The paper deals with the shaking force balancing of the DELTA robot. The balancing of the shaking force of the DELTA robot is carried out through the center of mass acceleration minimization. The trajectories of the total mass center of moving links are defined as straight lines between the initial and final positions of the platform. Then, the motion between these positions are parameterized with “bang-bang” motion profiles. Such a motion generation allows the reduction of the maximal value of the center of mass acceleration and, consequently, leads to the reduction in the shaking force. A main advantage of this method is its simplicity and versatility. It is carried out without any modification of mass redistribution of the initial robot structure, i.e. without adding counterweights. In the case of changing trajectories or payloads, it is just necessary to provide the initial and final positions of the platform, calculate the input parameters according to the proposed method and implemented them in the robot control system. Numerical simulations illustrate the efficiency of the suggested approach.
{"title":"Shaking Force Balancing of the Delta Robot","authors":"J. Geng, V. Arakelian, D. Chablat","doi":"10.1115/detc2020-22296","DOIUrl":"https://doi.org/10.1115/detc2020-22296","url":null,"abstract":"\u0000 The paper deals with the shaking force balancing of the DELTA robot. The balancing of the shaking force of the DELTA robot is carried out through the center of mass acceleration minimization. The trajectories of the total mass center of moving links are defined as straight lines between the initial and final positions of the platform. Then, the motion between these positions are parameterized with “bang-bang” motion profiles. Such a motion generation allows the reduction of the maximal value of the center of mass acceleration and, consequently, leads to the reduction in the shaking force. A main advantage of this method is its simplicity and versatility. It is carried out without any modification of mass redistribution of the initial robot structure, i.e. without adding counterweights. In the case of changing trajectories or payloads, it is just necessary to provide the initial and final positions of the platform, calculate the input parameters according to the proposed method and implemented them in the robot control system. Numerical simulations illustrate the efficiency of the suggested approach.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125497313","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}
Ryan Craker, B. Johnson, Haripriya Sakthivel, D. Cappelleri
In this paper, we present the design of a miniaturized actuation system for robotic lumbar discectomy tools. Lumbar dis-cectomy is one of the most common types of back surgery in the United States. Our previous work proposed a new robotic lumbar discectomy (RLD) system consisting of teleoperated articulated instruments inside a robotic cannula for performing this operation. The robotic cannula is used for the independent translation and rotation of the instruments residing in it. Due to the large servo-motor based actuation systems of the initially developed instruments, it was not possible to achieve a fully integrated RLD system. Here, we present the design of a shape memory alloy actuation system for teleoperating RLD tools that allows full integration with the robotic cannula. More than a 10X size reduction in footprint has been achieved. Experimental results show that SMA-driven actuation system meets the instrument range-of-motion, manipulation, and grasping force requirements. Integrated system tests demonstrate the successful operation of the miniaturized RDL tools with the robotic cannula.
{"title":"Design of a Miniaturized Actuation System for Robotic Lumbar Discectomy Tools","authors":"Ryan Craker, B. Johnson, Haripriya Sakthivel, D. Cappelleri","doi":"10.1115/detc2020-22319","DOIUrl":"https://doi.org/10.1115/detc2020-22319","url":null,"abstract":"\u0000 In this paper, we present the design of a miniaturized actuation system for robotic lumbar discectomy tools. Lumbar dis-cectomy is one of the most common types of back surgery in the United States. Our previous work proposed a new robotic lumbar discectomy (RLD) system consisting of teleoperated articulated instruments inside a robotic cannula for performing this operation. The robotic cannula is used for the independent translation and rotation of the instruments residing in it. Due to the large servo-motor based actuation systems of the initially developed instruments, it was not possible to achieve a fully integrated RLD system. Here, we present the design of a shape memory alloy actuation system for teleoperating RLD tools that allows full integration with the robotic cannula. More than a 10X size reduction in footprint has been achieved. Experimental results show that SMA-driven actuation system meets the instrument range-of-motion, manipulation, and grasping force requirements. Integrated system tests demonstrate the successful operation of the miniaturized RDL tools with the robotic cannula.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130349393","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}
Cognate linkages are mechanisms that share the same motion, a property that can be useful in mechanical design. This paper treats planar curve cognates, that is, planar mechanisms whose tracing point draws the same curve. While Roberts cognates for planar four-bars are relatively simple to understand from a geometric drawing, the same cannot be said for planar six-bar cognates, especially the intricate diagrams Dijksman presented in cataloging all the known six-bar curve cognates. The purpose of this article is to show how the six-bar cognates can be easily understood using kinematic equations written using complex vectors, giving a simple method for generating these cognates as alternatives in a mechanical design. The simplicity of the approach enables the derivation of cognates for eight-bars and possibly beyond.
