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This paper describes the anatomical design of a novel wrist therapy device. The device automatically adjusts to the size of the wearer's wrist and is designed so it only applies a torque about the wrist joint, avoiding any uncontrolled interaction forces which commonly occur with standard rotary joint exoskeletons. The device will also adapt for any wrist misalignment that occurs during donning of...
We developed KneeRobo, which replicates knee joint disorders experienced by patients, to enable students studying to become physical or occupational therapists to gain practical training/testing experience virtually. We also developed a control algorithm that enables KneeRobo to realize involuntary internal/external rotation and abduction/adduction during knee flexion and extension. However, in the...
In a previous paper, we reported on the initial development of KneeRobo, which replicates knee joint troubles experienced by patients in order to enable students studying to become physical or occupational therapists to gain practical training/testing virtually. We also developed a control algorithm that enabled KneeRobo to realize involuntary internal/external rotation during knee flexion and extension...
This paper presents a robotic application for in situ repair of the seal surfaces of a large hydropower spherical valve. The repair involves laser scanning, machining, welding and polishing using the portable track-based Scompi robot. To perform the machining, the robot uses a tool guide mechanism that locates accurately the machining tool and holds it against the work surface despite large disturbance...
This paper presents an analysis of large range rotational flexure (or compliant) joints which were used in precision 6-DOF (degrees-of-freedom) tripod robot. In traditional parallel robot, the friction in the passive joints is one of major hurdles to achieve the high precision motion and it is necessary that all of the revolute joints should be replaced by the compliant joints to get rid of backlash...
Students becoming physical therapists (PT) or occupational therapists (OT) cannot experience rehabilitation for actual patients' troubles before clinical training. For this reason we have developed the knee joint robot imitating patients' troubles such as range of motion trouble, contracture, rigidity, spasticity and so on. Therefore students can experience rehabilitation for patients' troubles virtually...
We studied the effects of Robotic-Assisted Locomotor (LOKOMAT) Training on neuromuscular properties and muscle strength of the spastic ankle in persons with incomplete Spinal Cord Injury (SCI). LOKOMAT training was performed 3 days/week during a 1-hr period including set-up time. The training was provided for 4 weeks and subjects were evaluated before and after 1, 2, and 4 weeks of training. A system...
An exoskeleton hand robotic training device is specially designed for persons after stroke to provide training on their impaired hand by using an exoskeleton robotic hand which is actively driven by their own muscle signals. It detects the stroke person's intention using his/her surface electromyography (EMG) signals from the hemiplegic side and assists in hand opening or hand closing functional tasks...
This paper presents a robot aimed to assist the shoulder movements of stroke patients during their rehabilitation process. This robot has the general form of an exoskeleton, but is characterized by an action principle on the patient no longer requiring a tedious and accurate alignment of the robot and patient's joints. It is constituted of a poly-articulated structure whose actuation is deported and...
This paper presents the power assistance system of working habiliment type for painting worker in ship-building. The painting worker carrying several tools such as spray gun, brush and roller should be stayed to do painting job in closed working space or inside internal wall of ship large block and in long time. Specially, the power habiliment system is realized by developing the mechanism and control...
To realize higher accuracy control for the robot finger position, the sliding mode variable structure Control (VSC) technique is selected. The state equations of a single finger joint are presented based on dynamic model. Sliding mode VSC scheme is also determined. The method of alleviation chattering is discussed. The more satisfactory results are obtained on position of the dual-thumbed hand.
Usually, the joint transmission friction model for robots is composed of a viscous friction force and of a constant dry friction force. However, according to the Coulomb law, the dry friction force depends linearly on the load driven by the transmission. It follows that this effect must be taken into account for robots working with large variation of the payload or inertial and gravity forces, and...
The CMAC-based algorithm of critics & strategists is proposed in this article for application on robot tracking control. This tracking controller comprises position tracking controller and angle tracking controller, whose outputs are line rotation speed control value and angle control value respectively. Both of them include in two CMAC controllers dealing with online weight value adjustment through...
Robots play a major role in flexible manufacturing system (FMS) and the performance measure of a robot is one of the critical issues in the design of robotic work cells. Performance measure and selection of robot for an application is usually done based on experience, intuition and at most using the kinematic considerations like workspace, manipulability, etc. This problem has become more cumbersome...
We developed three interfaces to allow non-expert users to teach name for new visual objects and compare them through user's studies in term of learning efficiency.
The authors are developing a knee joint robot as an educational tool for students becoming physical therapist (PT) or occupational therapist (OT). The robot can simulate some problems of a knee joint, such as range of motion trouble, contracture, rigidity, spasticity and so on. The robot has a knee joint mechanism to realize not only flexion/extension movement but also inner/outer rotation movement,...
A digital integrated development platform, which is based on Pro/E, ADAMS, ANSYS and Matlab, is introduced in this paper. A type of 6-DOF industrial robot for laser cutting is developed on this platform. In the virtual environment, the development efficiency is improved, as well as the reliability of the robot. The 3D parametric model of the laser cutting robot is firstly built by using Pro/E. Through...
This paper introduces an approach that reduces the size of the state and maximizes the sparsity of the information matrix in exactly sparse delayed-state SLAM. We propose constant time procedures to measure the distance between a given pair of poses, the mutual information gain for a given candidate link, and the joint marginals required for both measures. Using these measures, we can readily identify...
Based on system simulation technology of MATLAB/Simulink, this article establishes the system mathematical model by applying the mechanism modeling method; designs and implements the real time simulation system for inverted pendulum servo-control system. The 2-DOF planar robot based inverted pendulum system is a multivariable, nonlinear and unstable actual controlled plant, which has been put in the...
Modern robotic systems perform elaborate tasks in a complicated environment and have close interactions with humans. Therefore fault detection and isolation (FDI) systems must be carefully designed and implemented on robots in order to guarantee safe and reliable operations. In addition, many high performance robotic controllers require full state feedback; hence it is essential to implement state...
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