The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Presents the introductory welcome message from the conference proceedings. May include the conference officers' congratulations to all involved with the conference event and publication of the proceedings record.
Recently micro soft actuators have been developed actively, because they have possibility to be applied to micro hands, catheters, and so on. Especially pneumatic rubber actuators have high potential because of simple structure and non-electrical drive leading high safety. In our previous research, the pneumatic rubber actuator that can bend into two directions by positive and negative pneumatic pressures...
Co-robots that can effectively move with and operate alongside humans in a variety of conditions could revolutionize the utility of robots for a wide range of applications. Unfortunately, most current robotic systems have difficulty operating in human environments that people easily traverse, much less interact with people. Wheeled robots have difficulty climbing stairs or going over rough terrain...
This paper shows a study on two chambers soft actuator development and its application to an artificial soft actuator fin. Simulations of two chambers actuator are conducted using finite element method software and the bending angles produced are computed. Eleven designs are proposed and compared which differ in separating wall thickness, actuator thickness, fiber location, fiber materials, and rubber...
The article introduces an actinomorphic soft robot that possesses a flattened body with a number of arms radially symmetric distributing and extending from robot central disc. Hence, mimicking radially symmetric musculature animals like starfish. The robot arm system, consisted of arm and smart material alloy (SMA) springs is the support structure as well as the robot propulsion device. A novel approach...
Search and rescue robots are being used more frequently to access hazardous environments to assess situations and locate survivors. There are a wide range of existing mobile platforms for various situations and environments, but these robots are typically bulky, heavy or expensive, limiting their widespread and practical use in case of disaster mitigation. Also, like most robots, locomotive robots...
Several passive joints are usually needed in surgical robots to decrease the difficulty in doctors' operating, which can be manually rotated without motor pushing. When stopped at a specified position, passive joints should be locked until operation ends, and keep bearing torques. This paper is aimed to design a locking method used in minimally invasive surgical robot. Firstly choose the locking type...
This paper discusses the development of a novel surgical robot for single-port surgery (SPS) and proposes use of the robot's position control method, which is based on inverse kinematics. The developed surgical robot consists of two forceps manipulators and two robotic arms and can achieve a forceps placement called “rotation formation” that makes it possible to enlarge a surgical-instrument work...
This paper presents a performance assessment of a highly complex wire-driven mechanical system in a surgical robot, MU-LapaRobot. The MU-LapaRobot is a collaborative surgical robot, developed for ongoing robotic research for laparoscopic surgical application. The MU-LapaRobot consists of 1-DOF passive joint for vertical motion, 2-DOF passive boom for planar motions and 4-DOF active surgical tool-holder...
SPL (Single Port Laparoscopy) might generate better surgical outcomes than multi-port laparoscopy. Hence it draws continuous attentions in the past several years. Due to its operative difficulties, several robotic systems were constructed to help surgeons with the surgical manipulation tasks. The SURS (SJTU Unfoldable Robotic System) for SPL is then proposed, aiming at introducing several improvements...
In this paper, the design of a 8 degrees-of-freedom (DOF) force reflection master manipulator for applications in minimally invasive surgery is presented. The manipulator includes three parts: arm mechanism, wrist mechanism and clamping mechanism. Arm mechanism is capable of position and force reflection in three translational motion. The wrist mechanism has a redundant DOF and can provide 3 DOF orientation...
This work aims at developing a motor path generator for applications in mobile robotics based on a chaotic neural network. The computational paradigm inspired by the neural structure of microcircuits located in the human prefrontal cortex is adapted to work in real-time and used to generate the joints trajectories of a lightweight quadruped robot. The recurrent neural network was implemented in Matlab...
In this paper, we report on our efforts to transport a large object by small mobile robots in a home or office environment. Given such an environment, robots must be compact. We improved the transport capacity of small mobile robots using a handcart. However, there were two problems faced: the risk of a slip and fall under the influence of the reaction force when the robot handles the object, and...
Ensuring the motion stability and improving the mobility are crucial for wheeled ground vehicles (WGVs) to complete their missions, e.g., outdoor inspections and explorations. However, wheel slip may deteriorate the mobility performance and safety, particularly on unknown low-adhesive ground. In this research, a novel methodology to detect the adhesion stability using a force transmitting factor is...
For robot applications in unknown or hazardous environments, such as search and rescue, it is difficult and stressful for human beings to merely simply teleoperate a mobile robot without assistance. Consequently, much research work focuses on the means to facilitate an efficient shared autonomy between human and robot in the field of robotics. In our previous work, a novel shared autonomy system has...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.