Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523613
S. Zhang, Jiangbo Chen, Danhua Li, Wenke Ge, J. Leng, Haocai Huang
This paper presents the mechanical design and experimental research of a water strider inspired robot, which are six-legged creatures that move on water by propelling themselves using two stroke legs and supporting themselves with four other legs. As the surface tension of water is too less for the robot to carry heavy facilities, four hollow ellipsoids made of acrylonitrile-butadiene-styrene copolymer (ABS) were used for the supporting legs. Instead of screw propeller, the rowing legs, just like what water strider does, would have less infection in the water which is a great advantage for the robot to finish meticulous task. Because of the novel propeller, this robot can operate in various environments, such as windy lake, underground pipeline, and even in the sea. The total weight of the robot is 439g, with an additional load capacity of 400g. By optimizing the robot's structure and driving mode, this robot possesses good performance on water and can reach an average speed of 125.5mm/s in the water. The stability of the robot will be calculated in this paper. Experiments were conducted in the pool at the Zhoushan Campus of Zhejiang University.
{"title":"Mechanical design and experimental research on locomotion characters of robot inspired by water strider","authors":"S. Zhang, Jiangbo Chen, Danhua Li, Wenke Ge, J. Leng, Haocai Huang","doi":"10.1109/BIOROB.2016.7523613","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523613","url":null,"abstract":"This paper presents the mechanical design and experimental research of a water strider inspired robot, which are six-legged creatures that move on water by propelling themselves using two stroke legs and supporting themselves with four other legs. As the surface tension of water is too less for the robot to carry heavy facilities, four hollow ellipsoids made of acrylonitrile-butadiene-styrene copolymer (ABS) were used for the supporting legs. Instead of screw propeller, the rowing legs, just like what water strider does, would have less infection in the water which is a great advantage for the robot to finish meticulous task. Because of the novel propeller, this robot can operate in various environments, such as windy lake, underground pipeline, and even in the sea. The total weight of the robot is 439g, with an additional load capacity of 400g. By optimizing the robot's structure and driving mode, this robot possesses good performance on water and can reach an average speed of 125.5mm/s in the water. The stability of the robot will be calculated in this paper. Experiments were conducted in the pool at the Zhoushan Campus of Zhejiang University.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125179756","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523789
Luenin Barrios, Wei-Min Shen
Center of Mass(CoM) estimation in rough terrains is hampered by complicated body dynamics yet remains critically important in the study of human and robot motion planning. Current techniques for CoM estimation are encumbered by lengthy calibration periods requiring the use of specialized tools(force plates, motion capture, etc). This paper presents a novel and straightforward geometric method for CoM estimation over rough planar terrains that relies solely on geometry information of the environment and essential knowledge of the kinematic body. The CoM is approximated using a simplified model of the contact foot locations and an Optimized Geometric Hermite(OGH) curve with minimum curvature and length. To evaluate the accuracy of the method, cross validation with human subjects was performed. The results demonstrate that the geometric method delivers an accurate approximation of the CoM path for natural walking over rough planar terrains and offers a reliable alternative for CoM estimation.
{"title":"A geometric method for center of mass estimation in rough planar terrains","authors":"Luenin Barrios, Wei-Min Shen","doi":"10.1109/BIOROB.2016.7523789","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523789","url":null,"abstract":"Center of Mass(CoM) estimation in rough terrains is hampered by complicated body dynamics yet remains critically important in the study of human and robot motion planning. Current techniques for CoM estimation are encumbered by lengthy calibration periods requiring the use of specialized tools(force plates, motion capture, etc). This paper presents a novel and straightforward geometric method for CoM estimation over rough planar terrains that relies solely on geometry information of the environment and essential knowledge of the kinematic body. The CoM is approximated using a simplified model of the contact foot locations and an Optimized Geometric Hermite(OGH) curve with minimum curvature and length. To evaluate the accuracy of the method, cross validation with human subjects was performed. The results demonstrate that the geometric method delivers an accurate approximation of the CoM path for natural walking over rough planar terrains and offers a reliable alternative for CoM estimation.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125582667","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523648
M. Mencattelli, A. Tonazzini, Irene Martinelli, Marco Menchicchi, C. Stefanini
In minimally invasive surgery (MIS) the aspect of miniaturization is getting more and more demanding. On the other hand, it is also important to assure high stability and large actuation forces at the end effector. Here we present the design and the development of a 1 degree of freedom (DOF) rotational joint, which combines a foldable mechanism and a fluidic actuation system for obtaining force magnification within a slender structure (diameter = 5 mm). The foldable mechanism is composed of identical rigid elements connected each other, which sequentially move away from the joint's axis and ensure an output torque of 0.5 Nm.
