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Rehabiliation robotics combined with video game technology provides a means of assisting in the rehabilitation of patients with neuromuscular disorders by performing various facilitation movements. The current work presents ReHabGame, a serious game using a fusion of implemented technologies that can be easily used by patients and therapists to assess and enhance sensorimotor performance and also...
This paper introduces an armored robot system with dual hydraulic manipulators for disaster response. To handle heavy things for an armored robot, dual hydraulic manipulators are suggested. For kinematic analysis of this mechanism, we set up the D-H parameters. To obtain the positions and orientations of the end-effector, forward kinematics is performed, and to control the end-effector, inverse kinematics...
This work proposes an adaptive dynamic controller for an unmanned aerial vehicle (UAV) to track a desired trajectory. Initially, reference velocities are generated by a controller that is based only on the kinematic model of the UAV. Subsequently, new control actions are calculated to compensate for the internal dynamics of the robot. Then the model parameters that characterize the robot dynamics...
This paper presents a new performance index, called “Interactivity of Fingers (IF)”, for anthropomorphic robot hand and kinematic design optimization process using this performance index and genetic algorithm. This performance index can quantify robot hands' kinematic structures and used for optimizing the kinematic model of an robot hand collaborating with Genetic algorithm. With this procedure position...
This paper presents the improved branched tendon mechanism by including additional design parameters to the original branched tendon design, and a kinematic design optimization technique for this mechanism using genetic algorithm. The significance of additional design parameters and the feature of improved branched tendon mechanism are also explained. Unlike traditional joint pulley-tendon mechanism...
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 grippers are the main structural component of anthropomorphic robots. Modern griper is a complex multiengined system with a great number of degrees of freedom. When such grippers are designed it is necessary to decrease the weight and increase the number of mobile links. Decreasing the gripper weight is possible by means of new approaches to the construction of the system of motion transmission...
Mechanics-based formulations of concentric tube robots incorporate tube bending and twisting, but do not include other phenomena that could model observed hysteretic behavior in which tube configurations reached by rotating tubes in different directions achieve different tip positions. As a step toward incorporating hysteretic tube-on-tube friction, this paper derives a model that enables computation...
This paper deals with the control of electromechanical systems with more degrees of freedom. Dynamics is primarily described by Hamilton's equations. The Hamiltonian formalism leads to different physical descriptive quantities, considered for control design, than much more used Lagrangian formalism. In the paper, as representative control approaches, model-oriented exponentially stable control is...
Minimally-invasive (MI) procedures are becoming more popular and frequent due to their benefits such as reduced patient trauma and hospitalization time. However, several common types of MI interventions are performed under X-ray guidance, which exposes both patients and staff to harmful ionizing radiation. Radiation exposure has therefore become a major concern for the medical community. Yet, few...
Joint symbolic and geometric planning is one of the core challenges in robotics. We address the problem of multi-agent cooperative manipulation, where we aim for jointly optimal paths for all agents and over the full manipulation sequence. This joint optimization problem can be framed as a logic-geometric program. Existing solvers lack several features (such as consistently handling kinematic switches)...
Breast cancer is the most frequently life-threatening diagnosed type of cancer among women. Early and accurate diagnosis by acquiring a tissue sample using biopsy techniques is essential. However, small lesions only visible by MRI are often missed in standard methods, indicating the need for a robotic-assisted biopsy system that is MRI-compatible. Existing proof-of-concepts are difficult to employ...
As the population ages, the need for rehabilitation robots is becoming greater and greater. Considering that lower limb motion plays an important role in the activities of daily life. This paper focus on developing a 3-degree of freedom bionic knee lower limb exoskeleton rehabilitation robot. The exoskeleton consists of a 1-DOF hip joint and 2-DOF knee joint in the sagittal plane. According to the...
In this work, we present an algorithm that simultaneously searches for a high quality fingertip grasp and a collision-free path for a robot hand-arm system to achieve it. The algorithm combines a bidirectional sampling-based motion planning approach with a hierarchical contact optimization process. Rather than tackling these problems in a decoupled manner, the grasp optimization is guided by the proximity...
The exoskeleton robots because of its potential applications in rehabilitation engineering, assistive robotics, and power augmentation are getting more attention in the field of robotics. Besides kinematics model and dynamic model, three type controllers are applied in position control mode, PID control, computed torque control and time delay control, respectively. For the sake of the difficulty in...
We study the dynamics of hovering mechanisms inspired by hummingbirds and bats to extract practical guidelines for the design and control of aerial robots. Using a dynamical model that incorporates wing flapping, pronation and folding, we determine the parameters for which hovering is possible. We show that the pronation angle (rotational degree of freedom for the wing about its span) significantly...
In this paper we present a novel geometric approach to motion planning for constrained robot systems. This problem is notoriously hard, as classical sampling-based methods do not easily apply when motion is constrained in a zero-measure submanifold of the configuration space. Based on results on the functional controllability theory of dynamical systems, we obtain a description of the complementary...
This work describes recent results on design and experimental validation of the parallel kinematics robotic platform for nonprehensile manipulation tasks. Such type of systems are widely used in flight simulators, automobile simulators, industrial automation such as fast sorting. We built a 2DOF Stewart-like platform with webcam-based vision system. Software integration of the system was performed...
Rehabilitation program is one of the most effective way to promote functional recovery of disabled individuals. Most often conventional therapeutic approach relies on clinician's competence. Often treatment duration is very long. Unfortunately, there is a continual shortage of qualified physiotherapists/clinicians both in developing and developed countries. Majority of the patients with impaired lower...
This paper presents a technological solution for designing an assistive device for a biomechanical study of the Sit-to-Stand movement (STS). This device targets people with disabilities following a stroke. The control algorithms are implemented in TwinCAT runtime environment. The communication between all the component and the control computer is ensured via the EtherCAT fieldbus. The aim of this...
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