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Research of load carriage effect on center of mass(CoM) behavior during human and robot locomotion has been driven by the prevalence of everyday tasks requiring load bearing or transfer. More recently, this has been accentuated in the design of exoskeletons and military backpack systems aimed at assisting with weighty load handling. Despite this importance, complicated body dynamics has stymied the...
Haptic refers to feedback of a physical signal to a human user through touch. A haptic system realizes this feedback. In most of the applications today, the physical signal refers to force but not necessary. Virtual environment haptic systems refers to the situation where the force to be feedback from the objects in a virtual environment or computer. Virtual environment haptic robotic systems are...
This paper presents the analytical controllable workspace boundaries of a crane-type cable-based robot with purely translational motions. The underconstrained cable robot is composed of eight cables which support the weight of a mobile platform, restricting its motions into the vertical plane of a static platform. The analytic equations are developed so that its workspace fulfills the tensionable...
In this paper, we proposed identification methods for hovering type Autonomous underwater vehicle (AUV) based on neuro fuzzy network. We conducted sea trial using Cyclops which is hovering type AUV. [1] We verified the proposed identification method from the sea trial.
The three-dimensional deformation of fish caudal fin during swimming was reported in several teleost bony fish species, e.g., bluegill sunfish (Lepomis macrochirus) and cichlid fish (Pseudotropheus greshakei). However, few study has addressed the effect of 3D locomotion on its thrust efficiency quantitatively. In this paper, we first performed biological observations on yellow perch (Perca flavescens)...
Force distribution is an important problem for the legged robots with active force control, the allocation of the foot forces can also achieve a desired force and torque on the hexapod robot. This paper presents a force distribution algorithm for redundant problem reduction, linearization and reducing the internal force. Combining the distribution algorithm with force control, the robot can walk on...
Omnidirectional mobile robots have been widely developed due to its high maneuverability in a narrow workspace. However, there are two main shortcomings: vibration and low load bearing capacity, always with the omnidirectional wheel. At present, no a unified method is absent to analyze the performance of omnidirectional wheels systematically. In this paper, a fission model is established to study...
Using motion capture only, we challenge in this paper the estimation of the contact forces-backed with ground-truth sensing, in human whole-body interaction with the environment. Our method is novel and makes it possible to get rid of cumbersome force sensors in monitoring multi-contact motion and its interaction force data. This problem is very difficult. Indeed, while a given force distribution...
Window cleaning of skyscrapers and façades is one of the most essential and arduous task that is carried out manually and hence posing a threat to manual cleaner's life. Over years, researchers have created skyscraper / window cleaning robots to automate the process of window cleaning, and they have their own limitations. We introduced a tethered guiding vehicle system (TGV) that would carry an already...
Robots in industries are often used for repetitive tasks. Their motions rely on precise virtual model of their environment and they are not able to handle changes or unexpected events. This disqualifies them to perform tasks that would require precision in a non controlled environment such as an assembly task in real world. Visual servoing is a well known tool to control the robot using spatial sensors...
Traditional autopilots suffer from inherent flight path control objective conflict problems, as arbitrary flight path and speed targets cannot be maintained with saturated energy rate control. Elementary flight envelope protections are typically introduced to protect airspeed and prevent loss of control, but rather as a "last line of defense", than as a mean of smooth and deterministic control...
In this paper, batting motions between expert baseball players and beginner players are quantitatively compared and discussed, based on Kinetic and Kinematic analysis methods by using bio-instrumentation systems. We measure batting speed, center-of-gravity movements, a rotating angle of body trunk axis and a ground reaction force as kinematic data, and muscles power of the lower limb as kinetics data...
Human motion segmentation aims to extract individual motion repetitions from a continuous stream of data, typically using a single sensor modality. However, with the numerous sensor modalities available for motion measurement, it can be difficult to determine which modality is the most suitable. This paper investigates how segmentation accuracy is affected by the choice of sensing modality. Motion...
This work investigates the applicability of stiffness-based modelling in soft robotics manipulation. The methodology is introduced and applied to model a soft robotics manipulator as single 3d Timoshenko beam element. The model is then utilized to solve the forward kinematics problem for the manipulator. The algorithm is validated comparing the simulated deflection with the deflection of the physical...
This paper proposes a method to design low-cost robotic hands that require almost toolless assembly, and have special transmissions and joint mechanisms. The transmissions consist of active and passive gear trains manufactured by 3D printers to realize coordinated motions among joints and to transmit the driving force to underactuated joints. The joints are designed with pop-in structures to simplify...
Single port surgery is an innovative approach in the field of minimally invasive surgery. Although several telemanipulators exist to perform operations through only a single incision they all suffer from the lack of haptic feedback. To generate kinesthetic feedback the intracorporeal forces need to be measured, which is a challenging task. To overcome these limitations we investigate in this paper...
Aggregation of self-reconfigurable robotic modules can potentially offer many advantages for robotic locomotion and manipulation. The resulting system could be more reliable and fault-tolerant and provide the necessary flexibility for new tasks and environments. However, self-aggregation of modules is a challenging task, especially when the alignment of the docking parties in a 3D environment involves...
In this paper we present the design and characterization of a novel Passive Variable Stiffness Joint (pVSJ). pVSJ is the proof of concept of a passive revolute joint with controllable variable stiffness. The current design is intended to be a bench-test for future development towards applications in haptic teleoperation purposed exoskeletons. The main feature of the pVSJ is its capability of varying...
This paper studies the energy reverse transmission of a new type collaborative rectification structure pump, which uses a linear reciprocal machine drives a piston directly to pump hydraulic fluid. This pump is designed for a novel electro-hydrostatic actuator which is a kind of volume control electro-hydraulic servo system. For servo control application, the pump is usually required to transfer energy...
The majority of recent researches have been focused on developing compliant joint for rotary motion. Few authors contributed to the problematic of safety in pure linear motion, i.e. prismatic joint. The contribution of this work is to present a new design capable of achieving, passively, a nonlinear elastic behavior for prismatic joint implementation, the so-called Prismatic Compliant Joint (PCJ)...
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