{"title":"A novel fluid driven, foldable joint for minimally invasive surgery","authors":"M. Mencattelli, A. Tonazzini, Irene Martinelli, Marco Menchicchi, C. Stefanini","doi":"10.1109/BIOROB.2016.7523648","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523648","url":null,"abstract":"In minimally invasive surgery (MIS) the aspect of miniaturization is getting more and more demanding. On the other hand, it is also important to assure high stability and large actuation forces at the end effector. Here we present the design and the development of a 1 degree of freedom (DOF) rotational joint, which combines a foldable mechanism and a fluidic actuation system for obtaining force magnification within a slender structure (diameter = 5 mm). The foldable mechanism is composed of identical rigid elements connected each other, which sequentially move away from the joint's axis and ensure an output torque of 0.5 Nm.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128265339","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523750
M. Kolditz, Thivaharan Albin, K. Albracht, G. Brüggemann, D. Abel
Resistance training of the leg extensor muscles is an important intervention in rehabilitation and prevention of musculoskeletal disorders such as hip or knee arthrosis and osteoporosis. With current training equipment, neither the exercise trajectory can be optimized nor the loadings on structures of the musculoskeletal system can be controlled. To overcome these limitations an experimental research platform for the development of new training scenarios is developed using an industrial robot for maximum flexibility together with kinetic and kinematic data and musculoskeletal models for estimating loadings on target structures. The focus of this paper lies on the implementation of isokinematic exercise, i.e. leg extension and flexion with constant velocity. A force triggered trajectory with smooth transitions between two points needs to be planned for the robot. An algorithm which uses continuous polynomials is proposed. It consists of three parts. First, the trajectory is planned in Cartesian space by intuitive definitions of e.g. start and end point or desired velocity and minimum resistive force. The trajectory can be visualized and optimized using OpenSim together with a model of the research platform, which makes the system usable for non experts in the field of robotics. Second, a smooth trajectory in joint space is generated from the planning points, using a third order polynomial for joint velocities between two adjacent points. Third, the trajectory is adapted to the measured force at the end effector, as the robot should only move along the trajectory, if the applied force by the user is high enough. The proposed algorithm is furthermore easily expandable to arbitrary force triggered motions with definable position and velocity profiles.
{"title":"Isokinematic leg extension training with an industrial robot","authors":"M. Kolditz, Thivaharan Albin, K. Albracht, G. Brüggemann, D. Abel","doi":"10.1109/BIOROB.2016.7523750","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523750","url":null,"abstract":"Resistance training of the leg extensor muscles is an important intervention in rehabilitation and prevention of musculoskeletal disorders such as hip or knee arthrosis and osteoporosis. With current training equipment, neither the exercise trajectory can be optimized nor the loadings on structures of the musculoskeletal system can be controlled. To overcome these limitations an experimental research platform for the development of new training scenarios is developed using an industrial robot for maximum flexibility together with kinetic and kinematic data and musculoskeletal models for estimating loadings on target structures. The focus of this paper lies on the implementation of isokinematic exercise, i.e. leg extension and flexion with constant velocity. A force triggered trajectory with smooth transitions between two points needs to be planned for the robot. An algorithm which uses continuous polynomials is proposed. It consists of three parts. First, the trajectory is planned in Cartesian space by intuitive definitions of e.g. start and end point or desired velocity and minimum resistive force. The trajectory can be visualized and optimized using OpenSim together with a model of the research platform, which makes the system usable for non experts in the field of robotics. Second, a smooth trajectory in joint space is generated from the planning points, using a third order polynomial for joint velocities between two adjacent points. Third, the trajectory is adapted to the measured force at the end effector, as the robot should only move along the trajectory, if the applied force by the user is high enough. The proposed algorithm is furthermore easily expandable to arbitrary force triggered motions with definable position and velocity profiles.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121970728","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523804
