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In this paper, a knee rehabilitation robot will be developed and controlled. The structure of the system containing the robot and some parts of patient body will be described and modeled using Newton-Euler approach. Two controllers containing Admittance and Sliding-Backstepping are composed to control the system. In this hybrid control scheme, the Sliding-Backstepping controller is considered to track...
Traditional mechanical systems (e.g. rigid mechanisms which use links, gears, chains, etc.) have restricted resolution and repeatability due to certain properties like friction and backlash. A mechanism is a mechanical system which provides relative displacement between rigid links by using certain joints. Commonly available joints are rolling, sliding, pin, hinges, liquid joints etc. These types...
This paper presents the analytical controllable workspace boundaries of a crane-type cable-based robot with purely translational motions. The underconstrained cable robot is composed of eight cables which support the weight of a mobile platform, restricting its motions into the vertical plane of a static platform. The analytic equations are developed so that its workspace fulfills the tensionable...
In this paper, we investigate output feedback based control strategy for bilateral shared autonomous system with delay. The proposed design has two parts. In first part, we design state feedback based shared input interface provided that all the states are available for feedback. In second part, we replace the unknown velocity signals by using observer to develop output feedback based shared input...
In this paper, we introduce a systematic process of design, simulation and experimental validation of a manipulator based on the honeycomb pneumatic network (HPN) structure. The HPN structure shows potential in achieving balance between flexibility and load bearing capacity, which overcomes the shortcoming of pneumatic networks in strength. To reach the best performance of both features above, we...
This paper intends to design a system which acquires the trainer's motion and force information in order to manipulate a robot arm applied for rehabilitations. Patients who suffering physical disability also can receive the professorial guiding and cheirapsis even excellent trainers are very busy and insufficient. The key point of this article is data acquisition and reconstruction of the movement...
This paper presents the design of a fuzzy logic controller for a non-linear tele-robotic system where the slave's environment is unknown. First, the non-linear tele-robotic system is approximated by a class of Takagi-Sugeno (TS) fuzzy models. A fuzzy control law is then adopted to stabilize the tele-robotic system. Further, the selected control law allows deriving the design conditions for determining...
This study considers a robotic pitching task with the goal of implementing dynamic manipulation. The strategy used to control the pitching direction of the ball is based on human pitching action, and involves rolling the fingers on the ball at release. The effect of varying the time of release in the pitching direction is analyzed based on ball dynamics. Experiments to test the proposed method featured...
This research study here deals with the Stochastic Petri-Nets (SPNs) modeling of an interacting task (getting up from a sitting position) in a human-machine interaction model. The machine is an Intelligent Robotic Wheelchair (IRW) appropriately modified to provide assistance to a human user, who utilizes the IRW. SPNs are recognized as useful modeling tools for analyzing the reliability and performance...
In this paper, we try to draw attention to a particular type of force that has been somehow overlooked in the control of mechanical manipulators: gyroscopic force. At first, we broaden our understanding of gyroscopic effect intrinsic in mechanical systems by reformulating the Euler-Lagrange (EL) equation in terms of a gyroscopic part and the non-gyroscopic ones (or Rayleigh type). Then, we propose...
With the rapid development of robotics, dual-arm robots have been more and more widely used. Compared with the traditional single manipulator, it is very challenging for a dual-arm robot in modelling, planning and control. In this paper, we propose two compliance control methods for dual arm coordination to meet different requirements of fine manipulation tasks, such as payload carrying, assembly...
This work investigates the applicability of stiffness-based modelling in soft robotics manipulation. The methodology is introduced and applied to model a soft robotics manipulator as single 3d Timoshenko beam element. The model is then utilized to solve the forward kinematics problem for the manipulator. The algorithm is validated comparing the simulated deflection with the deflection of the physical...
In this study, we propose a novel iterative learning scheme, which generates time-series data comprising the impedance value for human-robot cooperative work, where the human operator moves the end-effector from an initial position to a goal position. The proposed learning scheme iteratively updates time-series data comprising the variable impedance value to minimize a task-oriented cost function...
Single port surgery is an innovative approach in the field of minimally invasive surgery. Although several telemanipulators exist to perform operations through only a single incision they all suffer from the lack of haptic feedback. To generate kinesthetic feedback the intracorporeal forces need to be measured, which is a challenging task. To overcome these limitations we investigate in this paper...
This paper proposes a robotics therapeutic massage evaluation system using electroencephalogram (EEG) signal analysis approach. An anthropomorphic dual arm robot is developed in this work for massage application. Compare to other massage systems, our dual arm robot can provides diversified massage techniques through the impedance control of both Cartesian space and joint space. In order to evaluate...
Aggregation of self-reconfigurable robotic modules can potentially offer many advantages for robotic locomotion and manipulation. The resulting system could be more reliable and fault-tolerant and provide the necessary flexibility for new tasks and environments. However, self-aggregation of modules is a challenging task, especially when the alignment of the docking parties in a 3D environment involves...
An octopus arm has no rigid structure, it is mostly composed of muscles aligned in various directions and the nerves. The muscles are roughly aligned in three directions, and by driving the muscles selectively, the octopus arm can perform multiple functions such as the contracting, bending, torsion and stiffness alteration. This study aims at the development of a new flexible robotic arm using thin...
We propose a new class of robotic device for minimally-invasive surgery that lies at the intersection of continuum, parallel, and reconfigurable robotics. This Continuum Reconfigurable Incisionless Surgical Parallel (CRISP) paradigm involves the use of multiple needle-diameter devices inserted through the skin and assembled into parallel structures inside the body. The parallel structure can be reconfigured...
In this paper we propose a novel control approach for robots that are physically coupled with humans, such as exoskeletons and assisting devices. In contrast with the conventional controllers, where assistance is usually provided indifferently of the configuration of the arm and direction of the motion, we propose a control method that compensates the anisotropic property of the manipulability related...
This paper presents a multilink-articulated robot with omni and hemispherical wheels (AIRo-II) for inspecting and exploring winding pipes. To quickly adapt to winding pipes, holonomic rolling movement without moving forward and backward is more useful. However, this requires the replacement of driving actuators with rolling actuators at the expense of the driving force. In this paper, we investigate...
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