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The use of robotics for laparoscopic surgery has been an established field for over a decade. However, with the influx of advanced tools and algorithms for general purpose robotics, there is a need to incorporate these advancements into medical robotics technology. The daVinci Research Kit and its software framework provides a step towards these advancements. This paper presents the development of...
In this paper, the high voltage between the insulation design and simulation of mechanical arm was studied, and analysis of the mechanical arm torque, speed and angular acceleration of each joint, etc. Simulation model is established by using solidworks. Simulation model is imported to ansys, the finite element analysis on the composition of the material, mechanical arm calculation to improve the...
The high degree-of-freedom robot arms need the end-effector's assembly force information for precision and accuracy works. But attaching a force sensor on the end-effector of robot is difficult because of cost, weight and structural problems. In this paper, we will apply SMCSPO(Sliding Mode Control with Sliding Perturbation Observer) robust control algorithm to a 7 degree-of-freedom robot arm to estimate...
Continuing our previous work on developing comprehensive haptic feedback mechanisms for touchscreen based devices, this research elaborates how it is possible to incorporate the stick-slip phenomenon onto a mobile touchscreen to provide kinesthetic feedback for multimodal user interaction. Research has already proven that kinesthetic feedback is greatly beneficial in a wide range of activities, especially...
This paper described newly developed haptic mechanism of tendon-based replica-type master controller for underwater manipulator operation. It provides a mechanism for connecting the mechanical part and actuator to elastic component for measuring the force from the user input. A prototype was developed to the force measurement and reaction force control tests and the results were analyzed.
Recent years, image diagnosis of non-reliability has been rapidly developed, some of which it is possible to acquire the image of the time series. It is necessary to fix by, for example subjects or the shooting object is gripped by the MRI internally, within the MRI gantry is unable to use the common actuator for the strong magnetic field. In this study, the pneumatic bending actuator manipulator...
Basically Biped robots had to walk like human, to generate this system we use basic approach for analysis human walking behavior. Human walking behavior can be analyzed using Zero Moment Point (ZMP). Zero Moment Point (ZMP) is a zero point which total of gravity forces and horizontal inertia equal 0 (Zero). This paper describes about early step to made basic walking trajectory for FLoW robot. To determine...
In this paper, a novel, motorized, multi-degrees-of-freedom (DoF), microsurgical forceps tool is presented, which is based on a master-slave teleoperation architecture. The slave device is a 7-DoF manipulator with: (i) 6-DoF positioning and orientation, (ii) 1 open/close gripper DoF; and (iii) an integrated force/torque sensor for tissue grip-force measurement. The master device is a 7-DoF haptic...
Robot technology is increasingly widely applied in medical field for rehabilitation, especially for the paralysis of stroke patients. In this paper, a new design concept of upper limb rehabilitation robot has been developed. The model is expected to perform three degrees of freedom that is rotation in horizontal and vertical planes. This system is of advantages in terms of light weight, dexterity...
This work was to develop a switch control approach for operating constrained mechanisms such as screwing valves or opening doors by using a rescuing mobile manipulator. The main concern is the prevention of generation of large internal forces attributed to location errors or imprecise parameter identification. Unlike conventional active or passive control methods, the proposed concept employs the...
The bilateral teleoperation with force feedback has been widely used. Besides the stability and transparency of the teleoperation system, the facility of teleoperation can be achieved when the virtual fixture is adopted. This paper presents an online generation approach of the virtual fixture for bilateral teleoperation based on recognition of operation intention. The operation intention is recognized...
The rescue mission of nuclear plant is both complex and dangerous, there is an urgent need to enhance the dexterity of rescuing manipulator to realize the automatic tool replacement for executing different tasks. A compliant exchanger for rescuing manipulator in nuclear plant is manufactured. The exchanger adopts a new double universal joint docking method, which can realize the compliant docking...
There are traditionally two control modes for teleoperation with force feedback. The position control mode is usually adopted in bilateral teleoperation, while the rate control mode is suit for the master device whose workspace is limited. This paper presents a novel fixed point control mode, where the location of the slave manipulator is independent of the motion of the master device. In this mode,...
In this paper, a teleoperation approach is developed for TouchX device using wave variable technique. The control system employs the 6-DOF (degrees of freedom) Geomagic® TouchX as a master device, and a 2-DOF simulated robot manipulator as slave. The master device provides user haptic feedback such that the bilateral opreation can be achieved for the teleoperation system. To avoid singularity pose...
In the article the whole process of a manipulator controller development is presented. The controller is designed for the execution of various benchmark tasks in the field of service robotics. Initially, a set of system behaviors is presented as the base of the universal controller structure. For that purpose the embodied agent theory and the System Modeling Language are utilized. The execution and...
It is a common practice to take advantage of redundancy in a manipulator to avoid obstacles while the end-effector is conducting a task-constrained motion, such as compliant motion for assembly. However, existing approaches rely on increasing the distance between the obstacles and the robot arm to avoid obstacles, which may result in a conflict between task motion and obstacle avoidance, i.e., when...
To determine a force-closure grasp, current grasp synthesis algorithms either assume a deterministic model to compute a desired finger placement without noise, or model the end-effector position as a free-floating rigid body whose noise in pose is independent of the kinematic chain formed by the robot arm. In this work we instead explore a probabilistic approach that explicitly models noise in joint-angles...
Flexible or continuum robot arms have been studied for the past two decades and these robots are recently emerging in many applications such as surgery, rehabilitation, industry, among many others. For safe operation especially in the surgical areas, active compliance controls such as force or impedance controls for the flexible manipulators are required. Due to several restrictions such as small...
This paper presents the development of an arm rehabilitation robot for patients who suffer from muscular dystrophies, stroke, or other disabilities of their arms. The arm rehabilitation robot focused is two-link single-joint manipulator. An impedance control scheme is implemented to organize interaction between the robot and the patient. A free regressor adaptive controller is designed to track the...
This paper presents a multi-level speed planning based capturing strategy. A kind of widely used simultaneous three-fingered end-effectors is selected to conduct the capturing strategy research. The mechanical characteristics of the end-effector and the grapple process are analyzed first, followed by the dynamic model of the system. The capturing speed is planned with the information from the positional...
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