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This work presents the novel concept of Tele-Impedance as a method for controlling/teleoperating a robotic arm while performing tasks which require significant dynamics variation. As an alternative method to bilateral force-reflecting teleoperation control approach, which uses a position/velocity command combined with force feedback from the robot side, Tele-Impedance enriches the command sent to...
To be a good helper, grasping and manipulation are the most important abilities of a service robot. It should be able to adapt its manipulation actions to new tasks and environments. During the execution, it is important to rate the success of actions, so that the robot can plan and execute further actions to correct and recover from the failed actions.
This paper proposes a new impedance control principle for mechanical systems which have driving systems whose control input is not the torque any more. It is shown how to transform such mechanical systems with driving systems into another systems with the desired mechanical impedance. Also it is proved that the proposed principle achieves a robustness in the presence of parameter perturbations. First,...
Programming by Demonstration offers an intuitive framework for teaching robots how to perform various tasks without having to preprogram them. It also offers an intuitive way to provide corrections and refine teaching during task execution. Previously, mostly position constraints have been taken into account when teaching tasks from demonstrations. In this work, we tackle the problem of teaching tasks...
Current trends in robotic cardiac surgery presage for allowing physiological motion compensation in beating-heart surgery. However, interacting with fast moving soft organs by means of stiff instruments/robots is challenging. This paper concerns comanipulation with a hand-held instrument, the goal being to allow the surgeon to perform low frequency motions that correspond to the surgical task while...
Human arm muscular stiffness measurement is often a complex procedure which is of great interest for many disciplines from biomechanics to medicine and robotics. Modulation of impedance represents the principal mechanism underlying control of movements and interaction with external environment. Past literature proposed several methods to estimate multijoint hand stiffness while postural maintaining...
In order to implement promising robot applications in our daily lives, robots need to perform manipulation tasks within the human environments. Especially for a humanoid robot, it is essential to manipulate a variety of objects with different shapes and sizes to assist humans in the human environments. This paper presents a method of manipulating objects with humanoid robot's dual arms. The robot...
This article presents a versatile controller that enables various contact tooling tasks with minimal prior knowledge of the tooled surface. The controller is derived from results of neuroscience studies that investigated the neural mechanisms utilized by humans to control and learn complex interactions with the environment. We demonstrate here the versatility of this controller in simulations of cutting,...
This work presents an example of the application of passive impedance control of a variable stiffness manipulator, which shows the actual benefits of variable stiffness in rejecting disturbances without resorting to the closure of a high level feedback loop. In the experiment a 4-DOF manipulator arm, built with the VSA-CubeBot platform, is controlled to hold a pen and draw a circle on an uneven surface...
This article introduces a set of novel haptic guidance algorithms intended to provide intuitive and reliable assistance for electric wheelchair navigation through narrow or crowded spaces. The proposed schemes take hereto the non-holonomic nature and a detailed geometry of the wheelchair into consideration. The methods encode the environment as a set of collision-free circular paths and, making use...
This paper presents a new tactile-force integrated method to localize tumors minimally invasively using robotic assistance. This method relies on using a capacitive sensor at the tip of a Tactile Sensing Instrument (TSI) which can be inserted into a patient's body in a minimally invasive manner. In this work, the operator palpates tissue containing tumors in a minimally invasive surgical (MIS) training...
It is widely acknowledged that the actuator's intrinsic backdrivability is important in realizing a force sensitive behavior. It is desirable to realize such actuator with electric motor that is advantageous from power-to-weight ratio and controllability point of view. Electro-Hydrostatic Actuator is a type of hydraulic actuators that can realize high backdrivability by reducing transmission friction...
Research on insect-inspired flapping-wing micro-aerial vehicles (FWMAV) has grown steadily in the past decade, aiming to address unique challenges in morphological construction, force production, and control strategy. In particular, effective methods for motion control still remain an open problem. This paper analyzes the mechanical impedance properties of the joint and their role in rotation of the...
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