{"title":"Curve Cognate Constructions Made Easy","authors":"Samantha N. Sherman, J. Hauenstein, C. Wampler","doi":"10.1115/detc2020-22409","DOIUrl":"https://doi.org/10.1115/detc2020-22409","url":null,"abstract":"\u0000 Cognate linkages are mechanisms that share the same motion, a property that can be useful in mechanical design. This paper treats planar curve cognates, that is, planar mechanisms whose tracing point draws the same curve. While Roberts cognates for planar four-bars are relatively simple to understand from a geometric drawing, the same cannot be said for planar six-bar cognates, especially the intricate diagrams Dijksman presented in cataloging all the known six-bar curve cognates. The purpose of this article is to show how the six-bar cognates can be easily understood using kinematic equations written using complex vectors, giving a simple method for generating these cognates as alternatives in a mechanical design. The simplicity of the approach enables the derivation of cognates for eight-bars and possibly beyond.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"2017 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121538865","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}
In this paper, a kinematic calibration method is developed for a 3rRPS metamorphic parallel mechanism with respect to all unknown parameters. Each limb of the 3rRPS mechanism is composed of (rR), P, and S joints. Two joints are actuated, namely P and r joints, hence the mechanism is able to switch between the 3RPS parallel mechanism and 3US parallel mechanism. The geometric constraint equations of the 3rRPS mechanism are initially established. Then, the optimization problems for the base, platform and actuated prismatic lengths during given trajectory are formulated by using the global search optimization algorithm. A physical model of the 3rRPS metamorphic parallel mechanism is built and an experiment is setup to validate the proposed calibration and optimization models. The external device, i.e., the OptiTrack is used during the experiment for motion capture system. All unknown parameters are identified and optimized by dint of the geometric properties of this mechanism and nonlinear optimization algorithms. The experimental results demonstrate that the proposed calibration method is valid and effective.
{"title":"Kinematic Calibration of a 3rRPS Metamorphic Parallel Mechanism","authors":"Xuheng Chai, Latifah Nurahmi, J. Dai, D. Gan","doi":"10.1115/detc2020-22169","DOIUrl":"https://doi.org/10.1115/detc2020-22169","url":null,"abstract":"\u0000 In this paper, a kinematic calibration method is developed for a 3rRPS metamorphic parallel mechanism with respect to all unknown parameters. Each limb of the 3rRPS mechanism is composed of (rR), P, and S joints. Two joints are actuated, namely P and r joints, hence the mechanism is able to switch between the 3RPS parallel mechanism and 3US parallel mechanism. The geometric constraint equations of the 3rRPS mechanism are initially established. Then, the optimization problems for the base, platform and actuated prismatic lengths during given trajectory are formulated by using the global search optimization algorithm. A physical model of the 3rRPS metamorphic parallel mechanism is built and an experiment is setup to validate the proposed calibration and optimization models. The external device, i.e., the OptiTrack is used during the experiment for motion capture system. All unknown parameters are identified and optimized by dint of the geometric properties of this mechanism and nonlinear optimization algorithms. The experimental results demonstrate that the proposed calibration method is valid and effective.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114685017","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}
Mobile Cable-Driven Parallel Manipulators (m-CDPM) are a sub-class of CDPM with greater-capabilities (antagonistic cable-tensioning and reconfigurability) by virtue of mobility of the base-winches. In past work, we had also explored creation of adjustable spring-stiffness modules, in-line with cables, which decouple cable-stiffness and cable-tensions. All these internal-freedoms allow an m-CDPM to track desired trajectories while equilibrating end-effector wrenches and improving lateral disturbance-rejection. However, parameter and configuration selection is key to unlocking these benefits. To this end, we consider an approach to partition task-execution into a primary (fast) winch-tension control and secondary (slow) reconfiguration and joint-stiffness modulation. This would enable a primary trajectory-tracking task together with secondary task-space stiffness tailoring, using system-reconfiguration and joint-stiffness modulation. In this paper, we limit our scope to feasibility-evaluation to achieve the stiffness modulation as a secondary goal within an offline design-optimization setting (but with an eye towards real-time implementation). These aspects are illustrated in the context of a 3-PRP m-CDPM for tracking a desired trajectory within its wrench-feasible workspace. The secondary-task is the directional-alignment and shaping of the stiffness ellipsoid to shape the disturbance-rejection characteristics along the trajectory. The optimization is solved through constrained minimization of a multi-objective weighted cost function subject to non-linear workspace feasibility, and inequality stiffness and tension constraints.
