The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We have developed an excavation robot for lunar-subsurface exploration. This robot moves using a mechanism based on the peristaltic crawling of earthworms, which can move stably. In our previous study, we demonstrated that the robot can excavate down to 938 mm using this technique. However, it can only excavate in a straight configuration. If it can excavate while curving, its exploration range would...
In this paper, a solution for pruning tree branches close to electric power lines using a hexarotor helicopter equipped with a circular saw and a robotic gripper is proposed. The solution consists of flying to the target, in this case the branch to be pruned, fix the helicopter to it and finally, prune the tree branch with a circular saw. In this first approach, we propose a novel skew-gripper design...
The efficiency of PV systems is significantly reduced due to the accumulation of dust on the surface of the panels in arid regions. This study presents a brief survey of existing panel-cleaning methods followed by the implementation of a cleaning system based on high-voltage dielectrophoresis (DEP). Using a DEP approach allows for a low-cost, power-efficient cleaning mechanism without the need for...
In order to enhance the performance of rehabilitation robots, it is imperative to know both force and motion caused by the interaction between user and robot. However, common direct measurement of both signals through force and motion sensors not only increases the complexity of the system but also impedes affordability of the system. As an alternative of the direct measurement, in this work, we present...
In this paper, we present a soft wearable robot for the shoulder which has the potential to assist individuals suffering from a range of neuromuscular conditions affecting the shoulder to perform activities of daily living. This wearable robot combines two types of soft textile pneumatic actuators which were custom developed for this particular application to support the upper arm through shoulder...
Coughing is one of the most important mechanisms performed in human body in that it removes mucus. The absence of enough ability to remove mucus leads to accumulation of the mucus on the airway, followed by possible complications such as pneumonia and atelectasis. Patients with diseases or disorders such as spinal cord injury have weakened ability in coughing. So far, there have been various treatments...
Soft materials have been incorporated in the design of robotic systems particularly as a damper, cover or contact pads. With the emergence of soft robotics, which focuses on robotic devices partially or entirely made of soft materials, robotic systems with high deformability, conformability and biomimicry can be realized. By pushing the limits of low cost 3D printing, this study focuses on designing...
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...
In this paper, backstepping control techniques are presented for a mechanism dedicated to accurately reproduce the breathing-induced motion of a human lung tumour. A lung tumour mimic model should perform the same smooth motion as a real one in a human body during inhalation and exhalation. Therefore, a three-dimensional mechanism with three pneumatically driven axes has been developed and built up...
In this paper, a cable-driven haptic interface able to move in the six-dimensional space, suitable for applications in various robotic scenarios is presented. The device takes advantage of four force-controlled twisted string actuators to generate a linear force along the three Cartesian space dimensions while providing a considerable force-weight ratio and low inertia. The system consists of a frame...
To investigate, improve, and observe the effect of rehabilitation therapy, many studies have been conducted on evaluating the motor function quantitatively by developing various types of robotic systems. Even though the robotic systems have been developed, functional evaluation of the hand has been rarely investigated, because it is difficult to install a number of actuators or sensors to the hand...
Robot-assisted therapy is regarded as an effective and reliable method for the delivery of highly repetitive rehabilitation training in restoring motor skills after a stroke. This study focuses on the rehabilitation of fine hand motion skills due to their vital role in performing delicate activities of daily living (ADL) tasks. The proposed rehabilitation system combines an adaptive assist-as-needed...
In this paper, proposed a reaction force estimation and bilateral control of master slave manipulation in hydraulic servo system based on Sliding mode control with sliding perturbation observer (SMCSPO). The reaction force is estimated by sliding perturbation observer (SPO) without using any force sensor. The estimated reaction force without force sensor is transmitted to the master device using the...
There are estimated to be approximately 3.5 million disabled people in Japan, and about half have a handicapped lower or upper limb. Recently, exoskeletons have been receiving attention as potential aids for such individuals. They can make up for lost body muscle, and support walking and standing-up motions. Robots can assist disabled people by using the power of an actuator to provide the force needed...
The best way for researchers to test their algorithms and design concepts, before experimenting on real human beings, is to create simulation environment platforms. In this paper, a virtual simulator for active endoscopic capsules is proposed. The simulator intends to provide researchers with an environment to test their vision and navigation algorithms applied to endoscopic capsule applications....
In this paper, A simple method for estimating the impedance of a human hand is proposed. In a physical human-robot interaction situation, safety is a very important issue because humans are in contact with robots. Since robots become unstable when they contact a stiff external environment or when there is a difference between human motion intention and robot motion, knowing the dynamics of a human...
The purpose of this study was to investigate the effect of RAGT on the static balance ability of sitting posture in SCI. Changes in COP in the open eyes showed significant differences between groups in the anterior sway category. In both groups, there was a tendency for the front and back sway to decrease, suggesting that RAGT and upper body balance training may have an effect of reducing anterior...
In this paper, a dynamic model of six degrees of freedom microcopter equipped with a robotic arm has been formulated using Newton-Euler's method. This microcopter configuration wasn't covered in scientific papers before. The resulting model is a nonlinear, coupled, and underactuated dynamic model, which includes aerodynamic effects and disturbances because of equipping the microcopter with a robotic...
The damping controller is popularly used in human-robot interaction to adapt the desired pose of the tool center via applied wrench (force and torque) by the human. However, the experimental identification of the suitable damping gain for the dynamical relationship between applied wrench and end-effector's velocity is an open problem. In addition, although the requirements of safe human-robot standards...
In recent years, medical robotics has grown continuously beginning to be used in more new areas. Robots were designed with the ability of steering special needles especially for biopsy and brachytherapy procedures. In this paper is determined and analyzed the puncture force and tissues deformation during needle insertion in a robotic biopsy procedure. The experimental set-up used to determine tissue...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.