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Learning from sensor data is important in many robotic research areas, such as dexterous robotic hand grasping. In this paper, a piecewise linear dynamic model is proposed for analyzing robotic hand grasp. The combination of linear dynamic model and the switched systems can achieve better results in grasp learning due to its advantage of modeling multi-phase grasping process. To the best knowledge...
Robot grasping and manipulation require very accurate knowledge of the object's location within the robotic hand. By itself, a vision system cannot provide very precise and robust pose tracking due to occlusions or hardware limitations. This paper presents a method to estimate a grasped object's 6D pose by fusing sensor data from vision, tactile sensors and joint encoders. Given an initial pose acquired...
Since the visual system is susceptible to the lighting condition and surroundings changes, the accuracy for object localization of robot grasping system based on visual servo is rather poor so as to the low grasping success rate and bad robustness of the whole system. In view of such phenomenon, in this paper, we propose a method of fusing binocular camera accompany with monocular vision, IR sensors,...
This paper introduces the design of a 6-DOF force and torque sensor that uses fiber optic guided light and linear polarizer materials to measure the applied force and torque on a grasped object. The sensor is also capable of measuring the contact direction between the sensor and the object. The developed sensor has a diameter of 16 mm, height of 15.75 mm and weight of 1 gram. The sensor's parallel...
In pedicle screw insertion surgeries, the drilling process of the screw path is very critical to decide the success of the surgery, as the hole is drilled on a very narrow area on the vertebral pedicle. In current manual surgeries, surgeons perform operation with monitoring the medical images in navigation system and sensing operation force. To simulate these abilities, in this paper, a bone-drilling...
Rehabilitation robotics has been one of the most important branches of robotics. Particularly, the exoskeleton device for the upper limb rehabilitation develops fast in recent years, but most of them are heavy and large. In this paper, we proposed a light and wearable exoskeleton device which is potential to be used in home rehabilitation. It should be able to perform passive and active training....
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