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The reducing of energy consumption for transportation and manipulation of industrial objects is a topical issue. The objects of manipulation are gripped with the use of industrial robot and transported from one position to another. In gripping devices, the lifting force is created on the basis of the aerodynamic effect of lifting appearing due to the use of compressed air. The efficiency of functioning...
The inclusion of robots in therapy is becoming common due to robots' power, repetitive motion ability, reprogramming capacity and adaptability to new tasks. In recent years, the demand for rehabilitation services has increased due to the rising number of patients with disability. In this paper, we propose a solution to the rising demand for therapists' services by combining Learning from Demonstration...
This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and...
In this paper, we propose a force feedback scheme for Delta device to improve precision and stability in master-slave teleoperation. A simple and exact dynamical equation is created with principle of virtual work, which is easy to calculate in real-time. After analysing three items deep in dynamical equation, a reasonable strategy is designed to identify the mass of Delta mechanism. The identified...
Master-slave surgical robots have been studied and developed to support surgeons. Robotic functions such as motion scaling and hand shaking correction can extend the ability of surgeons. However, some problems are remaining in robotic surgery. Operation time which can become the burden to surgeons is still long. Surgeons must assess the situation, decide the next task correctly, and achieve tasks...
One common means of identifying materials is by touch and the sound produced from the material. However, the sound produced by striking the surface of various materials is different. Materials of different thickness produce different sounds when struck and this is a good method to identify the material. The frequency at which the sound produced from various materials also differs from one material...
This paper presented a new design for underactuated robotic hand which has four grasping modes for objects. The robotic hand has three fingers. The underactuated mechanism of thumb is composed of gear-rack structure and the other two fingers work as a 2DOF gripper. The robotic hand can form both opening and closing motions with one motor. There is another motor which can control the distance between...
The authors have studied a motion generation by a wobbling mass attached in the center of a semicircular-shaped body, and showed that generation of a downward motion on a downhill is possible through 4-DOF 1-input underactuated-system with 1-DOF linkage inside the body. The system is, however, difficult to generate a forward motion on level surface. Currently, the authors set the trajectory of the...
This paper presents the closed loop teleoperation of a minimal surgery training system using haptic and robot devices. The force tracking performances of system can be improved by using dynamic compensation and fuzzy control. In this system, the master is the 6-DOF haptic device and the slave is the 6-DOF serial robot. The master haptic device provides the trajectories for the slave serial robot throught...
Piezoelectric ultrasonic motors (PUMs) are based on the concept of driving the runner by a mechanical vibration excited on the stator via the converse piezoelectric effect. They exhibit merits of small size, simple structure, quick response, high accuracy and resolution, self-locking when power off and a lack of electromagnetic radiation. The linear PUMs become the research focus in recent years as...
This paper discusses numerical experiments by the fast computation method of hydraulic robot dynamics. This paper shows a new proposed model with a special nondmensional representation which is based on the proposed model. The four methods are compared with each other with respect to computation time.
Simulation of the planar magnetic actuation of ferromagnetic bodies is proposed and experimentally verified in the framework of the system for precise positioning of miniature passive robots with two degrees of freedom. Major goal of presented development is to balance computational effort of the simulation with complexity of computational problem. Proposed methodology is developed for efficient simulation...
One of the most challenging issues of granular jamming robots is both predicting and measuring the stiffness variations which are a direct function of elastic module. In this regard, in previous researches, it had demonstrated that the elastic module of robot's bulk is a fundamental function of vacuum pressure and must be acquired by experimental tests. However, there was not a unique formulation...
Cornea transplantation surgery needs a highly skilled ophthalmologist due to the requirement of precise positioning and the plasticity of a cornea. In this paper, we propose a cornea holding device, which fixes the relative position between a donor cornea and a patient cornea. The proposed device prevents the slipping or deformation of the corneas during transplantation surgery. The cornea holder...
In this paper, a new method for learning robotic debarring process motor skills from human skill model is presented. The skill of a human expert is obtained by using the human skill model. This model is implemented in robot control systems that make robots imitate human skills in deburring process tasks. Based on deburring process, family of basic pattern motions are listed by identifying the movement...
Pneumatic Artificial Muscles are under investigation for many years. Most of them are units of large dimensions, impossible to use in medical robotics. However, low emittance of heat of working medium is one of the most important advantages of this drive and crucial in medical robotics. Problem of combination of advantages of this drive and preferable for medical use size found solution at Lodz University...
This study describes the design and realization of passive dynamic control for a manipulator. The control strategy is based on the idea that the shift in position and posture of an end effector attributable to an external force is regarded as the deformation of a robot. Control methods are constructed from the standard linear solid model, which describes the combination of plastic and elastic deformation...
Although unmanned aerial vehicle (UAV) shows great advantages and some new potential applications in recent years as an effective tool for investigation, fighting and defense, yet, how to give full play to its role still remains the focus of attention. To improve the fighting efficiency of UAV and expand the range of its applications, the obstacle avoidance problem of UAV during autonomous cruise...
This paper focuses on requirements for effective human robot collaboration in interactive navigation scenarios. We designed several use-cases where humans and robot had to move in the same environment that resemble canonical path-crossing situations. These use-cases include open as well as constrained spaces. Three different state-of-the-art humanaware navigation planners were used for planning the...
For the purpose of enhancing compliance of robot joint, an impedance control strategy with new inner torque controller is proposed. Apparent inertia of the motor can be scaled down thanks to this new type of torque controller. Effects of different position (motor-side position θ and link-side position q) feedback strategies are explored through theoretical deviation, simulation and static stiffness...
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