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This paper describes the development of the underwater robot platform for exploration work in the strong current. In order to minimize the drag force as 3.5knots, the platform is designed to have discus-shape outline and the projected area of the platform is minimized. Furthermore, the thruster are deployed symmetrically, which is advantageous for hovering and attitude control in irregular current...
This paper considers to develop a prototype master-slave robotic system for teleoperated ultrasonography. Six DOF motions for ultrasonography are provided through Stewart-Gough mechanisms for both master/slave devices. As a slave robot, a ultrasound probe is installed inside of the platform and contacts with patients skin through the hole in the base frame to minimize the size of the robot. The master...
The progress of robotic technology in the last years paved the way for its application in the healthcare sector. In the light of demographic change and lack of nursing staff, telerobotic systems are a promising solution e.g. for homecare in rural areas or in quarantine stations to prevent dissemination of pathogens. This paper presents a user study investigating human performance when teleoperating...
The desirable cane length based on the theoretical analysis is proposed in this paper. The walking pattern with the cane is analyzed first. To study the desirable cane length, concepts of the center of mass (COM) and compatibility index are employed to find the optimal cane length. A wearable sensor system is used to measure the COM and calculate the compatibility index. Experiment to measure the...
To overcome the disadvantages of position control and force control based assembly strategies for robotic assembly of small precision parts of mobile IT devices, the model based assembly strategy was applied. The assembly model was established based on the position data of the robot end-effector and the threshold value of the contact force data about the specific contact formations, and the contact...
This paper proposes an improved design of the previously devised low-end robot system for comprehensive shoulder rehabilitation. It focuses on depicting the design of a variable damping mechanism. The low-end robot system consists of an actuation module and a passive shoulder joint tracking mechanism. Unlike conventional rehabilitation devices, this robot system tracks the gleno-humeral joint and...
Over time, surgical trainees learn to compensate for the lack of haptic feedback in commercial robotic minimally invasive surgical systems. Incorporating touch cues into robotic surgery training could potentially shorten this learning process if the benefits of haptic feedback were sustained after it is removed. In this paper, we develop a wrist-squeezing haptic feedback system and evaluate whether...
Ducted-type underwater robot that we developed has streamlined outer shape with duct inside, so that it can have low fluid resistance and because of short body length, it has highly good motion performance like short turning radius. Ducted type underwater robot that we developed had made as concept with rudder inside the duct. But for enlarge the turning force, it must have larger space and our robot...
Each person has their private physical and/or psychological area where they do not want to share with others during social interactions. This area gives them comfort about interactions and its size usually depends on various factors such as culture, personal traits, and acquaintanceship. This issue may also arise in case of human-robot interaction, especially when the robot is required to generate...
It is a characteristic features of anthropomorphous technology development at its current stage to be promoted from the sphere of production to the social life. The anthropomorphic robots have a particular place nowadays because they are capable of not only interacting with a human being but also fulfilling its actions in adverse conditions. The structure analogous to the human skeleton allows realizing...
The paper presents a novel control method for the arm exoskeletons that takes into account the muscular force manipulability of the human arm. In contrast to classical controllers that provide assistance without considering the biomechanical properties of the human arm, we propose a control method that takes into account the configuration of the arm and the direction of the motion to effectively compensate...
The ban of so called “Killer Robots” is strongly prescribed by certains States and numerous influential NGOs. Following the report of the Informal Group of Experts created by the Convention on Certain Conventional Weapons, a Governmental Group of Experts is due to examine this issue and formulate recommendations by the end of 2017. In this article, the current state of discussions in Geneva is summarized...
This paper solves the problem of computing the best grasp in a discrete point set based on a popular grasp quality measure, namely the largest origin-centered ball contained in the grasp wrench set. So far, the solution to this problem is very limited. Noticing that the quality measure for a grasp is equal to the minimum value of the support function of its grasp wrench set over all directions and...
A self-reconfigurable modular robotic system has potential to carry out a wide variety of tasks in various fields and conditions. For realizing such versatileness and robustness, the compositional modules have to be designed so that the combined structure is equipped with high degree of freedom of the self-reconfiguration. We propose a new design of a modular robot using helically magnetized axes...
Magnetic resonance imaging (MRI) offers many benefits, including unsurpassed soft-tissue characterization and the ability to combine detection and biopsy into a single procedure. However, limited patient access in the narrow scanner bore requires tedious iterative positioning or use of robotic assistants that isolate the physician from the patient. As an alternative, we present a teleoperation technology...
Low back pain is one of the world's most serious health problems. Conservative methods are recommended for back pain, and stabilization exercise as one of these methods has been proven to be effective. The “big 3” exercises are proven stabilization exercises, and it is able to train most of the muscles associated with low back stability. However, they are hard to be performed by some patients because...
The artificial potential field (APF) method is a classical path planning algorithm for mobile robots. Although the artificial potential field method is simple, it still has some defects, which limit the scope of its application. In this paper, we propose an adaptive repulsive potential function to solve the problem, goals nonreachable with obstacles nearby (GNRON). Then, the adaptive artificial potential...
Bio-syncretic robots, consisting of living biological materials and traditional electromechanical systems, have attracted lots of attention due to the potentialities of self-sensing, self-actuation and self-repairing with intrinsic safety and high energy conversion efficiency. However, most of current researches focus on the movement of the devices, and have ignored the study on the control of actuation...
Grasping an object in the presence of unpredictable disturbances and with no previous knowledge of the geometry and mass distribution of it represents a significant challenge in Robotics. Also, grasping an object with sufficient force to prevent slippage, whilst not damaging or deforming the shape of the object proves to be still an intricate challenge despite the existence of a huge body of literature...
Traditional colonoscopy requires highly trained personnel to be performed. Additionally, current devices may cause discomfort and carry the risk of perforating the bowel wall. In this paper, a soft three modular section robot is designed, modeled, controlled and tested. Each of the robotic sections has three degrees of freedom, one translation and two rotations. The robot uses a peristaltic motion...
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