Pub Date : 2020-08-01DOI: 10.21203/rs.3.rs-47931/v1
Taiki Abe, Y. Kawasaki, Kimitoshi Yamazaki
In this paper we introduce a novel robotic end-effector for pick-and-release of a sheet of cotton cloth. One of the main operations in a factory for sewing cloth products is to pick up cloth parts, provide them to a sewing machine, and sew them together. Fabric products are assembled by performing this work in various processes. Each work starts with a lot of cloth parts stacked near a sewing machine. In the case of underwear, thin cotton cloth is the target of manipulation, but such cloth parts tend to stick to each other, and a certain skill or technical acuity is required for picking up. Therefore, this work is basically done manually in the present. The purpose of this study is to automate such manipulation, so we devise an end-effector that picks up only the top one of stacked cotton sheets. The proposed end-effector has a mechanism that is a cylindrical brush attached with a remover cloth on its surface. The cylindrical brush is grounded on a cotton sheet, and then is rotated to roll up only the cotton sheet. This mechanism makes it possible to release the sheet by rotating the brush in the reverse. We constructed hardware with this function and attached it to the tip of a robotic manipulator. In addition, we performed system integration so that the initial position of rolling up a cotton sheet could be automatically determined from images taken by a camera. We also conducted evaluation experiments.
{"title":"A robotic end-effector with rolling up mechanism for pick-and-release of a cotton sheet","authors":"Taiki Abe, Y. Kawasaki, Kimitoshi Yamazaki","doi":"10.21203/rs.3.rs-47931/v1","DOIUrl":"https://doi.org/10.21203/rs.3.rs-47931/v1","url":null,"abstract":"In this paper we introduce a novel robotic end-effector for pick-and-release of a sheet of cotton cloth. One of the main operations in a factory for sewing cloth products is to pick up cloth parts, provide them to a sewing machine, and sew them together. Fabric products are assembled by performing this work in various processes. Each work starts with a lot of cloth parts stacked near a sewing machine. In the case of underwear, thin cotton cloth is the target of manipulation, but such cloth parts tend to stick to each other, and a certain skill or technical acuity is required for picking up. Therefore, this work is basically done manually in the present. The purpose of this study is to automate such manipulation, so we devise an end-effector that picks up only the top one of stacked cotton sheets. The proposed end-effector has a mechanism that is a cylindrical brush attached with a remover cloth on its surface. The cylindrical brush is grounded on a cotton sheet, and then is rotated to roll up only the cotton sheet. This mechanism makes it possible to release the sheet by rotating the brush in the reverse. We constructed hardware with this function and attached it to the tip of a robotic manipulator. In addition, we performed system integration so that the initial position of rolling up a cotton sheet could be automatically determined from images taken by a camera. We also conducted evaluation experiments.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"7 1","pages":"1-9"},"PeriodicalIF":1.4,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44375574","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 : 2020-06-20DOI: 10.1186/s40648-020-00177-y
Yoshihiro Tamura, H. Amano, J. Ota
{"title":"Analysis of firefighting skill with a teleoperated robot","authors":"Yoshihiro Tamura, H. Amano, J. Ota","doi":"10.1186/s40648-020-00177-y","DOIUrl":"https://doi.org/10.1186/s40648-020-00177-y","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"7 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2020-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40648-020-00177-y","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"65733327","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 : 2020-06-17DOI: 10.21203/rs.3.rs-32141/v1
K. Tabata, H. Seki, Tokuo Tsuji, Tatsuhiro Hiramitsu, M. Hikizu
We propose a method to realize the dynamic manipulation of a string with unknown characteristics via a high-speed robot arm. We use a mass-spring-damper model for the string and repeat three steps: motion generation, real manipulation, and parameter estimation. Robot motion is given by the joint angular velocities expressed by the Bezier curves. Their control points are randomly positioned to generate various robot motion for dynamic string manipulation. The generated motion is performed by a wire-driven robot arm and, real string movement is captured by the camera. These time-series images are used for the parameter estimation of string. The best parameter set is determined via comparison between real and simulated string movement after changing parameter randomly and logarithmically. This parameter set is not unique, but it simulates the actual string movement well. Since the estimated string parameter is used for the robot motion generation after repeating the above 3 steps, the motion generation reflects string property and motion objective can success without special tests in advance. This is an advantage of our method because it is difficult to know all of string property with very complicated non-linearity beforehand. We focus on realizing the momentary string shape in 2 dimensions in this paper. We confirmed the effectiveness of our proposed method by realizing five momentary shapes and 3 kinds of string properties. We also discussed the reproducibility and compatibility of estimated parameters and motion generation.