{"title":"Stiffness Modulation for a Planar Mobile Cable-Driven Parallel Manipulators via Structural Reconfiguration","authors":"Adhiti Raman, Matthias J. Schmid, V. Krovi","doi":"10.1115/detc2020-22430","DOIUrl":"https://doi.org/10.1115/detc2020-22430","url":null,"abstract":"\u0000 Mobile Cable-Driven Parallel Manipulators (m-CDPM) are a sub-class of CDPM with greater-capabilities (antagonistic cable-tensioning and reconfigurability) by virtue of mobility of the base-winches. In past work, we had also explored creation of adjustable spring-stiffness modules, in-line with cables, which decouple cable-stiffness and cable-tensions. All these internal-freedoms allow an m-CDPM to track desired trajectories while equilibrating end-effector wrenches and improving lateral disturbance-rejection. However, parameter and configuration selection is key to unlocking these benefits.\u0000 To this end, we consider an approach to partition task-execution into a primary (fast) winch-tension control and secondary (slow) reconfiguration and joint-stiffness modulation. This would enable a primary trajectory-tracking task together with secondary task-space stiffness tailoring, using system-reconfiguration and joint-stiffness modulation. In this paper, we limit our scope to feasibility-evaluation to achieve the stiffness modulation as a secondary goal within an offline design-optimization setting (but with an eye towards real-time implementation).\u0000 These aspects are illustrated in the context of a 3-PRP m-CDPM for tracking a desired trajectory within its wrench-feasible workspace. The secondary-task is the directional-alignment and shaping of the stiffness ellipsoid to shape the disturbance-rejection characteristics along the trajectory. The optimization is solved through constrained minimization of a multi-objective weighted cost function subject to non-linear workspace feasibility, and inequality stiffness and tension constraints.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"3 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133076107","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}
Human hands play a key role in almost all activities of daily living (ADLs) because it is an incredibly versatile tool capable of complex motion. For individuals who have had a complete loss of the hand, the ability to perform ADLs is impaired. Effective prosthetics accurately simulate the movements of a human hand by providing a high number of degrees of freedom, an efficient control system, and an anthropomorphic appearance. In this paper, the design and construction process of a highly anthropomorphic soft robotic prosthetic hand is outlined. The design specifications of the hand are based on feedback from current and former prosthetic users. The hand endoskeleton was 3D printed using fused deposition modeling techniques and was enclosed in a silicone coating modeled, after a real human hand. The hand presents anthropomorphic design in its realistic bone shapes and in its external covering that is like skin in texture and mechanical properties. The hand utilizes the flexibility of silicone instead of antagonistic tendons which would otherwise add complexity and weight to the prosthetic design. The prototype also includes adduction/abduction of the fingers, which is a common omitted movement in other prosthetics. Testing showed that the hand is capable of effective power and precision grasping.
{"title":"Novel Design of a 3D Printed Anthropomorphic Soft Prosthetic Hand","authors":"E. Abbot, Amanda de Oliveira Barros, Jie Yang","doi":"10.1115/detc2020-22437","DOIUrl":"https://doi.org/10.1115/detc2020-22437","url":null,"abstract":"\u0000 Human hands play a key role in almost all activities of daily living (ADLs) because it is an incredibly versatile tool capable of complex motion. For individuals who have had a complete loss of the hand, the ability to perform ADLs is impaired. Effective prosthetics accurately simulate the movements of a human hand by providing a high number of degrees of freedom, an efficient control system, and an anthropomorphic appearance. In this paper, the design and construction process of a highly anthropomorphic soft robotic prosthetic hand is outlined. The design specifications of the hand are based on feedback from current and former prosthetic users. The hand endoskeleton was 3D printed using fused deposition modeling techniques and was enclosed in a silicone coating modeled, after a real human hand. The hand presents anthropomorphic design in its realistic bone shapes and in its external covering that is like skin in texture and mechanical properties. The hand utilizes the flexibility of silicone instead of antagonistic tendons which would otherwise add complexity and weight to the prosthetic design. The prototype also includes adduction/abduction of the fingers, which is a common omitted movement in other prosthetics. Testing showed that the hand is capable of effective power and precision grasping.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129160487","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}
Clearance and flexibility play an essential role in determining the accuracy of a planar parallel mechanism. However, previous accuracy prediction methods either considered only one of them or combined them in linear superposition. Therefore, this study proposes a novel iterative method for determining the pose error by considering clearance and flexibility simultaneously. First, the rigid-flexible model of the mechanism with clearances is developed based on the virtual joint method, in which the equilibrium conditions under the external load are established via the virtual work principle and differential forward kinematics. Then, using a Taylor series approximation, the “instant” stiffness matrix corresponding to a specific load is deduced. On this basis, an iterative scheme is explored to search for the final equilibrium pose, in which a child iterative scheme is constructed to determine the joint variables and suffered wrench of the single chain given a pose. Finally, the developed method is demonstrated by calculating the comparative pose errors of the planar five-bar mechanism and 3-RPR robot.