H. A. D. Dekker, N. Beckers, A. Keemink, H. Kooij, A. Stienen
Robotic devices that are able to manipulate the fingers can support the study of robot-assisted motor learning. Currently no devices are available that provide a transparent haptic environment and provide a platform to study motor learning. To cut down on costs it is proposed to use remote control (RC) servos with admittance control. In this study five RC servos are tested to evaluate their controller and passive dynamic properties. Frequency and step response are evaluated and passive dynamics are estimated using a model fit. With a fitted frequency response, system stability is evaluated for different human impedances. The high speed servos have lowest passive inertia (2·10-4 kgm2) and highest bandwidth (20 Hz). The communication protocol of RC servos causes a delay of more than 5 ms from change in setpoint to change in output. Stability analysis shows that the high speed servos have largest stability regions. Simulations show that reducing the virtual inertia and damping makes the system more susceptible to unstable behavior. At this moment however the passive dynamics of the setup are more transparent than the virtual inertia (1·10-3 kgm2) and damping that can be simulated with an admittance controller. A possible cause lies with the communication delay and high gearing present in RC servos.
{"title":"Assessing the usability of remote control servos for admittance-controlled haptic finger manipulators","authors":"H. A. D. Dekker, N. Beckers, A. Keemink, H. Kooij, A. Stienen","doi":"10.1109/BIOROB.2016.7523804","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523804","url":null,"abstract":"Robotic devices that are able to manipulate the fingers can support the study of robot-assisted motor learning. Currently no devices are available that provide a transparent haptic environment and provide a platform to study motor learning. To cut down on costs it is proposed to use remote control (RC) servos with admittance control. In this study five RC servos are tested to evaluate their controller and passive dynamic properties. Frequency and step response are evaluated and passive dynamics are estimated using a model fit. With a fitted frequency response, system stability is evaluated for different human impedances. The high speed servos have lowest passive inertia (2·10-4 kgm2) and highest bandwidth (20 Hz). The communication protocol of RC servos causes a delay of more than 5 ms from change in setpoint to change in output. Stability analysis shows that the high speed servos have largest stability regions. Simulations show that reducing the virtual inertia and damping makes the system more susceptible to unstable behavior. At this moment however the passive dynamics of the setup are more transparent than the virtual inertia (1·10-3 kgm2) and damping that can be simulated with an admittance controller. A possible cause lies with the communication delay and high gearing present in RC servos.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116338243","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523686
Handdeut Chang, S. Kim, Jung Kim
The stabilization of the man-made dynamic systems has been achieved by sensor based state feedback control algorithms which require high computational bandwidth and high stiffness structures. However, many biological systems achieved similar or superior stable behavior with low speed signal transmission via nervous systems, which is easy to introduce unstable performance in the view of control engineering. In order to explain this phenomenon, the concept of self-stabilization has been recently proposed and investigated widely. Self-stabilization is defined as the ability to restore its original state after a disturbance without any feedback control. We analytically investigated the stabilizing function of a musculoskeletal system using the Lyapunov stability theory. Based on this investigation, in this study, we propose a design method to realize the self-stabilizing function of a musculoskeletal system, and experimentally verify that the self-stabilizing function can be physically realized and explained by the proposed Lyapunov function.
