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The risk of collapse and subsidence of the abandoned lignite mines has been mentioned in Tokai region of Japan. The filling of the cavity is still being advanced. There is no cavity map in the abandoned lignite mines, and it is required to grasp and explore of the underground space in order to estimate the amount of the filling material. By a request from Mitake-cho in Gifu Prefecture, we got the...
Precise force control and position control is essential for many robotic applications. During unilateral or bilateral object handling remote applications, human operators apply excess forces on the actuators with the intention of better grip and it is possible to damage the handled objects. This paper proposes position control and force control techniques when human applies excess force. The controllers...
The inclusion of robots in therapy is becoming common due to robots' power, repetitive motion ability, reprogramming capacity and adaptability to new tasks. In recent years, the demand for rehabilitation services has increased due to the rising number of patients with disability. In this paper, we propose a solution to the rising demand for therapists' services by combining Learning from Demonstration...
The active mode rehabilitation robot is recently developed to help paralysis patients in improving their capability. The robot is usually completed with load and weighting mechanism. This paper presents an alternative weighting mechanism of active mode rehabilitation robot by using spiral spring as load source. PI controller is used to ensure the link reaching its last position by controlling the...
This study describes the design and realization of passive dynamic control for a manipulator. The control strategy is based on the idea that the shift in position and posture of an end effector attributable to an external force is regarded as the deformation of a robot. Control methods are constructed from the standard linear solid model, which describes the combination of plastic and elastic deformation...
For the purpose of enhancing compliance of robot joint, an impedance control strategy with new inner torque controller is proposed. Apparent inertia of the motor can be scaled down thanks to this new type of torque controller. Effects of different position (motor-side position θ and link-side position q) feedback strategies are explored through theoretical deviation, simulation and static stiffness...
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....
In daily life it is necessary to learn skills that can be applied in different tasks and different contexts. Usually these skills are acquired by observation or by direct physical training with another expert person. The critical point is to know which is the best possible way to achieve this knowledge acquisition. In this work we have proposed a collaborative environment where subjects with different...
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,...
The vehicle using omnidirectional wheels has ability to move in all directions without changing the body direction unlike a normal four wheel drive vehicle. However most of omnidirectional vehicle are designed for using only on flat ground. In this paper, we propose a new type of omnidirectional wheel, “Spiral Mecanum Wheel”, which enables vehicle climb the step. This new wheel consists of spiral...
In this paper we present the design of a one degree of freedom assistive platform to augment the strength of upper limbs. The core element is a variable stiffness actuator, closely reproducing the behavior of a pair of antagonistic muscles. The novelty introduced by this device is the analogy of its control parameters with those of the human muscle system, the threshold lengths. The analogy can be...
With advent of the capsule endoscope, tattooing to mark the position of the intestinal polyps becomes critical technique for successful removal of polyps. Therefore, we develop a micro tattooing mechanism activated by multiple conical springs which can be installed in a capsule endoscope. In order to insert the needle and inject ink, a conical spring is released by cutting a post with Ni-Cr wire....
Recently, studies on artificial muscles that are linearly driven like human muscles and move smoothly and flexibly have been attracting attention. In this study, AMSSB (artificial muscle based on SMA spring bundle) driven by hot water and cool water is presented and its performance evaluation results are presented. It showed applicable performance to a robot by showing a power density of 1 kW/kg and...
This paper proposes an improved design of the previously devised low-end robot system for comprehensive shoulder rehabilitation. It focuses on depicting the design of a variable damping mechanism. The low-end robot system consists of an actuation module and a passive shoulder joint tracking mechanism. Unlike conventional rehabilitation devices, this robot system tracks the gleno-humeral joint and...
In robotics, to ensure safe physical interactions between robots and environment for protecting actuators from being damaged by abrupt dynamics changes, compliance strategies are often preferred to be used to make their dynamic process to be more soft by following some natural features observed from humans. Mass-spring-damper (MSD) system is frequently encountered in many compliant robotics systems...
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...
We present the design, modeling, and implementation of a novel pneumatic actuator, the Pneumatic Reel Actuator (PRA). The PRA is highly extensible, lightweight, capable of operating in compression and tension, compliant, and inexpensive. An initial prototype of the PRA can reach extension ratios greater than 16:1, has a force-to-weight ratio over 28:1, reach speeds of 0.87 meters per second, and can...
The varied and complex dynamics of deformable terrain are significant impediments toward real-world viability of locomotive robotics, particularly for legged machines. We explore vertical jumping on granular media (GM) as a model task for legged locomotion on uncharacterized deformable terrain. By integrating (Gaussian process) GP-based regression and evaluation to estimate ground forcing as a function...
The twisted string actuator is an actuator that is gaining popularity in various engineering and robotics and applications. However, the fundamental limitation of actuators of this type is the uni-directional action, meaning that the actuator can contract but requires external power to return to its initial state. This paper proposes 2 novel passive extension mechanisms based on buckling effect to...
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