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The following article presents our attempt to design and build a simple, low-cost, impedance controlled, multifinger gripper having two phalanges in each finger. The paper discusses two different approaches of creating its mechanical construction, comparing the strengths and weaknesses of both solutions, as well as electronic design and software architecture of the controller. The results of basic...
The aim of this paper is to describe the design of a soft, wearable glove for power assisted and rehabilitation, based on pneumatic soft actuators. The extensor bending type of pneumatic soft actuators was used in this study, which proved these actuators are appropriate by examining their characteristics. A proposed solution for a release movement is presented. Experimental results show this solution...
In this paper, we first introduce several application domains for cyber-physical systems (CPS). The implementation of such applications is a challenging task since it does not only require the developer to consider distribution and concurrency— which are already error-prone aspects in distributed systems—but also real space and time. If motion of the usually heterogeneous executing components of the...
The paper proposes a learning from demonstration (LfD) framework which will enable children with motor disabilities to perform neuromotor rehabilitation exercises at home- and community- settings. LfD, a popular robot learning paradigm, has traditionally been used to teach embodied robots different skills through demonstrations by lay users. In this paper, we propose a novel application of LfD in...
In this paper, we have developed a motion capture method based on data collected by MYO armband. The method can be applied on any healthy operator wearing two MYO armbands on both upper and lower arms, respectively. The first MYO armband is worn near the centre of the operator's upper arm, the other is worn near the centre of the forearm. MYO armband has built-in eight bioelectrical sensors as well...
WearTec is an NSF funded project focused on activities related to wearable technologies. The goals of the project are to develop an intervention that focuses on solving real world problems and practicing the engineering design process while immersed in the innovative area of wearable technologies. Curriculum has been developed focused on youth in grades 4 to 6 to teach engineering design, computer...
One of the complicated issue in compliance control for rehabilitation and assistive robots is to predict right human's motion intention. In this paper, we have proposed an algorithm to estimate Desired Motion Intention (DMI) so that better compliance could be provided by the rehabilitation and assitive robots. Proposed algorithms is based on Extreme Learning Machine (ELM) and takes inputs from different...
The goal is to create a balance between human and machine, to augment humans in their physical tasks, to support humans for their rehabilitation, to enhance the performance of a human surgeon, to reduce the burden on the operator of intelligent systems (robotics) in commanding these systems, and to provide for human security both in the battlefield and in the homeland. The overall intent is to enhance...
The problem of place recognition is central to robot navigation. The robot needs to be able to recognize or at least to be able to estimate the likelihood that it has been at a place before when it has returned to a previously visited place. We cast the place recognition problem as one of classifying among multiple linear regression models, and argue that new theory from sparse signal representation...
This work demonstrates the application of Unmanned Aerial Vehicles (UAVs) in a robotic Urban Search and Rescue (USAR) mission. An intuitive and natural control methodology that can be universally applied to different types of unmanned rotary wing aerial vehicles is developed. The control system encompasses a Windows computer system and a 3-Dimensional depth-sensing camera, in particular the Microsoft...
The emerging advanced technology, automatic parking assist, makes it possible to free drivers' hands from bored parking maneuvers and offers the possibility of reducing driver stress. Toyota Prius hybrid vehicle unveiled in 2003 is the first automobile equipped with automatic parking assist system(APAS), the research and development in APAS has become a growing trend spread from automobile enterprises...
This paper presents a chain type, homogenous, mobile and modular multi-robot system (ULGEN) with self-assembly, self-reconfigurability, localization and high mobility capabilities. The main goal of the work is to have high maneuverable modules which can travel autonomously to explore areas individually and change their configuration when encountering obstacles. Once the optimal path is found by any...
This paper describes a theory of co-design. The objects of investigation are “design problems”, defined as tuples of “function space”, “implementation space”, and “resources space”, along with the relations that relates implementation to function and implementation to resource usage. “Co-design problems” are defined as the composition of design problems by three operations, roughly equivalent to the...
System miniaturization remains an important challenge in the field of microrobotics. Several works have been raised in this context. Maybe the most known and widespread are MEMS devices based on clean room technologies. Although they give option to design small systems with mico/nano features, such technologies are limited to planar structures with two or three degrees of freedom (DOF). To tackle...
The development of software and machines capable of making ethical judgements is a topic of great interest with both the research communities and the public. Debates over the possibility and practicality of such systems have only intensified with the increased use of robotics in the military arena and the ubiquity of AI in commercial products. Modern innovations, such as the driverless car, will likely...
This paper reports the results of a pilot study evaluating the performance of healthy volunteers working in pairs to fulfil a collaborative task in both real and virtual environments. The main aim of this study is to investigate how different environments (real vs. virtual) and communication modalities (with vs. without talking to each other) affect the quality of interaction between humans. The results...
A two step path planning algorithm with collision detection logic for small UAS is proposed. The path planning approach taken in this work is carried out in two steps. In the first step, an initial suboptimal path is generated using A∗ search. In the second step, a chain of unit masses connected by springs and dampers evolves in a simulated force field, using the A∗ solution as an initial condition...
This demo will show the key features of a Platform as-a-Service (PaaS) we have proposed in a research paper accepted for presentation at IEEE LANMAN 2016 conference. The proposed PaaS enables IoT applications provisioning in hybrid cloud/fog environments. Two goals are assigned to the demo. On the one hand, we will highlight how IoT applications can be provisioned in such environments. On the other...
Fog computing brings cloud close to end-users and data sources by enabling computation and storage at the edges of the network. An application can have some of its components running in a “distant” cloud and interacting with the other components running in the fog, closer to end-users and data sources such as wireless sensors. Low latency is the main benefit. Applications spanning cloud and fog, such...
(Semi-) autonomous complex UAV missions, such as inspection or search-and-rescue in uncertain dynamic environments, require obstacle avoidance and operator shared control. Combining humans' cognitive abilities with fast automation is the key for such missions. This paper presents a flight control system architecture based on the instantaneous Task Specification using Constraints (iTaSC) methodology...
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