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In this work an interface based on inertial sensors with applications for unilateral master - slave robotic teleoperation is developed. In such tasks the interface with which the user interacts plays a key role. In general the interface should be comfortable and to allow free user motion. The interface here proposed is composed of two portable inertial sensor units which are placed on the upper and...
Singularity is a fundamental problem with robot manipulators, and limits its capability to complete its task. In this paper, a “singularity separation plus exponential damped reciprocal” method is presented and its implementation issues is discussed. The singularity factor is separated from the inverse Jacobian matrix, and modified with the exponential damped reciprocal. Therefore, it doesn't require...
As a stage toward a complete upper-arm motion assisted exoskeleton robot (i.e., 7DOF) this paper focused on the development of a 2DOF exoskeleton robot to rehabilitate and to ease wrist joint movements. To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and proper functioning of the upper-limb is essential. We therefore have been developing an exoskeleton...
To assist a large number of physically disabled people who no longer are in full possession of their body motion, we have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion since movement of shoulder, elbow, and wrist play a vital role in the performance of essential daily activities. The proposed ExoRob will be comprised of seven degrees of freedom to enable...
A 7-function underwater manipulator which is teleoperated by master-slave type is systemically developed. It is mainly comprised of master controller, connection box, slave arm, pressure compensator, valve pack and hydraulic power unit. The slave arm is operated by the master arm, which is fixed on the master controller used to operate, configure, and diagnose the manipulator system and is a miniature...
Introduction of successful telerehabilitation into the variety of techniques that are available to the therapist will forever change the field of rehabilitation. Accurate perception of the remote environment's mechanical properties and of stiffness in particular is extremely important for successful telerehabilitation. In the current study we present the framework for exploring perception of delayed...
The pose of a rigid-body in 3-D space is described by a set of six independent variables, being three for position and three for orientation. In pose control tasks it is useful to define a pose error representing the deviation between the desired and actual pose of the body. Nevertheless, due to the peculiar properties of the orientation manifold, the orientation error is not well defined as a vector...
In order to perform activities of daily living (ADL), a person with an amputation(s) must use a greater than normal range of movement from other anatomical body joints to compensate for the loss of movement caused by the amputation, this is called compensatory motion. By studying the compensatory motion of prosthetic users the mechanics of how they adapt to the loss of range of motion in a given limb...
In this paper the trajectory tracking control of the arm rehabilitation robot for stroke patients is investigated by an interactive robust control approach. The functions of patients' voluntary joint torques are designed depending on the motion ability of their arms, and the dynamic model of the human-robot system is presented. Based on the dynamic model, an interactive controller is designed to provide...
One of the main problems of robot manipulations by using bio-signal interface is discontinuous position control. This discontinuity causes undesirable effects on users such as lack of accuracy and an overall degraded performance. This paper presents the control strategy for the continuous position control of 1 DOF manipulator using electromyography (EMG) signals. We designed the control system which...
This paper describes a robot with a structure that imitates that of humans. For a robot that functions in humanspsila daily life, it is important to consider imitating humans in the characteristics of structure and human safety. The robot with a wrist joint that comprises a spherical joint is developed considering structural features of a humanpsilas wrist joint. Furthermore, this robot is actuated...
This paper describes motion control and planning for the standing and sitting motions of an inverted pendulum-type assist robot, I-PENTAR. Whole-body motion based on redundant control that takes positional control of a composite center of gravity(CCoG) and a wrist roller as goal tasks is adopted. Using the motion control, motion planning of the robot can be described intuitively and in a simple manner...
In order to achieve as skillful handling as a human hand, it is necessary that a hand has the capability to manipulate tools. One important problem in tool handling with a multifingered hand is that the relative positions between the robot hand, the tool and the handled object change during the handling. For this reason, it is necessary to measure these relative positions in realtime, and to control...
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