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This paper proposes a texture sensing system based on a biomimetic approach for nursing-care gel foods. The proposed system is equipped with an imitation tongue that can reproduce the elastic behavior of human tongue. First, we introduce the imitation tongue with a variable elasticity mechanism in the artificial mastication model. In this study, using a prototype of the imitation tongue, we verify...
In this study, a variable viscoelastic joint system with a clutch for a human assistance was proposed. The variable viscoelastic joint system comprised antagonized artificial muscles and magneto-rheological fluid brake (MR-brake). This system enabled the human assisting device such as exoskeletons to retain structural softness when compared with the existing devices driven by motor and reduction gear,...
In this paper, we propose a compact jumping robot using snap-through buckling of an arched closed elastica supported by an Ω-shaped frame in an effort to quick stair climbing. The proposed jumping robot is a modified version of an existing robot using spatially deformable arch-type closed elastica, but has much higher jumping capability due to the following two effects of the Ω-shaped frame. One is...
Through the overall physical model, the pier and beam slab wharf structure and big platform wharf structure influence on ship mooring conditions are tested. The results show that different wharf structure has certain influence on ship movement, mooring force and impact force. Due to the middle void space of pier and beam slab can buffer the wharf apron water action on the ship, which is good for improving...
To prevent the human injury or breakage of the robot caused by interaction or collision with the robot and its environment, it is an important issue to introduce robot softness. However, because not only softness but also stiffness is required for precise task execution, the simultaneous realization of softness and stiffness using time varying stiffness is required in the real environment. We focus...
Buckling is a highly nonlinear and singular phenomenon in thin beams, and is usually an undesired characteristic that must be prevented from occurring in engineered systems. Buckling, however, can be a useful mechanism for gaining extremely large displacement amplification, since a tiny displacement in the axial direction of the beam may lead to a large defection in the middle of the beam. This paper...
To study characteristics of a air propeller-gear reducer propulsion device, a scale virtual prototype of the device was established using ADAMS and Pro/E software based on virtual prototyping and parametric modeling. Kinematics and dynamics characteristics were gained through computer simulation in rated-load and in no-load. The influence of elastic coupling for propeller movement and gear meshing...
In this paper, we present a simple mechanism for adjusting joint compliance. In this mechanism, an elastic plate, which we refer to as a Compliance Adjuster Plate (CAP), is used effectively not only to absorb but also to endure external force according to the requirements for various tasks. The adjustment of joint compliance can be realized by controlling the posture of the CAP according to the position...
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