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Ball nose milling is most commonly used in computer-controlled sculpture surface machining using computer numerical control (CNC) machines. Tool condition monitoring (TCM) for the ball nose milling by CNC machines will significantly improve machining efficiency, minimize inaccuracy, minimize machine down time, and maximize tool life utilization. Central to TCM is tool wear monitoring, and wear monitoring...
This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer based friction identification methods based to account for forces that arise due to Coriolis, gravity, stiction and viscous friction. With the effective compensation of these forces,...
This paper presents a center of mass (CoM) estimation technique that uses the statically equivalent serial chain (SESC). A SESC is a representation of any multilink branched chain whose end-effector locates the CoM. Locating the CoM is useful for modeling humans and humanoid robots. The method starts with an experimental phase involving a force plate and a motion capture system (MoCap) to construct...
We introduce and evaluate contact-based techniques to estimate tactile properties and detect manipulation events using a biomimetic tactile sensor. In particular, we estimate finger forces, and detect and classify slip events. In addition, we present a grip force controller that uses the estimation results to gently pick up objects of various weights and texture. The estimation techniques and the...
A simulation for torque estimation during a sit-to-stand movement was developed on the aim of actuator selection on the development of an exoskeleton for the lower limb rehabilitation of hemiplegic patients. The results by simulation on a virtual environment are presented. A comparison between simulation results and experiments with real subjects performed by 4 authors are presented. Differences between...
A process for one to adapt to a new environment has been considered as a combination of multiple update systems where each of them has a different time constant. We define the fast system as the adaptive system to minimize error and the slow system as the meta-adaptation that modulates the meta-parameters that might influence the property of the adaptation. Specifically, we considered that a shape...
Muscle fatigue causes numerous injuries among workers in industries involving mechanical labour each year. This study explores a new feature based on energy of detail wavelet coefficient for muscle fatigue detection in the upper limb. The muscle fatigue data was generated after isometric muscle action. 7 subjects underwent 3 trails each using 3 channels corresponding to Biceps Brachii, Extensor Digitorum...
In this paper, position control of a robot's end effector, by proposing an estimation mechanism for the interaction force between robotic tools and a soft tissue is presented. The proposed approach is using an adaptive strategy to provide the estimated force for achieving convergence of position and velocity tracking errors to zero. Moreover, the global stability of the closed loop system, using a...
This paper reports a method to estimate the interaction forces between the surgical robot instrument and the organ tissues. A previous estimation method uses the kinematical relationship of the surgical robot instrument to estimate the interaction force at the distant tip. It is experimentally found that there is non-ignorable estimation error due to some torque loss and the friction forces inside...
Node location information in wireless networks can be of a great virtue to many applications. Some require absolutelocation information, which may considerably increase the cost and complexity of the node design and operation, while others can suffice with relative location estimation. In order to achieve acceptance localization accuracy, most existing techniques either require additional costly ranging...
In radiation contaminated area sensors have high risk of malfunction, and human cannot work in this area. Therefore, master and slave system without sensors is needed. In this paper, the reaction force estimation for hydraulic system is evaluated. Previously, estimation of reaction force using sliding perturbation observer has been applied to electric motor system. However, hydraulic system has different...
Increasing patient participation during therapeutic exercises is a key issue to design a neuro-rehabilitation strategy. In this paper, we show our on-going efforts to quantify how much effort is performing the patient during robotic therapy. We propose an methodology for online estimation of the patient participation during one session of ankle therapy using the Anklebot. As a valid measurement of...
Human's skeletal muscles have sensory systems. Human-machine interfaces that consider muscle effort should improve the usability and manipulability of daily products. This paper presents an interface design method that considers muscle effort and illustrates possible applications. A three-dimensional musculoskeletal model is developed based on the upper extremity model with 29 muscles and 16 joints...
Humans can perceive the hardness of an object from the damped natural vibration produced by tapping its surface. This damped natural vibration can be used in hap tic rendering to effectively present a sense of the hardness of an object. Although its frequency is known to influence the subjective hardness, the effects of the viscosity or decay rate have yet to be studied. We researched the contributions...
Measuring the shear deformation of a finger pad during active hap tic exploration of materials is important for analysis of textural sensations and development of tactile texture displays. Thus far, there has been no general methods to measure such deformations for active touch. To create a sensor system, we have been developing a new method for estimating the deformation of a finger pad based on...
Due to some limitations of mechanical solution for automation of front end loaders, specifically self-leveling task, we investigate here the sensor-based solution. We present a model of front end loaders and the comparison of different controllers to realize this task. The best performance is observed from the controller comprising linear terms, compensation of input nonlinearity known as dead zone,...
Haptic devices are receiving a lot of attention, especially in robotics and medical field. Position and force of actuators are needed to communicate the haptic information. This paper aims to realize sensorless estimation of position and force of solenoid actuators for haptic devices. The simultaneous estimation of position and force is conducted by applying DC and superposed AC voltage to the solenoid...
The purpose of this study is to establish a quantitative method that can evaluate the motor function of human lower limbs in dynamic situations. As an index of motor function, we focus on the mechanical impedance characteristics of the lower limbs. By controlling these characteristics, humans can improve motion stability and adapt their movement to disturbances in the environment. In this paper, we...
This paper proposes a novel Cosserat rod model based method to estimate contact forces based on the shape analysis of the catheter. We simplify the original Cosserat rod model to achieve real-time estimation of the force magnitude and directions applied to the catheter tip. The simplified model contains a set of arithmetic equations, which can be rapidly solved using an iterative optimization algorithm...
For satellite servicing, it is necessary to remove a patch of multi-layer insulation (MLI) that covers the access panel. We consider the case where this patch is secured by tape and desire to use ground-based teleoperation to carefully cut the tape on three sides of the patch. Communication delays of several seconds motivate the development of an online method to enable failure detection by the remote...
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