler and so on. In this paper, we design a special wheel type mobile platform named iRP (intelligent Rover Platform). It has two different float suspension mechanisms with six wheels. The suspension systems allow all six wheels to remain on the ground even if any single wheel is...
Several robotic devices have been developed to assist patients regain their autonomy. These robotic devices augment forces exerted by the device wearer. A majority of these devices are controlled by surface electromyography (SEMG) signals acquired from wearer's muscles. Several regression models are available for estimation of wrist torques using SEMG signals. Common issues related to torque estimation...
The development of a single-port endoscopic surgical robot made by selective laser sintering (SLS) is a new interdisciplinary field of research. Endoscopic interventions are reducing the post-operative stress for the patients. In this article the clinical requirements for endoscopic interventions are defined by endoscopists. Based on the requirements, engineers are developing a new single-port robotic...
The manufacturing industry today is still focused on the maximization of production. A possible development able to support the global achievement of this goal is the implementation of a new support system for trajectory-planning, specific for industrial robots. This paper describes the trajectory-planning algorithm, able to generate trajectories manageable by human operators, consisting of linear...
This paper presents a model for determining the behavior of pedestrians attempting to avoid collision when approaching an indoor blind corner from both sides. We constructed a decision model that takes tactics into account by using a mixed strategy based on game theory. In addition, we considered changes in the behavior of pedestrians caused by information uncertainty proportional to the distance...
In many applications, there is the need to know the accurate distance between NAO and a certain object. Distance information is always of great importance for NAO to do extra tasks in many home monitoring and research circumstance. However, NAO is not equiped with a depth-sensing device which can offer the distance information directly. In this paper, we use four different methods to measure the distance...
We have been conducting research into developing sufficient mobilization through usage of the leg-wheel type robot known as “RT-Mover” in its intended environment. This robot uses 4 drive wheels and 5 driving axes to provide simple mechanics, while also delivering a wheel mode and a leg mode. Past research has confirmed the robot's underlying mobilization capability on standard terrain, examined the...
A type of robotic system for 3-D precision Micro-assembly was described, which can be used to assemble the micro Inertial confinement fusion (ICF) target which was made up of two Half-hohlraum (diameter:800μm∼1000μm, length:1mm) and a capsule (diameter:200μm∼500μm). The system structure and composing were described, and the key technology was introduced too. A new kinds of piezoelectric micro-gripper...
A project named Chang'e is currently aiming to accomplish acquiring the lunar soil through automated robotic device. Therefore, many engineers are attempting to develop a kind of prototype of lunar soil coring for the mission. This paper presents a Rotary-percussive Drilling Mechanism (RPDM) which is a novel scheme for driving unit in the deep lunar soil sampling drill. The functions of RPDM behave...
Many ferromagnetic structures require regular inspection and maintenance to ensure their longevity, structural integrity and aesthetics. These operations are often very hazardous to workers, as they are normally performed at height or in confined spaces, and can expose workers to hazardous materials such as lead based paints and vehicle fumes. An inchworm climbing robot has been proposed as a solution...
The core of building bionic eye system is to imitate the function of human eye neural circuit so as to design the corresponding control strategy. In this paper, fuzzy adaptive PID control method is adopted to realize the function similar to vestibular nucleus'. Besides, the transfer function of controlled object is established according to medical research so as to determine the variation range of...
Many biped robots that achieve high-efficient walking have been proposed in the recent years. Many researchers have thus developed biped robots that achieve active walking based on passive dynamic walking (PDW). Although these biped robots achieve energy-efficient active walking, their walking speed is generally slow. We have proposed a flat-footed PDW robot with the ankle springs and inerters. Using...
In this paper, we describe the development of the quadruped robot “Ken” with the minimalistic and lightweight body design for achieving fast locomotion. We use McKibben pneumatic artificial muscles as actuators, providing high frequency and wide stride motion of limbs, also avoiding problems with overheating. We conducted a preliminary experiment, finding out that the robot can swing its limb over...
In order to carry out automatic ultrasonic inspection tasks, a miniature biped wall-climbing robot, the so-called MiniBibot-W, has been developed in inspiration of inchworm climbing. Developed with a modular method, this robot consists of six joint modules connected in series as the main body and two electromagnetic adhesion modules at the two ends as the two feet. An ultrasonic probe is mounted to...
This paper describes a full 6D localization algorithm based on probabilistic motion field. The motion field is obtained by an adaptation of the video compression algorithm known as Block-Matching which provides a sparse optical flow. Such a technique is very fast and allows real time applications. Image is decomposed in a grid of rectangular blocks. For each block, a relative displacement between...
Efficient exploration and accurate mapping are two conflicting goals. Efficient exploration requires minimizing traversal of previously mapped territory, accurate mapping necessitates that the robot goes through previously mapped areas to reduce the accumulated uncertainty. This problem has many parallels with the exploration versus exploitation problem. In this paper a new algorithm is proposed that...
Bio-inspired mapping methods have started a new trend in the robotics navigation area. In this paper, we propose a new map building framework based on the neocortex model: Hierarchical Temporary Memory (HTM). HTM has tree-shaped hierarchical structure and demonstrates structural and algorithmic properties of the human brain neocortex. We first treat the mapping problem as the object recognition problem,...
This paper proposes a performance enhancement algorithm for Kinect depth data based head pose estimation method that uses discriminative random regression forest (DRRF). In the testing phase of DRRF, patches are extracted from the whole query depth image and then are passed through each of the tree in the trained forest for head detection and head pose estimation. In this procedure, however, errors...
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