{"title":"Dynamic manipulation of unknown string by robot arm: realizing momentary string shapes","authors":"K. Tabata, H. Seki, Tokuo Tsuji, Tatsuhiro Hiramitsu, M. Hikizu","doi":"10.21203/rs.3.rs-32141/v1","DOIUrl":"https://doi.org/10.21203/rs.3.rs-32141/v1","url":null,"abstract":"We propose a method to realize the dynamic manipulation of a string with unknown characteristics via a high-speed robot arm. We use a mass-spring-damper model for the string and repeat three steps: motion generation, real manipulation, and parameter estimation. Robot motion is given by the joint angular velocities expressed by the Bezier curves. Their control points are randomly positioned to generate various robot motion for dynamic string manipulation. The generated motion is performed by a wire-driven robot arm and, real string movement is captured by the camera. These time-series images are used for the parameter estimation of string. The best parameter set is determined via comparison between real and simulated string movement after changing parameter randomly and logarithmically. This parameter set is not unique, but it simulates the actual string movement well. Since the estimated string parameter is used for the robot motion generation after repeating the above 3 steps, the motion generation reflects string property and motion objective can success without special tests in advance. This is an advantage of our method because it is difficult to know all of string property with very complicated non-linearity beforehand. We focus on realizing the momentary string shape in 2 dimensions in this paper. We confirmed the effectiveness of our proposed method by realizing five momentary shapes and 3 kinds of string properties. We also discussed the reproducibility and compatibility of estimated parameters and motion generation.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"7 1","pages":"1-17"},"PeriodicalIF":1.4,"publicationDate":"2020-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48157842","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 : 2020-05-22DOI: 10.21203/rs.3.rs-29523/v1
Ayuko Saito, Satoru Kizawa, Yoshikazu Kobayashi, K. Miyawaki
This paper presents an extended Kalman filter for pose estimation using noise covariance matrices based on sensor output. Compact and lightweight nine-axis motion sensors are used for motion analysis in widely various fields such as medical welfare and sports. A nine-axis motion sensor includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer. Information obtained from the three sensors is useful for estimating joint angles using the Kalman filter. The extended Kalman filter is used widely for state estimation because it can estimate the status with a small computational load. However, determining the process and observation noise covariance matrices in the extended Kalman filter is complicated. The noise covariance matrices in the extended Kalman filter were found for this study based on the sensor output. Postural change appears in the gyroscope output because the rotational motion of the joints produces human movement. Therefore, the process noise covariance matrix was determined based on the gyroscope output. An observation noise covariance matrix was determined based on the accelerometer and magnetometer output because the two sensors’ outputs were used as observation values. During a laboratory experiment, the lower limb joint angles of three participants were measured using an optical 3D motion analysis system and nine-axis motion sensors while participants were walking. The lower limb joint angles estimated using the extended Kalman filter with noise covariance matrices based on sensor output were generally consistent with results obtained from the optical 3D motion analysis system. Furthermore, the lower limb joint angles were measured using nine-axis motion sensors while participants were running in place for about 100 s. The experiment results demonstrated the effectiveness of the proposed method for human pose estimation.