{"title":"A Novel Iterative Method of Determining the Pose Error of Planar Clearance-Affected Flexible Parallel Mechanisms Under Loaded Mode","authors":"QiangQiang Zhao, Junkang Guo, Jun Hong","doi":"10.1115/detc2020-22012","DOIUrl":"https://doi.org/10.1115/detc2020-22012","url":null,"abstract":"\u0000 Clearance and flexibility play an essential role in determining the accuracy of a planar parallel mechanism. However, previous accuracy prediction methods either considered only one of them or combined them in linear superposition. Therefore, this study proposes a novel iterative method for determining the pose error by considering clearance and flexibility simultaneously. First, the rigid-flexible model of the mechanism with clearances is developed based on the virtual joint method, in which the equilibrium conditions under the external load are established via the virtual work principle and differential forward kinematics. Then, using a Taylor series approximation, the “instant” stiffness matrix corresponding to a specific load is deduced. On this basis, an iterative scheme is explored to search for the final equilibrium pose, in which a child iterative scheme is constructed to determine the joint variables and suffered wrench of the single chain given a pose. Finally, the developed method is demonstrated by calculating the comparative pose errors of the planar five-bar mechanism and 3-RPR robot.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131692646","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}
The synthesis of spatial mechanisms for defect-free path generation has not received a lot of attention. In this paper, we focus on the synthesis of 5-SS mechanisms and use a machine learning based approach. First, we create a coupler path database using a solver based on the iterative Newton-Raphson optimization algorithm. Subsequently, a data cleanup, normalization, balancing, and augmentation pipeline is established based on intrinsic properties of space curves namely curvature and torsion. Finally, we use an unsupervised learning algorithm based on Variational Autoencoder combined with K-means clustering to find a multiplicity of defect-free 5-SS mechanisms and examples are presented.
{"title":"Path Synthesis of Defect-Free Spatial 5-SS Mechanisms Using Machine Learning","authors":"Shashank Sharma, A. Purwar","doi":"10.1115/detc2020-22731","DOIUrl":"https://doi.org/10.1115/detc2020-22731","url":null,"abstract":"\u0000 The synthesis of spatial mechanisms for defect-free path generation has not received a lot of attention. In this paper, we focus on the synthesis of 5-SS mechanisms and use a machine learning based approach. First, we create a coupler path database using a solver based on the iterative Newton-Raphson optimization algorithm. Subsequently, a data cleanup, normalization, balancing, and augmentation pipeline is established based on intrinsic properties of space curves namely curvature and torsion. Finally, we use an unsupervised learning algorithm based on Variational Autoencoder combined with K-means clustering to find a multiplicity of defect-free 5-SS mechanisms and examples are presented.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128031769","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}
This paper approaches the type synthesis of multi-degree of freedom planar metamorphic mechanisms with a single driver in a systematic process. The process is facilitated by implementing a constraint status matrix and a equivalent resistance matrix as a method for identifying an appropriate structure of planar metamorphic mechanisms with a single driver. Multi-structures can be obtained from the same source metamorphic mechanism by designing different constraint architectures of metamorphic joints. To determine the constraint architectures of metamorphic joints and their different assembly combinations, the constraint status matrix is built based on the task-based metamorphic cyclogram of a source mechanism. According to the equivalent resistance gradient model and the constraint status matrix, an equivalent resistance matrix for the metamorphic joints is proposed. A structural synthesis matrix of the metamorphic mechanism is then obtained from the equivalent resistance matrix by deducing the constraint-form vectors of the metamorphic joints. Furthermore, an effective kinematic diagram synthesis of the source mechanism of the planar metamorphic mechanism is proposed which is based only on the 14 one or zero degree-of-freedom (DOF) linkage groups. The entire structural design method of a metamorphic mechanism is based on the structural synthesis matrix and given in steps. Finally, a proposed structural design approach is illustrated by two examples.
