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Overall reliability index is an indicator to manifest the health level of an infrastructure. The introduction of this index can facilitate the maintenance optimization. Railway infrastructure is complex containing a plenty of constituent units and various measurement data. This paper discusses a general approach to combine these various data. A real railway case is presented to demonstrate the development...
Functional Electrical Stimulation (FES) is a useful technique for restoring functions for patients with neurological disorders. Muscle activities can be artificially driven through delivery of electrical pulses to skeletal muscles. Typically, muscles are activated by using constant stimulation train with a fixed parameters (amplitude, frequency and pulse width). In addition, the FES systems do not...
This paper introduces the design, fabrication and experiment of a biomimetic jellyfish robot based on a soft and smart modular structure (SMS) to mimic the behavior of the alternating shrinkage and expansion of the real jellyfish. The SMS consisted of two layers including an actuating layer and a recovery layer. And to mimic the actinomorphic structure of the jellyfish, the jellyfish robot had six...
Laser scanning confocal fluorescent microscopy and the friction mode of Atomic Force Microscopy were adopted as metrologies of abrasive behaviors and removal force during polishing and cleaning processes As small as a diameter of 50nm silica particle can be individually detected and spatial distribution of particles in three dimensional space also clearly observed using the fluorescent microscopy...
This paper presents a low cost, easy to produce, small tactile sensor system, that can be embedded in a soft material and limited space. In the current implementation, we use a Hall-effect sensor and a magnet to measure the force. One sensor module can measure 3D force vector and temperature. This chip is planted inside a 55 × 55 × 8 mm of the silicon layer. The module has I2C digital output, requiring...
Using motion capture only, we challenge in this paper the estimation of the contact forces-backed with ground-truth sensing, in human whole-body interaction with the environment. Our method is novel and makes it possible to get rid of cumbersome force sensors in monitoring multi-contact motion and its interaction force data. This problem is very difficult. Indeed, while a given force distribution...
In gait training for walking rehabilitation, it is essential to maintain a good balance during walking (i.e., both legs equally loaded). Therefore, scales are frequently used in order to feed back the load of the lower limbs to the trainee. However, in this situation, the trainee has to look down to check whether the scale and the trainee's walking posture is affected in an undesirable manner. In...
Amplified Piezoelectric Actuator (APA), is a mechanical amplified preloaded stack actuator increasingly popular in micro actuation. Subsequently, piezoelectric stack actuators have been utilized often in microgripping applications due to its large force and precise micro displacement. This paper presents the experimental testing and results of Amplified Piezoelectric Actuators (APA) APA 50SX, APA...
The Unmanned Aerial Vehicles (UAV) has recently gained popularity in numerous industries due to its unique capabilities. Multicopters are increasingly replacing conventional helicopters and fixed wing planes as the most commonly manufactured Micro Aerial Vehicles, due to their reasonable price. Unlike the long flight operations of fixed wing planes, multicopters can only be operated for short durations...
Obtaining the force condition of the polishing manipulator in polishing process of the robot is the key technology to polish the wheel hubs automatically and intelligently. If the technology can be effectively addressed, the level of industrialization will be improved significantly. A new type of six-axis force/torque sensor is presented in the paper with overload protection and decoupling of force...
Increasing the transparency of robotic systems used for gait rehabilitation can improve training of various daily activities such as walking or balancing. However, until today, there has been very little effort invested in a systematic analysis of occurring unwanted interaction forces between the patient and the robot. In this paper, we have developed such a setup for systematic analysis and quantification...
We present GRAVITY-ASSIST, a series elastic active body weight support and inertia compensation system for use in robot assisted gait rehabilitation. The device consists of a single degree of freedom series elastic actuator that connects to the trunk of a patient. The series elastic system is novel in that, it can provide the desired level of dynamic unloading such that the patient experiences only...
An amphibious all terrain mobile robot is required for disaster response tasks. In this paper, we propose “R-Crank”, which has a simple four wheels driving configuration with crank links, connecting to ipsilateral front and rear wheels so as to form parallel four-bar linkage systems. The crank links act as legs because their trajectory with respect to the ground become trochoid curve, which is commonly...
Cellular mechanical properties as the main physical performance characteristics have been actively studied in the past years for the study of cytobiology and the development of medicine. In this study, by combining Hertz model, a novel strategy is proposed to simultaneously measure the cellular mechanical properties including cellular mass, elasticity and viscosity, based on the principle of forced...
Nanorobot has the potential to automate the manipulation and observation processes at molecular scale. Current drug discovery process is labor and cost intensive. Thus, a strong demand exists to automate this process. Here, we developed an Atomic Force Microscopy (AFM) based nanorobot for in situ sensing molecular interactions for drug discovery. The AFM tip and sample substrate are functionalized...
Hardness sensing is a valuable capability for a robot touch sensor. We describe a novel method of hardness sensing that does not require accurate control of contact conditions. A GelSight sensor is a tactile sensor that provides high resolution tactile images, which enables a robot to infer object properties such as geometry and fine texture, as well as contact force and slip conditions. The sensor...
Learning sequential force interaction tasks from kinesthetic demonstrations is a promising approach to transfer human manipulation abilities to a robot. In this paper we propose a novel concept to decompose such demonstrations into a set of Movement Primitives (MPs). The decomposition is based on a probability distribution we call Directional Normal Distribution (DND). To capture the sequential properties...
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...
Despite an intensive research on flapping flight and flapping wing MAVs in recent years, there are still no accurate models of flapping flight dynamics. This is partly due to lack of free flight data, in particular during manoeuvres. In this work, we present, for the first time, a comparison of free flight forces estimated using solely an on-board IMU with wind tunnel measurements. The IMU based estimation...
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...
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