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A new kind of ball tensegrity robot is researched. Firstly, build up mathematical model of ball tensegrity robot with its node matrix and member matrices. Based on the relationships between the nodes and members, the connectivity matrices are introduced. Then members can be expressed by connectivity matrix and node matrix. Under given external load, system equilibrium functions are set up, and we...
This paper presents the point-tracking strategy of master-slave robotic catheter intervention, which integrates with the distal/proximal and virtual force. First, the mapping between the motion space of master handle and the space of vascular model is built up. Second, the close-loop control based on the inverse kinematics is developed with the compensation of backlash. Third, proximal force, distal...
This paper proposed a concept of flexible wing-mechanism for the underwater fishlike robots. The proposed system consists of a fishlike body and a pair of flexible wing. The flexible wing mechanism utilizes a Shape Memory Alloy (SMA) actuator to realize small and lightweight system with high output/weight ratio. The SMA actuator can be controlled to adjust the shape. In the flow of water, shape of...
This paper is concerned with the formation method for multi-robot systems with obstacles. Consensus formation cannot avoid obstacles in the process of movement, and algorithms based on relative distances are not applicable to the situations requiring rigid topology. An algorithm has been designed combining consensus protocols and the modified artificial potential field method for the second-order...
Dance has become compulsory in the physical education courses in Japan, recently. Especially for the creative dance, it is possible to cultivate capacities for expression and communication abilities. However, it is hard to presuppose the creativity and skill of creative dance for beginner level dancers without experience. This paper describes a novel supporting method for the beginners by using a...
Compliant-motion control implementation on a humanoid robot with electrohydraulic joints is presented. Characterization results are shown, leading to a dynamic model used in feedback. A Natural Admittance Controller is designed, and its performance is demonstrated in demanding manipulation tasks, including dual-arm palmar manipulation of an egg and dual-arm valve turning.
This paper mainly introduces a kind of auxiliary robot for craniofacial plastic surgery. It contains mechanism design of the robot, the design of the control system, and experimental verification in order to prove the effectiveness of drilling bone. The robot make use of the stability and accuracy of the motor movement, combining with the 2D/3D imaging techniques, through the pressure sensor, position...
This paper presents a flexible capacitive tactile sensing array based on Flexible Printed Circuit Board(FPCB) technology. Several prototype flexible tactile sensors have been successfully fabricated by using simple processes. The sensing array consists of two flexible printed circuit boards as sensing electrodes and insulation layer between them. This simple design can effectively reduce the complexity...
At small scale, the surface force becomes dominated, which causes difficult to the small object's manipulation. In this paper, we study the effect of the endeffector's contact area on the biological cell's manipulation. First, two endeffectors with different size are fabricated based on focused ion beam (FIB) etching. Then, they are used to detach the single cell from substrate. The maximum detaching...
Neurologic examination takes an important role in the physical examination. By now, several methods have been carried out for medical training which bring the benefits for trainee to master the skills and accumulate experiences. However, because of the limits of these methods, the training effectiveness is limited. With the developments of technology, more and more simulators have been launched to...
In this paper we propose a service system composed of small robots. These robots are able to do tasks executed by a single human in environments like homes or offices. The goal is that a user will be capable of teaching multiple small robots how to perform tasks. We use kinematic data during the teaching process like the motion and force applied by the hands of the subject during task execution. Based...
This paper presents a novel approach to path planning for the formation of a swarm of autonomous robots to track a moving target in an unknown environment. This approach is based on the traditional potential fields combined with the rotational vector field. The potential field is used to repel the robots away from obstacles while the rotational vector field is added to drive robots to avoid obstacles...
A nature snake changes its gaits in different environment, so it is important for a snake-like robot to have more available gaits for a higher adaptability. In this paper, a novel snake-like robot is proposed to verify the motion fusion of rectilinear gait and serpentine gait. At first, the two gaits ant their fusions are analyzed and modeled. Then, the robot mechanism is designed to realize these...
This research describes the construction of a mechanical cervical traction therapy simulation using a physics software engine. The model consisted of an anatomically correct human skeleton and two types of mechanical traction devices, each representing a unique traction position. While most of the movement in the skeleton simulation model was represented by simple hinges and ball-socket joints, the...
The research work aims at developing a real time non-invasive metabolism and blood circulation surveillance system for monitoring human's health condition by sensing the various bio-signals on human body. Our goal is to use the developed system to study the functions and characters of organs and tissues that highly relate with the metabolism and blood circulation system, also it is expected to help...
With the vast interest and demand for nano-scale precision, piezoelectric actuators become the main driving resource for its minimized and high precision capability. In this study, a composite controller integrated with feedforward control and feedback control designed from a PID with optimal gain is utilized. The application of nano-milling was performed to examine and observe the comparison of the...
In this paper, a new compliant parallel mechanism driven by piezoelectric actuators is designed, which is a modified structure from our previous designed stage. In order to compensate the limited stroke of PZT, the secondary amplification mechanism was adopted in this design, and also the matrix method is utilized to calculate its stiffness and compliance for this compliant mechanism. In practical...
The model based passivity controller has been proved to be an useful method to deal with the time delay problem in teleoperation systems. However, this method is optimal only when attaching the controller to a single degree of freedom master slave teleoperation system. In the present paper, an extension of the controller to a multi degree of freedom master slave system is presented. By composing an...
Morbus Parkinson is a widespread disease amongst the elderly people. With increasing life expectancy the numbers of patients with Parkinsons disease are rising. Over the last decade, Deep Brain Stimulation (DBS) of certain nuclei within the basal ganglia has been established as an effective treatment for patients with advanced Parkinsons disease (PD) and motor complications not longer adaequatly treated...
This paper proposes a scheme for manipulating the posture angle of a passive object using an active plate. The scheme was evaluated on a rigid spherical object called a tumble doll. During the test, the object and active plate were subjected to cyclic movements. The object angle and angular velocity were combined into a state vector, and the cyclic motion was expressed as a nonlinear discrete system...
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