{"title":"Pose estimation by extended Kalman filter using noise covariance matrices based on sensor output","authors":"Ayuko Saito, Satoru Kizawa, Yoshikazu Kobayashi, K. Miyawaki","doi":"10.21203/rs.3.rs-29523/v1","DOIUrl":"https://doi.org/10.21203/rs.3.rs-29523/v1","url":null,"abstract":"This paper presents an extended Kalman filter for pose estimation using noise covariance matrices based on sensor output. Compact and lightweight nine-axis motion sensors are used for motion analysis in widely various fields such as medical welfare and sports. A nine-axis motion sensor includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer. Information obtained from the three sensors is useful for estimating joint angles using the Kalman filter. The extended Kalman filter is used widely for state estimation because it can estimate the status with a small computational load. However, determining the process and observation noise covariance matrices in the extended Kalman filter is complicated. The noise covariance matrices in the extended Kalman filter were found for this study based on the sensor output. Postural change appears in the gyroscope output because the rotational motion of the joints produces human movement. Therefore, the process noise covariance matrix was determined based on the gyroscope output. An observation noise covariance matrix was determined based on the accelerometer and magnetometer output because the two sensors’ outputs were used as observation values. During a laboratory experiment, the lower limb joint angles of three participants were measured using an optical 3D motion analysis system and nine-axis motion sensors while participants were walking. The lower limb joint angles estimated using the extended Kalman filter with noise covariance matrices based on sensor output were generally consistent with results obtained from the optical 3D motion analysis system. Furthermore, the lower limb joint angles were measured using nine-axis motion sensors while participants were running in place for about 100 s. The experiment results demonstrated the effectiveness of the proposed method for human pose estimation.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"7 1","pages":"1-11"},"PeriodicalIF":1.4,"publicationDate":"2020-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42635154","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 : 2020-05-22DOI: 10.21203/rs.3.rs-29524/v1
Zhenyu Wang, G. Endo, Masashi Takahashi, Hiroyuki Nabae, K. Suzumori, N. Tsuzuki, H. Takahashi, K. Kimoto, T. Ihara, H. Kikura
To obtain the necessary information on fuel debris and water leakages during the decommissioning task of the Fukushima Daiichi Nuclear Power Plant, an ultrasonic-based method was proposed for future internal investigation of the primary containment vessel (PCV). In this article, we describe the rotatable winch mechanism and visual localization method, which were used to aid the investigation. We used the rotatable winch mechanism to adjust the height and orientation of the ultrasonic sensor and localized the robot with cameras to localize the sensor, to provide assisting information for data combination. We studied the feasibility of the conventional visual odometry method for application to the situation and performed localizing accuracy evaluation experiments with a mobile robotic platform prototype. The results showed that the visual odometry method could generate intuitive bird’s-eye-view maps, and provided an average error rate of 35 mm/1500 mm, which met the required maximum error rate of 100 mm/1500 mm for the grating movement. Experiments were also conducted with adjustable parameter ranges that could provide the required accuracy.
{"title":"Study of a robotic system to detect water leakage and fuel debris-System proposal and feasibility study of visual odometry providing intuitive bird’s eye view-","authors":"Zhenyu Wang, G. Endo, Masashi Takahashi, Hiroyuki Nabae, K. Suzumori, N. Tsuzuki, H. Takahashi, K. Kimoto, T. Ihara, H. Kikura","doi":"10.21203/rs.3.rs-29524/v1","DOIUrl":"https://doi.org/10.21203/rs.3.rs-29524/v1","url":null,"abstract":"To obtain the necessary information on fuel debris and water leakages during the decommissioning task of the Fukushima Daiichi Nuclear Power Plant, an ultrasonic-based method was proposed for future internal investigation of the primary containment vessel (PCV). In this article, we describe the rotatable winch mechanism and visual localization method, which were used to aid the investigation. We used the rotatable winch mechanism to adjust the height and orientation of the ultrasonic sensor and localized the robot with cameras to localize the sensor, to provide assisting information for data combination. We studied the feasibility of the conventional visual odometry method for application to the situation and performed localizing accuracy evaluation experiments with a mobile robotic platform prototype. The results showed that the visual odometry method could generate intuitive bird’s-eye-view maps, and provided an average error rate of 35 mm/1500 mm, which met the required maximum error rate of 100 mm/1500 mm for the grating movement. Experiments were also conducted with adjustable parameter ranges that could provide the required accuracy.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"7 1","pages":"1-15"},"PeriodicalIF":1.4,"publicationDate":"2020-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42751981","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 : 2020-04-07DOI: 10.1186/s40648-020-00167-0
E. Demircan
{"title":"A pilot study on locomotion training via biomechanical models and a wearable haptic feedback system","authors":"E. Demircan","doi":"10.1186/s40648-020-00167-0","DOIUrl":"https://doi.org/10.1186/s40648-020-00167-0","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2020-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40648-020-00167-0","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48332916","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 : 2020-04-06DOI: 10.21203/rs.3.rs-20201/v1
Kohei Kimura, Noriaki Imaoka, Shintaro Noda, Yohei Kakiuchi, K. Okada, M. Inaba
This paper proposes a locomotion approach of leg-wheel robot utilizing passive wheel attached to the foot of bipedal robot. The key feature of this approach is bipedal mobility without swing leg. This mobility contributes the stability based on expansion of support polygon during locomotion, the robustness for obstacles and stopping to prevent fall, and the adaptability by prevention of body swing sideways. To achieve these, we propose the stability margin maximization to optimize center of gravity projection for support polygon and the fall prevention functions for real environment that is a difficult situation to prevent unexpected fall by the only planning. Finally, we apply the proposed methods to leg-wheel phases through locomotion and verify the contribution by experiments using real bipedal robot.