{"title":"Structure Synthesis of Multi-DOF Planar Metamorphic Mechanisms With a Single Driver","authors":"Qiang Yang, A. Murray, D. Myszka, Shujun Li","doi":"10.1115/detc2020-22196","DOIUrl":"https://doi.org/10.1115/detc2020-22196","url":null,"abstract":"\u0000 This paper approaches the type synthesis of multi-degree of freedom planar metamorphic mechanisms with a single driver in a systematic process. The process is facilitated by implementing a constraint status matrix and a equivalent resistance matrix as a method for identifying an appropriate structure of planar metamorphic mechanisms with a single driver. Multi-structures can be obtained from the same source metamorphic mechanism by designing different constraint architectures of metamorphic joints. To determine the constraint architectures of metamorphic joints and their different assembly combinations, the constraint status matrix is built based on the task-based metamorphic cyclogram of a source mechanism. According to the equivalent resistance gradient model and the constraint status matrix, an equivalent resistance matrix for the metamorphic joints is proposed. A structural synthesis matrix of the metamorphic mechanism is then obtained from the equivalent resistance matrix by deducing the constraint-form vectors of the metamorphic joints. Furthermore, an effective kinematic diagram synthesis of the source mechanism of the planar metamorphic mechanism is proposed which is based only on the 14 one or zero degree-of-freedom (DOF) linkage groups. The entire structural design method of a metamorphic mechanism is based on the structural synthesis matrix and given in steps. Finally, a proposed structural design approach is illustrated by two examples.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122455814","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}
The use of conductive fabrics (CF) in the design of wearables for joint sensing has recently received much interest in a wide range of applications such as robotics, rehabilitation, personal wellness, sports, and entertainment. In this paper, we evaluate a new wearable device concept that comprises of a CF strain-voltage sensor embedded as part of an inverted slider-crank mechanism for joint extension sensing. This has the benefit of not requiring anthropometric information from the user to related the joint parameters to the fabric strain readings, as opposed to an existing design. Firstly, we characterize the electromechanical property of a commercially available CF. Secondly, we formulate the geometric synthesis procedure of the joint sensing device as a constrained revolute joint system, where the CF is designed and introduced as an RPR chain to obtain an inverted slider-crank linkage. Lastly, we develop and validate our wearable joint sensing device against an experimental setup that represents an elbow joint. Our concept shows that our proposed joint sensing device can track the elbow extension motion of 140° with a maximum error of 7.66%.
{"title":"Characterisation, Design and Experimentation of a Fabric Based Wearable Joint Sensing Device","authors":"J. L. Lau, G. Soh","doi":"10.1115/detc2020-22249","DOIUrl":"https://doi.org/10.1115/detc2020-22249","url":null,"abstract":"\u0000 The use of conductive fabrics (CF) in the design of wearables for joint sensing has recently received much interest in a wide range of applications such as robotics, rehabilitation, personal wellness, sports, and entertainment. In this paper, we evaluate a new wearable device concept that comprises of a CF strain-voltage sensor embedded as part of an inverted slider-crank mechanism for joint extension sensing. This has the benefit of not requiring anthropometric information from the user to related the joint parameters to the fabric strain readings, as opposed to an existing design. Firstly, we characterize the electromechanical property of a commercially available CF. Secondly, we formulate the geometric synthesis procedure of the joint sensing device as a constrained revolute joint system, where the CF is designed and introduced as an RPR chain to obtain an inverted slider-crank linkage. Lastly, we develop and validate our wearable joint sensing device against an experimental setup that represents an elbow joint. Our concept shows that our proposed joint sensing device can track the elbow extension motion of 140° with a maximum error of 7.66%.","PeriodicalId":365283,"journal":{"name":"Volume 10: 44th Mechanisms and Robotics Conference (MR)","volume":"193 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121741628","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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