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In dynamic environments crowded with people, robot motion planning becomes difficult due to the complex and tightly-coupled interactions between agents. Trajectory planning methods, supported by models of typical human behavior and personal space, often produce reasonable behavior. However, they do not account for the future closed-loop interactions of other agents with the trajectory being constructed...
The sit-to-stand movement is an apparently simple yet fundamental activity of daily life. Failure of performing this movement strongly impacts the quality of life of an increasing number of elderly people. Much research thus focuses on assisting this motion. The time necessary for rising up from a sit position is very short for healthy subjects, in the order of few seconds. Using similar speeds for...
This paper describes the development of one DoF robotic hand that makes human laugh by tickling through rubbing underarm. Laughter is attracting research attention because it enhances health by treating or preventing mental diseases. However, laughter has not been used effectively in healthcare because the mechanism of laughter is complicated and is yet to be fully understood. The development of a...
Learning to perform tasks like pulling a door handle or pushing a button, inherently easy for a human, can be surprisingly difficult for a robot. A crucial problem in these kinds of in-contact tasks is the context specificity of pose and force requirements. In this paper, a robot learns in-contact tasks from human kinesthetic demonstrations. To address the need to balance between the position and...
This paper describes a novel methodology for programming grinding tool-paths, tool-path orientations and grinding strategies based on the captured trajectories of a surface finishing tool operated by the Skilled-Operator. In order to extract the grinding parameters and strategy from the trajectory of the skilled operator, the manual tool-path is first segmented into tool-path primitives. The order...
In this paper, a recently proposed assistive controller, called output feedback assistive control method (OFAC), is applied to a single axis stage. The OFAC method employs inherent properties of series elastic actuators (SEAs) to provide assistance to compliantly actuated systems without requiring any information about contact forces, systems accelerations or their future paths. Therefore, there is...
Aiming at the trajectory prediction in forecast handover process of early warning detection system, a method of prediction trajectory for unpowered gliding hypersonic vehicle in the gliding phase is proposed. Firstly, the motion characteristic of the unpowered glide hypersonic vehicle in gliding phase is analyzed to verify the feasibility of using a polynomial model to predict the target trajectory...
This paper considers trajectory tracking of a stratospheric autonomous airship. A new control scheme was proposed based on the computed torque method, a fuzzy approximation system and a compensating controller. Firstly, a dynamic model for the airship was established and the issue of trajectory control was defined. Secondly, a fuzzy adaptive trajectory control system was designed using the computational...
Vowels are thought to play an important role in sub-dialect identification. How they vary among sub-dialects in tonal language has never been examined yet. Acoustic correlates of vowels from three sub-dialects, such as vowel patterns, formant values, formant trajectories, vowel inherent spectral change (VISC), and HNR, were investigated in the present study. The results of this acoustic study confirmed...
This paper addressed a new system identification method which is simply applicable to identify both of the linear and nonlinear models. Having a rough and initial range of values for the parameters of the system, the Taguchi method is used to identify the model of the purposed system. The purposed method is implemented on a custom made linear series elastic actuator. Five parameters of the system...
The final goal of our research is to develop a rehabilitation support robot for self-standing-up training of hemiplegic stroke patients to restore normal standing-up motion. To improve the motor function of the patient's paralyzed leg, a guided standing-up training is effective. The therapist controls the patient's left/right load balance by pulling or pushing the patient's waist during standing-up...
This paper describes the mechanism of a human-friendly robot. The robot consists of two arms, a body and a mobile base. An air cushion bag is developed to cover the entire exterior of the robot. It can reduce the generated impact forces in a collision between any part of the robot and a human. A passive collision suppression mechanism is also developed to deal with greater impact forces. The suppression...
This paper introduces a new Learning from Demonstration (LfD)-based method that makes usage of robot effector forces and torques recorded during expert demonstrations, to generate force-based haptic guidance reference trajectories on-line, that are intended to be used during haptic shared control for additional operator ‘guidance’. Derived haptic guidance trajectories are superimposed to master-device...
Efficiency and accuracy could be improved by greater degree of automation in underwater tasks operating. However, there is a prerequisite that the manipulator should have a desired end-effector trajectory and suitable force applied to the environment to avoid the possibility of damage to the manipulator, object, or both. To reduce position and orientation deviation of the end-effector of a 7-function...
The present work proposes the implementation of a collision-free path with automatic assignment of repulsion parameters, the solution space where this path is located includes rectangle-shape and circled-shape obstacles with different dimensions, all this information generates a Nonlinear Algebraic Equations System (NAES). The Homotopic Path Planning Method (HPPM) is being used to find points that...
Basically Biped robots had to walk like human, to generate this system we use basic approach for analysis human walking behavior. Human walking behavior can be analyzed using Zero Moment Point (ZMP). Zero Moment Point (ZMP) is a zero point which total of gravity forces and horizontal inertia equal 0 (Zero). This paper describes about early step to made basic walking trajectory for FLoW robot. To determine...
The missing haptic feedback in minimally invasive and robotic surgery has prompted the development of a number of approaches to estimate the force acting on the instruments. Modifications of the instrument can be costly, fragile, and harder to sterilize. We propose a method to estimate the forces from the tissue deformation, hence working with multiple instruments and avoiding any modification to...
Robot based rehabilitation is gaining traction also thanks to a generation of light and portable devices. This type of rehabilitation offers a high degree of flexibility in the design of interaction software and therapeutic process. There is therefore the need to perform assessment of the patient upper limb state during and after treatment. This paper presents the integration and fusion of a portable...
Manual motion control (MMC) problems are seen in the conveyance of a large amount of products in factories and stores. One of the most successful examples of MMC is power assist. The power-assisted systems have been introduced to reduce workers' loads in industrial production. In near future, in order to improve its efficiency, the power-assisted systems should include automatic operational modes...
The hypothesis that reaching motions are constructed from discrete components has been explored since the earliest scientific investigations of human movement, although composition specifics have been contentious. We reinspect this process by analyzing the underlying motor intent (rather than actual motion) using our recently-developed intent determination technique. First, synthetic data analysis...
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