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In this study, we achieve haptic communication between different structures. In haptic communication, tactile sensation is transmitted to a remote place by cooperating robots. Conventional haptic communication is implemented under the assumption that the masses of the actuators are equal. We have found that haptic communication system is a kind of position/force hybrid control system and that it is...
Under-actuated mechanisms with elastic elements have been used for realizing both pinching and power grasping of prosthetic hands. However, manipulation with these hands is merely discussed. This paper deals with a manipulation of an under-actuated robotic finger with an elastic element to validate the elastic effects on dynamic behaviors of this robotic finger. Especially, we focus on a pull-and-push...
Minimally invasive surgery (MIS) has attracted attention recently. MIS such as endoscopic surgery considers a patient's quality of life. In endoscopic surgeries, bilateral control systems are strongly required to apply. It is necessary to develop the multi Degrees Of Freedom (DOF) robot to achieve various operation procedures including endoscopic surgery. In this paper, 16-DOF haptic telesurgery master/slave...
This paper presents the control strategy and efficient tasks for training with ReachMAN, a compact, portable 3 degree-of-freedom robot to train reaching, pronosupination and grasping, independently or in combination. A pilot study was performed with three sub-acute patients to evaluate the potential use of ReachMAN as a rehabilitation tool, and determine how it should be used. All subjects improved...
Robotic devices able to train both reaching and manipulation are often large and complex and thus not suitable for decentralized use at home or in local rehabilitation centers. This paper describes a compact device with only three degrees of freedom (DOF) to train reaching and manipulation critical to activities of daily living. The design considers only the DOF necessary to train tasks such as pick-and-place...
The surgical robot instruments conduct an operation in the body on behalf of the surgeon's hands. However working inside a body prohibits attaching electronic sensors in addition to space restriction. Therefore, all commercial surgical robots are only operated in position control mode becuase there is no way to measure the working force at instrument. The position control mode of the robot system...
This paper presents an intelligent grasping system for applications in developing advanced prosthetic hands. The system learns how to grasp various objects based on experiments, controlled by the user, between the prosthetic hand and the object. Two target functions are learned. The first maps the hand configuration, grasp quality and contact characteristics to the object type. The second maps the...
Service dogs have successfully provided assistance to thousands of motor-impaired people worldwide. As a step towards the creation of robots that provide comparable assistance, we present a biologically inspired robot capable of obeying many of the same commands and exploiting the same environmental modifications as service dogs. The robot responds to a subset of the 71 verbal commands listed in the...
Task-oriented repetitive movements can improve motor recovery in patients with neurological or orthopaedic lesions. HEnRiE is a robot based haptic environment for simultaneous training of reaching and grasping movements. It consists of a robot with three active and two passive degrees of freedom and a grasping device with one degree of freedom. A training scenario that includes a virtual physiotherapist...
In this paper, we propose a grasping mechanism for flat-shaped objects such as a dish, a plate, etc., inspired by humanpsilas lateral grasp. We analyze how the mechanism can grasp the object, and evaluate the robustness of the grasping against disturbance forces/moments applied to the grasping object. The mechanism is experimentally applied to handling of dishes, and several experimental results illustrate...
This paper describes the design, creation, and validation of an infrastructure for grasping. The infrastructure is premised on the ability to use large amounts of memory to store grasping algorithms in a database that can be applied broadly with any hand on any arm. This effort includes the development of a software architecture; a language syntax for configuration, shape-matching, and algorithms...
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