{"title":"Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions","authors":"Kohei Kimura, Noriaki Imaoka, Shintaro Noda, Yohei Kakiuchi, K. Okada, M. Inaba","doi":"10.21203/rs.3.rs-20201/v1","DOIUrl":"https://doi.org/10.21203/rs.3.rs-20201/v1","url":null,"abstract":"This paper proposes a locomotion approach of leg-wheel robot utilizing passive wheel attached to the foot of bipedal robot. The key feature of this approach is bipedal mobility without swing leg. This mobility contributes the stability based on expansion of support polygon during locomotion, the robustness for obstacles and stopping to prevent fall, and the adaptability by prevention of body swing sideways. To achieve these, we propose the stability margin maximization to optimize center of gravity projection for support polygon and the fall prevention functions for real environment that is a difficult situation to prevent unexpected fall by the only planning. Finally, we apply the proposed methods to leg-wheel phases through locomotion and verify the contribution by experiments using real bipedal robot.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"7 1","pages":"1-19"},"PeriodicalIF":1.4,"publicationDate":"2020-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47624126","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 : 2020-03-20DOI: 10.21203/rs.3.rs-18170/v1
S. Noda, Yasunori Tokuoka, S. Kuriu, Tadashi Ishida
To prevent accidents in minimally invasive surgeries, force limiters have been developed for forceps grippers. When a force limiter is in use, if the absolute value of its spring constant is reduced, the risk of damage to the organs decreases. This paper proposes the use of a leaf spring buckling mechanism as a force limiter for forceps. The results obtained indicate that the spring constant of a buckled leaf spring is lower than that of a normal coil spring. Furthermore, the use of a leaf spring allows the independent adjustment of its thickness and width, based on the stress and force values. This enables an easy calibration of the threshold value. In the experiments, the spring constant of the buckled leaf spring was $$1.5 times 10^{-1}$$ 1.5 × 10 - 1 N/mm, which is half of that of a normal coil spring. After calibrating the gripping force, it was confirmed that the force limiter reduced the extent of damage to the dummy organs in the ex vivo experiments.
{"title":"Proposal of forceps force limiter design using leaf spring buckling","authors":"S. Noda, Yasunori Tokuoka, S. Kuriu, Tadashi Ishida","doi":"10.21203/rs.3.rs-18170/v1","DOIUrl":"https://doi.org/10.21203/rs.3.rs-18170/v1","url":null,"abstract":"To prevent accidents in minimally invasive surgeries, force limiters have been developed for forceps grippers. When a force limiter is in use, if the absolute value of its spring constant is reduced, the risk of damage to the organs decreases. This paper proposes the use of a leaf spring buckling mechanism as a force limiter for forceps. The results obtained indicate that the spring constant of a buckled leaf spring is lower than that of a normal coil spring. Furthermore, the use of a leaf spring allows the independent adjustment of its thickness and width, based on the stress and force values. This enables an easy calibration of the threshold value. In the experiments, the spring constant of the buckled leaf spring was $$1.5 times 10^{-1}$$ 1.5 × 10 - 1 N/mm, which is half of that of a normal coil spring. After calibrating the gripping force, it was confirmed that the force limiter reduced the extent of damage to the dummy organs in the ex vivo experiments.","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"9 1","pages":"1-11"},"PeriodicalIF":1.4,"publicationDate":"2020-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49399887","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 : 2020-02-18DOI: 10.1186/s40648-020-00156-3
Mizuki Takeda, Y. Hirata, Y. Weng, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina
{"title":"Verbal guidance for sit-to-stand support system","authors":"Mizuki Takeda, Y. Hirata, Y. Weng, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina","doi":"10.1186/s40648-020-00156-3","DOIUrl":"https://doi.org/10.1186/s40648-020-00156-3","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"7 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2020-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40648-020-00156-3","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"65733761","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 : 2020-01-29DOI: 10.1186/s40648-019-0153-y
A. Mohd Noor, T. Masuda, F. Arai
{"title":"Microfluidic device for rapid investigation of the deformability of leukocytes in whole blood samples","authors":"A. Mohd Noor, T. Masuda, F. Arai","doi":"10.1186/s40648-019-0153-y","DOIUrl":"https://doi.org/10.1186/s40648-019-0153-y","url":null,"abstract":"","PeriodicalId":37462,"journal":{"name":"ROBOMECH Journal","volume":"7 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2020-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1186/s40648-019-0153-y","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"65733701","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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