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A serinette is a type of the mechanical musical instrument consisting of a small barrel organ. The traditional way to detect the assembly quality of the serinette movement is still manual inspection, which cost much time and rely on the inspector's skilled technology. In this paper we intend to design a system, which can automatically detect the movement of the serinette. The system in this paper...
The repeated locking-releasing device is used to extend the application range of payload in space. A repeated locking-releasing device with a slider crank mechanism and an electromagnetic device is presented. The key components, including the support and slider crank mechanism, are optimized. The simulation analysis is carried out to get the kinematics characteristics of this device. The sample is...
Picosatellite deployer is used for carrying and releasing picosatellites during the launching and in space respectively. For releasing several picosatellites placed in one deployer controllably, one design scheme based on memory alloy spring is presented to make arbitrary picosatellite have the same separation velocity with combination springs. The key components of deployer are optimized and its...
A series elastic actuator (SEA) consists of an actuator in series with a compliant element. By measuring and controlling the displacement of the compliant element, an SEA provides better forward and inverse force control accuracy than traditional stiff actuators. SEAs are suitable for robots that need interact properly with human or environment. Most SEAs use brushless DC motors as the actuators....
In the context of post-stroke patients, suffering of hemiparesis of the hand, robot-aided neuro-motor rehabilitation allows for intensive rehabilitation treatments and quantitative evaluation of patients' progresses. This work presents the design and evaluation of a spring actuated finger exoskeleton. In particular, the spring variables and the interaction forces between the assembly and the hand...
Capsule endoscopes (CEs) have been highlighted as a next generation diagnostic device for the digestive organs (i.e. the stomach, small bowel and colon). Although CE imaging functions and control techniques have been continuously studied, CEs cannot completely replace conventional wire-based endoscopes because current commercial CEs only have diagnosis functions. To extend the range of applications...
The development of microscale surgical tools could pave the way for truly minimally invasive microsurgical procedures. This work demonstrates the application of direct laser writing (DLW) using two-photon polymerization (TPP), a rapid prototyping microfabrication technique, to create a tethered, passively actuated three-dimensional gripper with potential applications in microbiopsy. A microgripper...
(We describe the fabrication, characterization and operation of a microfabricated, overhanging micromachined SU-8 device that can stretch and compress individual cells. This compliant device is composed of folded beams with a single actuation point. Upon actuation with a glass micropipette attached to an XYZ positioner, it can apply varying deformation to multiple cells simultaneously. The applied...
We present work on characterizing the speed of electrostatic actuators for applications in microelectromechanical systems (MEMS) based microrobotics. The actuators are based on electrostatic gap closers working in an inchworm motor configuration and fabricated in silicon. Measurements are taken using sidewall contacts on the gap stops of our devices. We have shown that our electrostatic gap closers...
This paper proposes a new relative-motion-based force bounding approach (dynamic FBA) for stably interacting with dynamic virtual objects. The new approach can overcome some limitations of the previous static approach (static FBA) [8] that cannot display the interaction force with moving virtual objects because the previous controller considered only the motion of the operator. A new passivity condition...
This paper presents the design, mathematical model, and evaluation of a novel variant of a variable stiffness actuator. The actuator combines a cam and a variable lever mechanism. The lever length changes through the rotation of the follower and results in the change of the mechanism stiffness. The design of the actuator results in a nearly linear torque-deflection characteristic, earning it its name:...
Working at micro-scale efficiently requires accurate and integrated force feedback implemented with a sensor adapted to the scale. This paper presents a 3D-printed vision-based micro-force sensor intended to be used inside the chamber of a Scanning Electron Microscope (SEM). The combination of 3D printed elastic structures with a highly effective vision based measurement method allows to design integrated...
Tendon-sheath actuation mechanism has been researched due to its extremely simple and light cable routing structure. However, the slide-based force transmission mechanism causes friction, which disturbs precise force control. To overcome such disadvantage, friction compensation algorithms in tendon-sheath actuation systems have been studied. However, the torque control of double tendon-sheath mechanism...
State of art upper limb prostheses lack several degrees of freedom (DoF) and force the individuals to compensate for them by changing the motions of their arms and body. Such movements often yield to articulation injuries, nonetheless these could be prevented by adding DoFs, for instance, an articulated passive wrist. Available stiff or compliant wrists with passive flexion/extension and/or radial/ulnar...
The vehicle using omnidirectional wheels has ability to move in all directions without changing the body direction unlike a normal four wheel drive vehicle. However most of omnidirectional vehicle are designed for using only on flat ground. In this paper, we propose a new type of omnidirectional wheel, “Spiral Mecanum Wheel”, which enables vehicle climb the step. This new wheel consists of spiral...
This paper presents a novel tongue-operated joystick device for severely disabled persons. The human tongue can generate varied movements and has superior tactile sensations. The utilization of tactile sensation enables humans to interactively communicate with life support equipment, such as powered wheel chair and robotic manipulators and to control them skillfully and safely. In this study, the...
This paper proposes a force feedback compliance force lock for biltateral control based on sensor-less sensor Reaction Force Observer (RFOB). The force limit is defined by the operator in advance based on the experience. The force lock protects the object which is in contact with the slave actuator from excessive force imposed by the master operator in bilateral control. A small vibration has been...
In this paper, we present a new control strategy for the Bipedal Trunk Spring Loaded Inverted Pendulum (BTSLIP) model, consisting of springy legs and rigid trunk. Our walking controller is inspired from the Virtual Pendulum (VP) concept. In this concept, by intersecting the ground reaction forces (GRF) to a virtual pivot point (VPP), the trunk is provided the restoring moment to keep its balance and...
This paper presents the result of the research about designing a device to support ankle joint by using Series Elastic Actuator (SEA). SEA is a system which consist of a DC motor, ball screw and the springs. The output force is controlled to track a trajectory which has been built before. Control force is done through control the transpose of the spring. A prototype was built to verify the possibility...
This paper proposes an immersive visuo-haptic display system composed of an easy-to-carry and light-weight passive haptic device and an HMD. We employ visuo-haptic interaction to control a wide range of perceived stiffness without using mechanical actuators that would inevitably make the device bulky and power-consuming. Via an HMD a user sees his or her own rendered hand with its finger flexion that...
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