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Any kind of the under-actuated robotic finger traditionally has only one grasping mode, and each grasping mode is only suited for some situations but not for others. In this paper, a novel switchable under-actuated finger with multiple grasping modes, the SUA finger is proposed. Four typical grasping modes can be switched at any time freely. Two motors, multiple bevel gears, a flexible cable and two...
The locomotion performances of a quadruped robot with compliant feet based on closed-chain mechanism legs are presented. The legs of this quadruped robot were made up of six-bar linkage mechanism with one degree of freedom. And a special foot trajectory could be gained through kinematic analysis and optimum design of the six-bar linkage mechanism. In order to reduce the impact force of quadruped robot's...
A new cable-driven soft endoscopic system is designed for cardiac ablation in a minimally invasive manner in this paper. The system is totally made of soft materials and has no rigid structures inside. In order to perform operation in the limited pericardium, a modified behavior-based control method inspired from animals is applied in this system. Experiments are performed to demonstrate the concept...
High flexibility and high speed is the goal for industrial manufacturing using robots. However, it is difficult to put them together due to the fact that they are contradicting with each other. To solve this problem, a new high reconfigurable gripper is proposed for robotic manipulator to improve its flexibility, so that the robot can accomplish an assembly task with shorter time. In this paper, the...
This paper presents a new type of intelligent ultrasonic power supply based on DSP and DDS, and then designed a debridement transducer. The ultrasonic power supply consist of TMS320F2812, DDS waveform generating circuit, Full-bridge inverter circuit, signal processing circuit and so on. In order to achieve frequency automatic tracking with the characteristics of high precision and fast speed, it adopted...
In this paper, an upper limb rehabilitation robot based on virtual reality is developed to improve therapeutic efficacy. With the help of the robot, the patients can reach virtual items appearing randomly with impaired limbs in a virtual environment. The kinematics of the robot is analyzed and the appearance rules are made to avoid mechanical interference between the arms. Both passive mode and active...
Single Port Surgery (SPS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) bring the benefits: reduced surgical trauma and less patient's burden. However, they are still limited in the area of instrument dexterity and operability. This paper presents an Insertable Surgical Robot (ISR) for Single Port Access Surgery (SPAS), this robot uses multi-level architectures in the field of endoscopic...
An exoskeleton system to assist hand rehabilitation exercise autonomously was introduced in this paper. A geared four-bar linkage mechanism was proposed as the main structure of the exoskeleton, and was verified by kinematic modeling, static analysis as well as finite element analysis. To determine the size of the exoskeleton, the optimization method was adopted, so as to improve the kinematic performance...
A Powered Knee Orthosis (PKO) was developed for the elderly and patients with disordered gait to regain normal walking. In order to enhance the PKO performance and reduce system complexity especially for people with muscle weakness in their knee joints, an algorithm named HIP-KNEE control is proposed. This algorithm is based on the analysis of kinematic gait model, and the desired knee joint angle...
Optimal point-to-point motion planning of heavy-duty industry robot was critical between two points in the prescribed time. The dynamic modeling was derived though Lagrange formulation and Spong model; then based on the Pontryagin's minimum principle, optimal point-to-point motion planning problem was constructed considering the gravity effect. Indirect method integration with homotopy mapping was...
Minimally Invasive Surgery (MIS) is less invasive and creating fewer post-operative complications compared with conventional surgery. This results in shorter recover times and, sometimes, outpatient treatment replaces for previously lengthier procedures. So MIS is the latest trend in surgery. However, MIS is usually associated with a limited view of the surgical view area and is difficult to handle...
The single-ingredient pellet formulas of traditional Chinese medicines have been accepted by the patients and have great market in hospitals recently. As information-based equipment for deploying single-ingredient pellet formulas of traditional Chinese medicines, the automatic deploying system is in great demand in hospitals. An automatic deploying system for single-ingredient pellet formulas of traditional...
China is launching the lunar exploration mission, namely "Chang'e" project. In the third phase of the project, a probe will be sent to the moon to acquire the lunar regolith through automated drilling device. The drilling sample is expected to be sealed into a storing container which will be brought back to the earth by return capsule. Drilling sample should be pulled out from the drill...
Current laparoscopic surgeries suffer from inconvenient, limited visualization due to the small incisions. It normally needs an assistant to hold and readjust a laparoscope to view the surgical set when performing procedures. This assistant can be either a human or a robotic laparoscope holder. However, at the current state, both of them only passively follow the control commands from the surgeon...
Gesture is one of the fundamental way of human machine natural interaction. To understand this, system should be able to interpret 3D movements of human. This paper presents a real-time 3D full body gesture recognition system by tracking joints of head, neck, shoulder, arms, hands and legs. This tracking is done by Kinect motion sensor with OpenNI API and 3D full-body motion gestures are recognized...
Physicians use ultrasound scans to do diagnosis by making real-time images of internal organs, because such scans are safe, inexpensive, and non-invasive. However, aging society and limited numbers of physician make it difficult for patients in remote areas to be diagnosed. Besides, physician's technical skills affect the interpretation of the scans and thus the results of the examination. Thus, development...
Focusing on the development of flexible robots for industrial and household environments, we identify intuitive teaching as the key feature and direct physical interaction and guidance as the most important interface. In the current work we introduce a multi redundant robotic assistant equipped with a touch sensitive skin around the upper- and the forearm, in order to incorporate contact forces into...
Here we present the design of a highly dexterous 48 dof robotic hand. This high dexterity was possible because of the unique design of joints based on magnetic sliding and spherical spheres. The hand is tendon driven and is portable. We believe this is the robotic hand with the highest degree of freedom till date. Dexterity in robotic hands is an important parameter towards the complexity of the tasks...
In this article, design of bionic quadruped, mainly focusing on leg design, is given and force analysis of the mechanism is calculated and simulated. To better improve the design, force on sole and torque on joints should be diminished to increase the mobility and capacity of the robot. Therefore, a design method based on biomechanics and bionic control strategy is proposed for this quadruped robotic...
In the process of oscillation, longitudinal disturbance is produced when pectoral fins of robotic fish produce propulsion. The disturbance leads to pitching motion of the body of robotic fish, increasing the swimming resistance and reducing the efficiency of swimming. Pitching stability model of robotic fish propelled by oscillating flexible pectoral fins is established based on the third generation...
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