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This paper proposes a hybrid force/position controller for industrial robotic manipulator based on Kalman filter. Firstly, the mathematical model of real contact force is built to estimate the actual contact force by applying Kalman filter using a force derivative to achieve the system state description. The estimated actual contact force is used to control the end-effector force as well as estimating...
According to the world health organization survey, the number of patients died of disease of heart head blood-vessel per year up to 15 million, a serious threat to human health. Vascular Interventional Surgery (VIS) has been an effective method for treatment of vascular diseases. However, the surgeons are exposed to X-ray threatening the surgeons' health due to the depositing which lasts long. It...
A novel underactuated manipulator possessing high self-adaptation ability is designed. The manipulator is highly underactuated as it contains several cable-bar units controlled by a single motor through a cable. The transfer matrix which reveals the correlation among cable tension force, joint frictional torques and grasping force is established by using vector mechanics and the principle of virtual...
Neurological intervention surgery (NIS) is surgery branch vascular interventional surgery, one kind of the minimally invasive. And it has become the mainstream of the treatment in the cerebrovascular disease. Robotic surgery system with the functions of haptic feedback and the doctor-patient separation has enormous significance for the development of NIS. However, in previous studies, the haptic feedback...
Robotically assisted catheterization has attracted significant interest in recent years. However, few designs have taken the reasonable control of the clamping force into consideration. Additionally, limited research has been conducted in the damage of the clamping mechanism to the catheter. This paper presents a novel clamping mechanism for a slave manipulator that can be used in the minimally invasive...
To research the influence of mechanical mechanism emerging in interaction manipulation aimed to quantitatively analyze and design force sensor on nonconductive micro object used to construct non-conductive device, mechanical theory modeling of micro glass sphere acting on the substrate was primarily established according to assumption conditions. On the basis of further analysis of interaction model,...
Minimally invasive intervention for treating cardiac arrhythmia involves ablating sources causing chaotic electrical signals in the atria. In order to perform tissue ablation, flexible catheters are steered through the vasculature from the insertion point in the groin area to the atrium. The outcome of this procedure depends on a number of factors, among which is the correct placement of the catheter...
This paper investigates the less-studied problem of failing/yielding an object purposefully by a robotic hand. A grasp synthesis capable of using the whole limb surface of the robotic hand is designed based on internal force decomposition. The introduced approach is based on quasistatic assumption and optimization of active internal forces in order to counterbalance the formulated task wrench/load...
A parallel mechanism has advantages such as high stiffness, low inertia and compact in size. It is a desired mechanical structure to be used as the mini manipulator in a macro-mini manipulator system. In this paper, a 3-DOF parallel mechanism is presented. The end-effector module will serve as the mini manipulator in a macro-mini system for in-contact industrial finishing applications such as polishing...
Flexible new micro/nanomanipulation tools are required to intuitively perform micro/nano operations without the need for expensive, bespoke tools. In this paper, the design and analysis of a dexterous 4 degree of freedom (DOF) hybrid serial-parallel micro/nanomanipulator is presented. The manipulator is controlled through a haptic device, enabling a trained user to control the system's motion, and...
Next generation robot applications are expected to leave the field of complex tasks in simple environments and move on to simple and complex tasks in complex environments. In our opinion, tactile feedback is a key technology for motion planning in such unstructured environments as visual information may be insufficient or even unavailable. In this paper, we show the performance of a tactile feedback...
Micro-manipulation and micro-assembly techniques play today a key role in the development of new integrated smart systems that can find applications in strategic fields such as transport, telecommunication, health and defense. However, the existing micro-handling solutions lack of speed, flexibility and autonomy which represents an obstacle to the development of these technologies. Our approach consist...
Automating surgical subtasks such as suturing, cutting, and debridement can reduce surgeon fatigue and procedure time and also facilitate tele-surgery. Especially, suturing is ubiquitous subtask in surgery. To achieve fully autonomous suturing with surgical robot is challenging due to deformation of human tissue. However, certain level of autonomy in robotic surgery could not only free the surgeon...
It has long been a challenge to control the end-effector trajectory of mechanical manipulators using only taskspace parameterization. While there exist some taskspace control strategies (such as the potential energy shaping) that guarantee the convergence of the end-effector to the target point without any inverse transformations, how to make the end-effector follow a desired path during the intermediate...
In this paper, an assistive robotic device that integrates the consideration of human motion and algorithm of multi-axial control using a dual twisted-string actuation was designed and fabricated. To derive arm trajectories, subjects with different heights were recruited to identify the impacts to arm motions with various physical conditions. In addition to the identification of arm movements, an...
In this paper a novel inspection robot mechanism, which has excellent climbing performance and makes up for the defect of existing robots with poor climbing capability, is proposed for inspecting power transmission lines in some severe environments. After a brief introduction of background, the robot mechanism is described in particular, which is characterized by fore and rear assistant arms. Then...
This paper deals with identification of the contact conditions of a robot during tool use. This paper proposes a method for the identification of the contact conditions considering slide between the tool and the work object. The validity of the method is shown through simulation and experimental results.
This paper investigates the stability probabilities of terminal sliding mode control of the continuous manipulator systems with Markovian jumpings. The proposed sliding manifold is a nonsingular sliding mode, which can be reached in a finite time. Furthermore, we discuss the situation that the control force is not strong enough, and then propose the reaching probability and sliding probability. A...
This paper proposes a novel multi-articular leg system for biped robot. The structure and actuation scheme of the mechanism are inspired by redundantly-actuated manipulators, of which actuators span over multiple joints like bi-articular muscles. The proposed mechanism for robotic leg contributes to improved capacity in end-effector force exertion, which allows less performance requirements in individual...
Traditional rigid robotic hand manipulator has been used in many field nowadays due to its advantages of large gripping force and stable performance. However, this kind of rigid manipulator is not suitable for gripping fragile objects since it is motorized and force control can be a problem. It is also not suitable to grip object with different shapes since the manipulator is rigid and not compliant...
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