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The study proposed describes preliminary results of a spiking implementation of lamprey's Central Pattern Generator (CPG) using Neuromorphic VLSI devices. Several robotic lamprey implementations have been built to test the models in a bio-mimetic artifact but, in these systems there is a clear separation between the mechanical system, and their control part. This study aims to implement a CPG hardware...
In this paper, design and control of a rotary series elastic actuator (RSEA) in human rehabilitation are considered. Actuators consist of some parameters that should be determined. Here genetic algorithm (GA) is used for optimally design the actuator parameters for tracking human joint angle and a new robust hybrid adaptive sliding mode control method for its control is presented. Also the actuators...
Actuation systems featuring inherent series compliance have over time entered more and more the focus of robotic research. The advantages are good force/torque controllability, an increased robustness against unforeseen shocks and other disturbances, and the possibility to store elastic energy. In order to fully enable Series Elastic Actuators (SEAs), a thorough understanding of the actuators internal...
A demand for a soft body robotic h a s become widely apparent especially in industrial sectors to accomplish the rotation of a variety of organic matter. The inaccuracy of the classical robots in the handling of many organic objects such as fruits or eggs in production lines has triggered the necessity for soft body robotics. In this paper, we introduce a hybrid robotic prototype (X-Y soft-bodied...
This paper presents the design of the pneumatic system and the low-level control strategy of a soft machine table inspired by caterpillar locomotion. The soft table surface is embedded with inflatable chambers and the surface deformation is controlled by a pneumatic system to provide actuation. The pneumatic system is modularized so that each pneumatic module controls one soft actuator in the actuation...
In-space assembly can enable new types of spacecraft and structures which are too large or fragile to be carried on a rocket in an assembled form, and robotic systems can make in-space assembly feasible and cost-effective. Such systems should be able to assemble large and complex structures while imposing minimal launch mass and mission risk. We propose an autonomous robotic limb, henceforth referred...
In this paper, we present the design and fabrication of a bio-inspired caudal fin actuator for propulsion and maneuvering purposes in a fish-like robot. Shape memory alloy (SMA) composite actuator is customized to provide the necessary work out for the caudal fin. The pocket holes guide, electrical wiring and attachment pads for SMA actuators are all embedded in a single layer of cellulose acetate...
Exoskeleton robots are used as assistive limbs for elderly persons, rehabilitation for paralyzed persons or power augmentation purposes for healthy persons. The similarity of the exoskeleton robots and human body neuro-muscular system maximizes the device performance. Human body neuro-muscular system provides a flexible and safe movement capability with minimum energy consumption by varying the stiffness...
Light pipe is a tool providing illumination for delicate operations inside the eyeball in an eye surgery. Traditional light pipes with straight shafts have to be reoriented in order to enlarge its illustration range, which implies more risk of damage to the sclera and requires greater operation space for the handle. In order to overcome these limitations, this paper has proposed a novel robotized...
Patients suffering with motor neuron diseases (MND) are characterized by their inability to control essential voluntary muscle activity. This situation may lead to what is known as Locked-in syndrome (LIS). As the name suggests, LIS describes the state of being locked inside a paralyzed body with a functioning mind. With recent advances in robotics and signal processing technologies, patients with...
This paper aims to exploit technology in saving lives; a robotic arm is designed for EOD (Explosive Ordnance Disposal) applications that can rival the EOD robotic arms available in the market, in terms of both its capabilities and functionality, and still cost a small fraction of their price. Though there are many robotic arms that are commercially available, which can be used to handle different...
Jellyfish-inspired jet propulsion and robotic implementation have drawn much attention among the scientific community. In this paper, we report a novel robotic jellyfish synthesizing mechanical structure drive and barycenter adjustment mechanism. The robotic jellyfish relies on six-bar linkage mechanisms as actuators to realize the contraction-relaxation jet propulsion motion. To imitate the real...
The design and tuning of bio-inspired musculoskeletal bipedal robots with tendon driven series elastic actuation (TD-SEA) including biarticular structures is more complex than for conventional rigid bipedal robots. To achieve a desired dynamic motion goal additional hardware parameters (spring coefficients, rest lengths, lever arms) of both, the TD-SEAs and the biarticular structures, need to be adjusted...
In a real environment, robots must handle contact with various objects. However, it is hard to model the contacts in advance, since there are a huge variety of objects in our daily lives. Humans have the ability to handle such physical interactions in daily life and such an ability is realized by adapting the physical characteristics produced by the skeletal structure with large DoFs and its actuating...
This paper presents an analysis of the relation between effort and gravitational stiffness, two physical measures that depend on the configuration of the robot. It is shown that whenever the gravitational stiffness is maximized, the effort is indirectly minimized. A minimum effort attractor that controls the gravitational stiffness is presented. This attractor together with an attractor to zero joint...
We have developed a whole-body elastic humanoid named "Baneoid," which has seventeen joints including thirteen series elastic joints. This paper presents the aims of the humanoid, describes the design concept, and shows a preliminary experiment of it. Mechanical energy of a humanoid robot consisting of series elastic actuators [1] is the sum of potential energy of each elastic element, gravitational...
In the recent past, lower-limb prostheses technological advancement mostly concerned the possibility of integrating ever smaller and more powerful electronic components instead of new materials and topologies. For instance, the electronic knee prosthesis guarantees maximum yield by mean of sensors and actuators that allow to adjust in real time the characteristics and thus the response of the device...
This paper is based on a prosthetic human organ targeting human arm with simulated / manipulated fingers with a highly related tendon driven mechanism with force sensing feedbacks. The control environment is mostly common to the both real and prosthetic human arms. It is a neural feedback based mechanism which is normally in human arms and here with this project it is integrated with "stall current...
An improved unit module of a novel mobile self-assembling modular robotic system is presented in this paper. Two continuous rotational DoFs are used in each module to implement both valuable self-locomotion and flexible reconfiguration. To achieve efficient exploration, unit module can implement two-dimensional locomotion independently and freely in a range of surface conditions in real world, even...
Rehabilitation robots should be able to adapt with physical characteristics of patient body in order to provide a safe and comfortable interaction. In this paper, an elbow rehabilitation robot with novel cable-based series elastic actuator is proposed. The cable actuation mechanism provides two parameters to adjust actuation torque and joint stiffness. An independent position-stiffness control algorithm...
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