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Rehabilitation robotics has been one of the most important branches of robotics. Particularly, the exoskeleton device for the upper limb rehabilitation develops fast in recent years, but most of them are heavy and large. In this paper, we proposed a light and wearable exoskeleton device which is potential to be used in home rehabilitation. It should be able to perform passive and active training....
Based on analyzing vehicle path planning space representation, polygon is used for expressing obstacles. Geometry Algorithm is introduced for path planning. Although the final path is not the best route, it is accordance with human vision. Simulation result proves that the algorithm has better practicability.
Dexterous robotic hands are still not used in production lines, mainly because of the complexity to operate such hands. Most often a robotic hand is used to grasp and hold the object of interest while the object motion is performed by the arm. From studies on human grasping it is known that most of the grasping task can be reduced to two independent degree of freedom which drive the joints of the...
Factory automation has been largely applied on the existing infrastructure of the steel industry in the perspective of increasing production, reducing cost, increasing customer satisfaction, and sustaining the global competition. Many workers, however, have still physically suffered from the backbreaking work due to the two twelve-hour shifts and continuously repeating jobs under dangerous and unstructured...
Virtual Organizations are a specific type of Multi-Agent Systems that look for modeling agent organizations by means of elements typically used in Organizational Theory, such as roles, organizational goals, or services. The Organizational Theory considers that the structure of a human organization is likely to change through time, being the external and internal forces that drive organizational change...
This paper is concerned with the problem of teleoperation systems over networks. As is well known, quantization and time delay are unavoidable in computer network communications. Compared with previous work, we consider both of them when analyzing such systems. The controller used in this paper is proportional-derivative(PD) controller, but the output signals of master and slave systems are quantized...
Since the advance of the aging society with a falling birthrate, technical inheritance has been a serious problem. This paper proposes a method to provide a skillful motion. First, haptic data (i.e., position and force information) is acquired using a bilateral control system. Second, the acquired haptic data is divided into action components by using modal transformation. Third, position and force...
This paper proposes a simplified integrated reproduction of saved motion components. For storing and reproduction of haptic information, a motion-copying system was proposed. By the motion-copying system, for example, techniques of experts can be reproduced by robots to improve work efficiency. In the skill reproduction by robots, it is possible to reproduce the various motion by integration of the...
The objective was to design and implement a weight-perception-based novel control strategy to improve performances when lifting objects with a power assist system by two humans cooperatively. We developed a 1-DOF power assist system for lifting objects. We hypothesized that weight perception due to inertia might be different from that due to gravity when lifting an object with power-assist because...
Numerous camera positioning mechanisms exist, but their actuation has little in common with the human eye whose motion they are meant to replicate. Piezoelectric cellular actuators, a novel biologically inspired technology, have much more in common with the recti muscles that position the human eye than traditional actuators have. This work explains how to select multi-layer nested compliant strain...
In this paper, an integrated framework with multiple sensory information for analysing human hand motions is proposed, and it consists of components of system integration, signal preprocessing, correlation study of sensory information and human motion recognition based on manipulation intention. Three types of sensors are employed in the framework to simultaneously capture the finger angle trajectory,...
This work aims to extend the constraint-based formalism iTaSC for scenarios where physical human-robot interaction plays a central role, which is the case for e.g. surgical robotics, rehabilitation robotics and household robotics. To really exploit the potential of robots in these scenarios, it should be possible to enforce force and geometrical constraints in an easy and flexible way. iTaSC allows...
This paper focuses on a kinematic redundancy resolution of bimanual robotic system for a machining task as a part of factory automation. Inspired by a study of human bimanual action, called Guiard's principles, a cost function is proposed by using task-compatibility indices. An acceleration-level redundancy resolution is provided via optimization of the cost function in order to reflect the role of...
In the near future, as robots become more advanced and affordable, we can envision their use as intelligent assistants in a variety of domains. An exemplar human-robot task identified in many previous works is cooperatively carrying a physically large object. An important task objective is to keep the carried object level. In this work, we propose an admittance-based controller that maintains a level...
Stable grasp is the result of sensorimotor regulation of forces, ensuring sufficient grip force and the integrity of the held object. Grasping with a prosthesis introduces the challenge of finding the appropriate forces given the engineered sensorimotor prosthetic interface. Excessive force leads to unnecessary energy use and possible damage to the object. In contrast, low grip forces lead to slippage...
A pair of spring-damper-connected inverted pendulums are introduced to model two dancers' body dynamics in physical interaction. When timing errors are included in the model, condition for poly-quadratic stability is implemented to examine the system. With two laser ranger finders installed on the robot for measuring human dancer's states, a state-feedback-based method is proposed to minimize the...
While human behavior prediction can increase the capability of a robotic partner to generate anticipatory behavior during physical human robot interaction (pHRI), predictions in uncertain situations can lead to large disturbances for the human if they do not match the human intentions. In this paper we present a novel control concept in which the assistive control parameters are adapted to the uncertainty...
Elastic elements in prosthetic devices can help to reduce peak power (PP) and energy requirements (ER) for the actuators. Calculations showed that it is impossible with current commercial motor technology to mimic human ankle behavior in detail for higher walking and running speeds with single motor solutions using a Serial Elastic Actuator (SEA). Concerning this result we checked the requirements...
In this paper, we present a haptic teleoperation control algorithm for unmanned aerial vehicles, applying a kinetic scrolling-based position mapping. The proposed algorithm overcomes the master workspace limitations and enables to teleoperate the aerial vehicle in unbounded workspace in a fast and intuitive manner. Moreover, it provides high precision to teleoperation tasks. Simulation and experimental...
This work presents the novel concept of Tele-Impedance as a method for controlling/teleoperating a robotic arm while performing tasks which require significant dynamics variation. As an alternative method to bilateral force-reflecting teleoperation control approach, which uses a position/velocity command combined with force feedback from the robot side, Tele-Impedance enriches the command sent to...
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