{"title":"Design of self-stabilizing manipulator inspired by the musculoskeletal system and its analytical investigation using Lyapunov method","authors":"Handdeut Chang, S. Kim, Jung Kim","doi":"10.1109/BIOROB.2016.7523686","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523686","url":null,"abstract":"The stabilization of the man-made dynamic systems has been achieved by sensor based state feedback control algorithms which require high computational bandwidth and high stiffness structures. However, many biological systems achieved similar or superior stable behavior with low speed signal transmission via nervous systems, which is easy to introduce unstable performance in the view of control engineering. In order to explain this phenomenon, the concept of self-stabilization has been recently proposed and investigated widely. Self-stabilization is defined as the ability to restore its original state after a disturbance without any feedback control. We analytically investigated the stabilizing function of a musculoskeletal system using the Lyapunov stability theory. Based on this investigation, in this study, we propose a design method to realize the self-stabilizing function of a musculoskeletal system, and experimentally verify that the self-stabilizing function can be physically realized and explained by the proposed Lyapunov function.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126895045","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523783
C. W. Antuvan, S. Yen, L. Masia
Decoding simultaneous movements in the context of myoelectric control is becoming increasingly popular, because it is a more intuitive and natural way by which humans perform daily life activities. Current decoding techniques require the use of a calibration phase, and also on the use of machine learning algorithms in order to build the decoder model, and hence they are subject-specific. In this paper, we propose a unique subject-independent based decoding model, which is devoid of the calibration procedures required to train the decoder. The idea is to develop a model to decode two degrees of freedom involving the wrist and the hand, and incorporating both individual and combined motions. A set of experiments are performed in order to acquire electromyogram (EMG) signals for the entire set of motions. A hierarchical-decision tree approach is devised to build the model, by analyzing the relative activity patterns of the principal components of muscle activity in both individual and combined motions. The model is tested in a real-time scenario by means of a virtual graphical environment, and its performance is quantified. The results are promising, and indicate its capability to perform both individual and simultaneous motions.
{"title":"Simultaneous classification of hand and wrist motions using myoelectric interface: Beyond subject specificity","authors":"C. W. Antuvan, S. Yen, L. Masia","doi":"10.1109/BIOROB.2016.7523783","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523783","url":null,"abstract":"Decoding simultaneous movements in the context of myoelectric control is becoming increasingly popular, because it is a more intuitive and natural way by which humans perform daily life activities. Current decoding techniques require the use of a calibration phase, and also on the use of machine learning algorithms in order to build the decoder model, and hence they are subject-specific. In this paper, we propose a unique subject-independent based decoding model, which is devoid of the calibration procedures required to train the decoder. The idea is to develop a model to decode two degrees of freedom involving the wrist and the hand, and incorporating both individual and combined motions. A set of experiments are performed in order to acquire electromyogram (EMG) signals for the entire set of motions. A hierarchical-decision tree approach is devised to build the model, by analyzing the relative activity patterns of the principal components of muscle activity in both individual and combined motions. The model is tested in a real-time scenario by means of a virtual graphical environment, and its performance is quantified. The results are promising, and indicate its capability to perform both individual and simultaneous motions.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121025549","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523818
Han Bo, Dhanya Menoth Mohan, Muhammad Azhar, Kana Sreekanth, D. Campolo
Human robot collaboration (HRC) is a hot research topic nowadays and achieves great success and development from the laboratory to the daily life service and industrial applications. This paper briefly introduces the background of HRC and its application in industries as well as technical characteristics. Finally, an intelligent industrial work assistant (iiwa) robot is setup as a HRC experiment platform to perform collaborative tasks. The demo gives an outlook that human and robot working alongside is viable and successful.
{"title":"Human-robot collaboration for tooling path guidance","authors":"Han Bo, Dhanya Menoth Mohan, Muhammad Azhar, Kana Sreekanth, D. Campolo","doi":"10.1109/BIOROB.2016.7523818","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523818","url":null,"abstract":"Human robot collaboration (HRC) is a hot research topic nowadays and achieves great success and development from the laboratory to the daily life service and industrial applications. This paper briefly introduces the background of HRC and its application in industries as well as technical characteristics. Finally, an intelligent industrial work assistant (iiwa) robot is setup as a HRC experiment platform to perform collaborative tasks. The demo gives an outlook that human and robot working alongside is viable and successful.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127792481","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523696
J. Masood, J. Ortiz, Jorge Fernandez, Luis A. Mateos, D. Caldwell
Industrial wearable exoskeletons can assist the workers during manual handling of loads at manufacturing facilities. Today, one of their design challenges is to reduce weight so the worker can wear them for an extended length of time, without compromising torque and power requirements. Actuators can largely contribute to the overall weight of such devices. An elastic element in parallel can reduce the technical specifications of the actuator. However, such elastic elements are heavy with a large footprint. We present an innovative Parallel Elastic Actuator (PEA) using an elastic cord made of natural rubber elastomer, which can store energy during lowering and release it while lifting. Trunk exoskeleton requirements are analysed based on human subject data for industrial lowering and lifting scenarios. The mechanical design concept of a PEA for the hip joint of an industrial exoskeleton is discussed in detail. We formulate the mathematical model of the human-exoskeleton motion in the sagittal plane. We perform the virtual testing on industrial lowering and lifting scenarios to verify the actuator performance. The results show the improvement in weight, peak torque and peak power by 20%, 50% and 40% respectively as compared with the current prototype. The new integrated actuator consists of the direct current (DC) motor, the harmonic drive (HD) and the parallel natural rubber elements which reduce size and complexity of the trunk exoskeleton.
