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An electronic skin (e-skin) is an artificial smart skin that can provide similar sense of touch to robots and artificial prostheses by mimicking some of the features of human skin. In this regard, tactile e-skin is needed for accurate haptic perception in robots, amputees, as well as, wearable electronics. For example, a flexible e-skin provided with touch/pressure sensors will allow robots to detect...
In this paper we introduce a robust multi-channel wearable sensor system for capturing user intent to control robotic hands. The interface is based on a fusion of inertial measurement and mechanomyography (MMG), which measures the vibrations of muscle fibres during motion. MMG is immune to issues such as sweat, skin impedance, and the need for a reference signal that is common to electromyography...
Traditional colonoscopy requires highly trained personnel to be performed. Additionally, current devices may cause discomfort and carry the risk of perforating the bowel wall. In this paper, a soft three modular section robot is designed, modeled, controlled and tested. Each of the robotic sections has three degrees of freedom, one translation and two rotations. The robot uses a peristaltic motion...
With the development of face recognition technology, it is already being applied in various fields such as security and robotics. However, products associated with face recognition systems are difficult to commercialize because of the absence of evaluation methods that reflect the actual service environment. The best way to evaluate face recognition performance is evaluation by real people or methods...
Interaction between wearable robot and the user may cause skin injury, especially the pressure ulcers due to sustained pressure at the connection site. In this study, relationship between pressure ulcer breakout time and applied pressure which is the major cause of pressure ulcer is modeled using human experimental data. The model is proposed to be used to limit the wearable robot use time depending...
This paper presents a simple and compact universal two-fingered hand with soft finger-tips with jamming effect. To grasp several kinds of object, high-DoF fingered hand, multi-gripper device etc. has been developed. We adopt jamming effect device for a finger-tip to fit various object shape. We develop a two-fingered hand with jamming effect device and test it to compare with rigid finger-tip hand.
In robotic radiosurgery for extra cranial cancers such as lung cancer, respiration tracking is necessary to maintain the treatment accuracy. This paper presents the design of a human chest motion simulator as a platform for respiration tracking validation. The simulator imitates the relationship between motion of human chest and lung caused by respiration. A mechanical design is proposed to meet the...
This study aims to develop a fingertip in order to improve the manipulation performance of posture interpolation control for a multifingered robot hand. Increasing the contact area between the fingertips and object is one solution for improving grasping and manipulation stability. A reasonable fingertip shape design and material selection can increase the contact area. In this paper, we compare an...
The virtual hand illusion is a body ownership illusion that occurs in a virtual environment. Previous studies reached different conclusions on the effect of realism of the controllable virtual hand model on the intensity of the perceived illusion. In our experiments, we compare participants' responses to virtual impacts and threats when using hand models with different levels of realism. Our findings...
In this paper, a human speaker tracking method on audio and video data is presented. It is applied to conversation tracking with a robot. Audiovisual data fusion is performed in a two-steps process. Detection is performed independently on each modality: face detection based on skin color on video data and sound source localization based on the time delay of arrival on audio data. The results of those...
The HOG method is applied in the detection of human bodies, specially when they are in a vertical position and in many backgrounds. HOG method was evaluated before in different applications such as pedestrian detection, video surveillance, search and rescue. However, when human bodies are in other positions, most of the time, body recognition algorithms present fails. The main idea presented in this...
One of the research areas within affective Computer Mediated Communication currently under investigation is that of mediated social touch. A social touch is a complex composition of different physical parameters that can be simulated by haptic technologies. In this article we argue why we think it makes sense to incorporate warmth — and in particular simulations of one's body heat — in mediated communication...
Rendering forces to the user is one of the main goals of haptic technology. While most force-feedback interfaces are robotic manipulators, attached to a fixed frame and designed to exert forces on the users while being moved, more recent haptic research introduced two novel important ideas. On one side, cutaneous stimulation aims at rendering haptic stimuli at the level of the skin, with a distributed,...
The design of finger pads for robotic and prosthetic hands is often overlooked, with relatively simple shapes and mechanical properties typically used. The finger pad geometry and mechanical properties are especially important for within-hand dexterous manipulation, and human finger usage patterns suggest extending robotic finger pad usage onto side surfaces could enable a wider range of manipulation...
Robotic systems, such as prosthetics and exoskeletons, offer people suffering from motor impairments a chance to regain lost physical functionality. However, the neural control that individuals are able to exert over these robots is currently limited. This is due to both lack of control authority in many degrees of freedom and insufficient sensory feedback through the human-robot interface. We propose...
Millions of physical disabilities, who have lost a hand or both hands, are in need of prosthetic hands not only for decoration but also for the functions to help them with basic daily activities. Although EMG prosthetic hands are being extensively studied to satisfy this need, most of them are too expensive to be economically available, difficult to operate and maintain by a user him/herself, or over...
In this paper, we present a new approach to automatically acquire the kinematic model of a robot equipped with a multi-modal, modular artificial skin. Here, we make use of the tri-axial accelerometer built into every cell of our artificial skin, along with a set of open loop test motions of the robot. With a circle point analysis we extract the relevant vectors to assemble a forward kinematic model...
Soft Pneumatic Actuator skin (SPA-skin) is a novel concept of ultra-thin (< 1 mm) sensor embedded actuators with distributed actuation points that could cover soft bodies. This highly customizable and flexible SPA-skin is ideal for providing proprioceptive sensing by covering pre-existing structures and robots bodies. Having few limitation of the surface quality, dynamics, or shape, these mechanical...
Analysis of physiological responses provides an objective measure of a person's affective state and has been proposed as a way to evaluate motivation and engagement of therapy clients during robot-assisted therapy regimens. This paper presents the analysis of three physiological responses to different levels of error amplification in a robotic reaching task to understand the feasibility of using physiological...
This paper approaches the issues of human-robot interaction in extreme human-robot interface situations, defined as those which provide a real physical intervention in a person's body by a robot. Robots that belong to this group perform tasks such as tattooing, collecting blood and doing surgery. Authors use a Lynxmotion AL5B mechanical arm controlled via Botboarduino named BOTicelli to make simple...
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