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In this paper, a redundantly actuated chewing robot with two higher kinematic pairs (HKPs) is presented, which can be used in performance test and evaluation of denture material. The robot has six actuators, but only has four degrees of freedom, due to constraints of two HKPs which mimic two temporomandibular joints (TMJs) of human. Quasi-static force analysis in occlusion status is performed to calculate...
Optimization of anti-windup controller design is achieved for non-linear systems with actuator saturation. The systems are represented as Euler-Lagrange systems, and the proportional and integral (PI) controller, in which the gravity term is cancelled by a non-linear compensation technique, is used. The goal of optimization is to minimize the saturated input, i.e., the difference between the control...
The design employs direct drive torque motor to achieve a robot single joint with active compliance based on the impedance model. In order to maximize the torque density, transmission transparency and backdrivability, the joint employs a quasi-direct actuator that a single-stage planetary gear is mounted on the motor's rotor. When robot interacts with environments, it's inevitable to change the stiffness...
This paper focuses on the control system design for a wearable power assist device which provides force/torque support for people who are doing physically demanding tasks. The device is actuated by the McKibben artificial muscle. The McKibben actuator is know to exhibit high nonlinearity between the supply pressure and the contractile length, and it is basically difficult to design a high performance...
This paper describes the construction and control of SMA (Shape Memory Alloy) actuator. The segmented actuator construction is proposed. The advantages of special binary coded control are described. The segmented actuator with only one power source required and simple digital control is proposed. The experimental setup is built up and the test measurements are made. The static and dynamic characteristics...
We developed a violin playing robot that consists of a bow mechanism and a string shifting mechanism and operates by sound feedback control. The bow mechanism was developed as a 2-degree-of-freedom moving mechanism that can independently adjust bow speed and bow pressure. The string shifting mechanism was also developed as a rigid mechanism that can withstand the high speed motion of the bowing mechanism...
A novel set of feedback gain selection conditions pertaining to the swing-up control of the Acrobot using collocated partial feedback linearisation is derived and presented in this research. This set of conditions, collectively known as the gain selection criterion, highlights a region of possible feedback gain combinations, known as the region of appropriate gains (RAG), that will guarantee the unstable...
Optimization of dynamic anti-windup is achieved for non-linear planner robot systems with actuator saturation. The static anti-windup scheme is expanded to a dynamic scheme based on passivity. The systems are represented as Euler-Lagrange systems without the gravity term, and the proportional and integral (PI) controller is used. The goal of optimization is to minimize the saturated input, i.e., the...
In this study, the trajectory tracking control problem of a 2 degrees of freedom robotic orthosis for the lower limb rehabilitation is discussed. The robotic orthosis is actuated by a pair of self-made pneumatic artificial muscles (PAMs) in an antagonistic configuration. A second order plus dead time (SOPDT) linear model is chosen for describing the antagonistic actuator behavior. In order to enhance...
Sorting is one of the important tasks in production line and it has an appreciable effect to the homogeneous of products. Using vision system to increase productivity in automatic sorting system has attracted many researchers. In this paper, a vision sorting system based on computer that can identify the position and properties of fruits has been recommended. The sorting system uses the high resolution...
Simultaneous control of many MEMS microrobots through a common, global, control signal is one of the grand unsolved challenges of microrobotics. At present, most mobile, aqueous, or aerial microrobots, are actuated and maneuvered using global externally supplied fields. The differentiation of the microrobot motion within a larger swarm is achieved through differences in their design that lead to different...
In this paper, we present the design, fabrication and the function of a soft actuator embedded with Low-Melting-Point Alloy (LMPA). By melting the metal via joule heating, the phase of the metal transformed from the solid state to the liquid state, by which the stiffness of the actuator changed over nearly an order of magnitude. Through a reheating-recrystallizing circle, the actuator can self-healing...
A series elastic actuator (SEA) consists of an actuator in series with a compliant element. By measuring and controlling the displacement of the compliant element, an SEA provides better forward and inverse force control accuracy than traditional stiff actuators. SEAs are suitable for robots that need interact properly with human or environment. Most SEAs use brushless DC motors as the actuators....
We describe the concept and first prototype of a novel mechatronic design of a robotic gripper, which aims at being mounted on a humanoid robot to achieve firm (i.e. locked) and robust grasps. Such grasps could ideally support complex multi-contact motions, such as ladder climbing, or manipulation of complex tools, with energy efficiency. For this purpose, we propose a solution by designing a smart...
In this paper, we present the control of and experimentation on an active dual-mode twisted string actuation mechanism for automatic transmission. This mechanism has a two-stage transmission ratio and is implemented by changing the twisted radius of the string in each mode (force mode or speed mode). Control algorithms for implementing different transmission ratios are proposed and experimentally...
The use of rehabilitation exoskeleton has become an important means for the treatment of stroke patients. A hybrid exoskeleton named EFW Exo II is developed for the motor function rehabilitation of elbow, forearm and wrist. The EFW Exo II is based on a parallel 2-URR/RRS mechanism and a serial R mechanism. It could fit both left and right arms for the symmetrical and open structure, and the distance...
This paper presents two mechanisms to enable jumping microrobots. These small jumpers must store considerable mechanical energy and quickly release it. The first mechanism presented is a mechanical gain stage capable of amplifying the force generated by a standard inchworm motor by at least 10 times. This mechanism could be used with any style of inchworm motor. Secondly, a latching mechanism was...
The ability of robotic rehabilitation devices to support paralysed end-users is ultimately limited by the degree to which human-machine-interaction is designed to be effective and efficient in translating user intention into robotic action. Specifically, we evaluate the novel possibility of binocular eye-tracking technology to detect voluntary winks from involuntary blink commands, to establish winks...
This paper presents the design, mathematical model, and evaluation of a novel variant of a variable stiffness actuator. The actuator combines a cam and a variable lever mechanism. The lever length changes through the rotation of the follower and results in the change of the mechanism stiffness. The design of the actuator results in a nearly linear torque-deflection characteristic, earning it its name:...
This paper presents design of a novel modular lower-limb gait exoskeleton built within the FP7 BioMot project. Exoskeleton employs a variable stiffness actuator in all 6 joints, a directional-flexibility structure and a novel physical humanrobot interfacing, which allows it to deliver the required output while minimally constraining user's gait by providing passive degrees of freedom. Due to modularity,...
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