{"title":"Mechanical design and analysis of light weight hip joint Parallel Elastic Actuator for industrial exoskeleton","authors":"J. Masood, J. Ortiz, Jorge Fernandez, Luis A. Mateos, D. Caldwell","doi":"10.1109/BIOROB.2016.7523696","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523696","url":null,"abstract":"Industrial wearable exoskeletons can assist the workers during manual handling of loads at manufacturing facilities. Today, one of their design challenges is to reduce weight so the worker can wear them for an extended length of time, without compromising torque and power requirements. Actuators can largely contribute to the overall weight of such devices. An elastic element in parallel can reduce the technical specifications of the actuator. However, such elastic elements are heavy with a large footprint. We present an innovative Parallel Elastic Actuator (PEA) using an elastic cord made of natural rubber elastomer, which can store energy during lowering and release it while lifting. Trunk exoskeleton requirements are analysed based on human subject data for industrial lowering and lifting scenarios. The mechanical design concept of a PEA for the hip joint of an industrial exoskeleton is discussed in detail. We formulate the mathematical model of the human-exoskeleton motion in the sagittal plane. We perform the virtual testing on industrial lowering and lifting scenarios to verify the actuator performance. The results show the improvement in weight, peak torque and peak power by 20%, 50% and 40% respectively as compared with the current prototype. The new integrated actuator consists of the direct current (DC) motor, the harmonic drive (HD) and the parallel natural rubber elements which reduce size and complexity of the trunk exoskeleton.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127985674","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-06-26DOI: 10.1109/BIOROB.2016.7523645
Jaesung Oh, Hyoin Bae, Jeongsoo Lim, Jun-Ho Oh
In this paper, the design, implementation, and operation method of the autonomous laser toning system are proposed, which is called as MELON (Manipulator for Effective Laser tONing). The system can recognize the accurate treatment points from the 3D point cloud data obtained with the camera, and it is possible to emit the laser at the desired position and orientation repeatedly, precisely, and accurately using intuitive differential inverse kinematics of the robot manipulator. The feasibility test of the MELON is conducted by using a plaster cast of a woman's head, and then, we find that the manipulator has a workspace to cover the entire face of the human inductively and distribution of the laser emission is homogeneous on the face. Therefore, we find the possibility of the autonomous laser toning using MELON.
{"title":"Development of autonomous laser toning system based on vision recognition and robot manipulator","authors":"Jaesung Oh, Hyoin Bae, Jeongsoo Lim, Jun-Ho Oh","doi":"10.1109/BIOROB.2016.7523645","DOIUrl":"https://doi.org/10.1109/BIOROB.2016.7523645","url":null,"abstract":"In this paper, the design, implementation, and operation method of the autonomous laser toning system are proposed, which is called as MELON (Manipulator for Effective Laser tONing). The system can recognize the accurate treatment points from the 3D point cloud data obtained with the camera, and it is possible to emit the laser at the desired position and orientation repeatedly, precisely, and accurately using intuitive differential inverse kinematics of the robot manipulator. The feasibility test of the MELON is conducted by using a plaster cast of a woman's head, and then, we find that the manipulator has a workspace to cover the entire face of the human inductively and distribution of the laser emission is homogeneous on the face. Therefore, we find the possibility of the autonomous laser toning using MELON.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128807126","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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