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The passive dynamic control (“PDC”) is a mechanical system control method based on an inherently safe design. It positively uses a passive element (braking effort) whose characteristics are variable. In this paper, the PDC is applied to a rotary pneumatic actuator. First, the rotary pneumatic actuator equipped with an electromagnetic brake and a sensor for applying the PDC is proposed, and its control...
A wearable elbow joint with three passive joints is proposed in this paper. The joint has an advantage of easy attachment to a human arm, without thorough adjustment when attached. This paper describes kinematics, statics and a prototype of the proposed joint, and then reports results of preliminary evaluation.
The purpose of this study is to develop the supporting system for standing up and sitting down of the elderly people. The feature of the supporting system is to assist the human motion for standing and sitting without any sensors attached to the people. First of all, we measured a human motion of standing by the force plate and a force sensor. As the result, we clarified the feature of a human standing...
Magnethoreological-fluid (MR-fluid) actuators are consider as as suitable instruments in rehabilitation trainings so that they are passive actuators. Passive actuators will not generate force by themselves. Only when external force acts on them, they generate reaction force. Considering these properties, passive actuators are stable actuators and appropriate for the human society because they would...
Recently, motion control technology is more and more developed. Robots are used not only in industry but also in human society. Hereafter, in order to extend the range of work and kinds of motion, it is needed to think about what human is. As is the case with voice recognition, for human-motion streaming of data also have important meaning. However, motion trajectory and force adjustment are different...
Many robots are designed so that the number of their actuators is as small as possible to decrease their weight. In many cases, the number of actuators in robots is smaller than that of muscles in animals. We propose the method to increase the dexterity of the robot without increase of actuators. The link made from shape memory gel (SMG) is deformed to be suitable for each task of the robot. The methods...
This paper presents a collision force suppression mechanism that is installed in the shoulder and elbow joints of a 5-DOF manipulator. The collision suppression mechanism consists of an air cushion bag, a transmission rack, a clutch gear and two compression springs. If the manipulator collides with an object or a human when the end-effector of the manipulator follows a target trajectory, the manipulator...
In this paper, a collaborative work between a human worker and an adult-sized humanoid robot (HUBO) is presented. Through the task, HUBO decided its movement just based on captured data from motion capture system (MoCap), which was equipped in provided working environment. Human co-workers did not provide any cues for determining a desired moving velocity or orientation. Whenever human workers changed...
Time-domain passivity approach (TDPA) is a way of stable haptic interaction and robot control, such that at any given time the passivity of the system is guaranteed. It is formulated in time-domain, which facilitates its integration in control loop. In this paper we discuss application of this approach to the teleoperation system, model of which assumes admittance mode - with input of effort (force)...
Today's advanced network management systems can automate many aspects of the tactical networking operations within a military domain. However, automation of joint and coalition tactical networking across multiple domains remains challenging. Due to potentially conflicting goals and priorities, human agreement is often required before implementation into the network operations. This is further complicated...
We present the study of the biomechanical properties of human renal cancer cells utilizing the magneto-optical tweezers. In this work, a novel magneto-optical tweezers were designed by integrating a pair of electromagnets with optical tweezer. The magneto-optical tweezers were utilized to manipulate nano-sized magnetic particles which being uptaken by specific cancer cells. The biomechanical behavior...
Functional modeling has been widely researched in the past decades and is considered to be effective in assisting concept design. However, construction of substantial design repository with abundant knowledge maintenance is still a problem. in this paper, we propose a model and approach for retrieve functional knowledge from existing products. First, we propose the functional knowledge retrieval model...
In earlier work, an optimal control model of human posture regulation that replicated significant features of experimental observations of humans' response to perturbations was presented. In that work the muscles were modeled as ideal torque generators and the performance measure was quartic in the states and quadratic in the controls. Here, a much more realistic model of muscles is utilized and performance...
This paper proposes a linear power assist unit to be simply designed by using an add-on end-effector and gives a controller design for the unit explicitly taking into consideration mechanical impedances of both a human operator and environment. The proposed end-effector transmits assisting force to the environment via a pair of assisting springs, and the displacement of the assisting springs is controlled...
The NATO Network-Enabled Capabilities concept (NNEC) enables NATO to maximize the sharing of information and services in a wide variety of missions, characterized by a a-priori uncertainty about the mission service requirements, partner composition and command and control structures. NNEC guidance and principles are well documented in the NNEC framework and the NNEC Body of Knowledge (BoK). Experience...
The body representation in the human mind is dynamic, and illusions or traumatic events can modify it to include additional limbs. This remarkable adaptability of the central nervous system to different body configurations opens new possibilities in the field of human augmentation. In order to fully exploit this potential, we developed a new type of wearable co-robot that can perform tasks in close...
This paper describes a novel human-sized robot hand that has the ability to adjust its joint stiffness and sense external forces. This robot hand consists of four fingers, each with three joints. To downsize the finger modules, the DIP and PIP joints are coupled with a linkage mechanism and actuated by a single motor. In addition, for the MP joint, two kinds of silicone rubber cushion, SRCtrans and...
In this paper, we propose a control scheme that allows a humanoid robot to perform a transportation task jointly with a human partner. From the study of how human dyads achieve such a task, we have developed a control law for physical interaction that unifies standalone and collaborative (leader and follower) modes for trajectory-based tasks. We present it in the case of a linear impedance controller...
This paper presents a novel control strategy for a grasping free form unknown objects. The strategy adapts online the grasping forces applied at each contact point based on a bio-inspired criterion that reflects the total change in the measured force at each contact point. Experimental results with a two-fingered gripper equipped with tactile array sensors are provided. It shows that the adaptation...
Proactive physical robotic assistance in the presence of human prediction uncertainty is a very challenging control problem. In this paper we propose a risk-sensitive optimal feedback controller for physical assistance that autonomously adapts the robot's behavior even during unknown situations. Using a probabilistic model to represent the cooperative task execution behavior and modeling the human...
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