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Cell manipulation has received considerable attentions in recent years. Most of cell manipulations are performed manually without guarantee of high precision and high throughput. This paper reports our latest research on integrating robotics technologies into optical tweezers system for manipulation and biomechanical characterization of human red blood cells (RBCs). We first demonstrate the effectiveness...
This paper reports modeling and control of a microsized polymer aggregate of magnetic particles inside an artery, using a MRI device for supplying propulsion in order to achieve targeted chemotherapy. Non-Newtonian behavior of blood is considered, as well as wall effects and interactions, resulting in a highly nonlinear model. A backstepping approach is synthesized to ensure Lyapunov stability along...
This paper presents an approach to the indirect simultaneous positioning task of deformable objects based on robust linear output regulation methods. Indirect control requires maneuvering control points defined on a deformable body to desired locations by manipulating points located elsewhere on the object. The proposed control scheme uses a linearization of the deformable object dynamics into a state-space...
Previous work has shown that high frequency content is important for realistic haptic feedback, while stability considerations limit the ability of closed-loop control to effectively generate high frequencies. Open-loop playback of high frequencies offers a promising way to generate rich contact transients and textures, but complex high frequency dynamics cause distortion. This paper explores the...
Force feedback control constitutes a promising solution for achieving fully automated micro-assembly. In this paper, we report the study of force feedback control used during guiding task. An experimental setup with two sensorized fingers is proposed. It enables to grasp a micropart of 2 mm × 50 μm × 50 μm in size and to estimate the lateral contact force. A simulator is developed to take into account...
This paper describes a tactile sensing to estimate the position and orientation of a joint-axis of a linked object. This tactile sensing is useful when a multi-jointed multi-fingered robotic hand manipulates a tool which has a joint. This estimation requires sensing of the location of a contact point and the direction of an edge of the tool as contact information measured by a robotic fingertip. A...
In this paper we address the trajectory tracking problem for groups of mobile robots. We consider trajectories described by completely arbitrary shaped closed curves. The proposed control strategy is a completely decentralized algorithm, and does not require any global synchronization. The desired behavior is obtained by means of some properly designed artificial potential functions.
Usually, the joint transmission friction model for robots is composed of a viscous friction force and of a constant dry sliding friction force. However, according to the Coulomb law, the dry friction force depends linearly on the load driven by the transmission. It follows that this effect must be taken into account for robots working with large variation of the payload or inertial and gravity forces,...
Recently, in medical field, different training methods for medical staff have been proposed. However, the lack of knowledge on the real improvements of trainees makes difficult the real effectiveness of those proposed methods. Therefore, we are proposing an Active Training system for the effective medical training. The Active training system is characterized by providing quantitative information of...
Since the introduction of independent contact regions in order to compensate for shortcomings in the positioning accuracy of robotic hands, alternative methods for their generation have been proposed. Due to the fact that (in general) such regions are not unique, the computation methods used usually reflect the envisioned application and/or underlying assumptions made. This paper introduces a parallelizable...
In this paper, Dual Differential Rheological Actuator (DDRA) is discussed. DDRA is an actuator with high performance torque and position control characteristics, in addition to versatile, safe, robust and easily controllable robotic interactions. DDRA's design is based on the use of two magnetorheological (MR) brakes coupled to an EM motor and to the system's output through a dual differential mechanism...
Microrobots are widely used for microassembly and micromanipulation. However achieving performances compatible with the work in the microworld requires the use of bulky and expensive systems for measurement, signal processing and real time control. In this paper, we present the characterization and the control of a bistable module that can be used to build microrobots. This bistable module is fabricated...
A goal of our research is to produce a light-weight, low-cost five fingered robotic hand that has similar degrees of freedom as a human hand. The joints in the fingers of the developed robotic hand are powered by a newly proposed strings transmission named “Twist Drive”. The transmission converts torque into a pulling force by using a pair of strings that twist on each other. The basic characteristics...
The Time Domain Passivity Control Approach is gathering interest in the robotics field. Simplicity and flexibility and the fact that system design emerges from ideal cases make it a powerful stability tool for teleoperation systems. Communication time delay is an inherent attribute of nearly every realistic teleoperation system. Unless the communication channel guarantees transmission delays of less...
Viscoelastic materials are known to exhibit temporal response that changes force or displacement at the contact interface under position or force control, respectively. In this paper, we conduct experimental study using force control to explore and observe creep phenomenon in robotic grasping in order to better understand the nature of such contact interface, which has been widely used in soft robotic...
This paper deals with the performance improvement of force feedback in bilateral teleoperation with PD controller. In traditional PD structures, the force feedback is simply determined by the position and velocity of the master and the slave manipulators, which may induce large resistance forces to the operator even in free motion. In this paper, a novel PD bilateral controller is proposed to tackle...
Biped robot may become unstable during dynamic walking because of the huge impact/contact forces produced by foot instant landing. In this paper, force/torque-based compliance control is applied to absorb the impact forces generated between the contacting foot and the ground to keep stable dynamic walking. By imitating human's muscles to absorb the landing force, this method models the ground and...
This paper describes the design and development of a new actuator with adjustable stiffness (AwAS) which can be used in robots which are necessary to work close to or physically interact with humans, e.g. humanoids and exoskeletons. The actuator presented in this work can independently control equilibrium position and stiffness by two motors. The first motor controls the equilibrium position while...
Anti-lock and also Anti-slip braking system controller designed for stability enhancement of vehicle during braking and turning circumstances is presented. Using available signals, a novel structure is proposed for vehicle stability improvement encountering critical braking conditions such as braking on slippery or μ-split road surfaces. In conventional vehicles, undesired lane changes may occur due...
A linear interpolation fuzzy controller with NN compensator is proposed for an electro-hydraulic position servo system. First, to overcome the conventional fuzzy controller's disadvantage of lower precision caused by discretization, bilinear interpolation 2-D table lookup method is used to replace the exact lookup method. Then, to minimize the steady state error caused by force load, a neural network...
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