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Development of a robotic arm for handicapped people: A task-oriented design approach

AUTONOMOUS ROBOTS 2003年第1期15卷 81-92页

作者： Chang, PH Park, HS Korea Adv Inst Sci & Technol Dept Engn Mech Taejon 305701 South Korea

In this paper, a task-oriented design (TOD) procedure is proposed by which a robotic arm can be designed to achieve predefined tasks. To define the target tasks, we have spent about six months, observing everyday life of disabled people, and have determined 12 important tasks. By using TOD procedure in a coherent and consistent manner, we have developed a working prototype of a care-providing robotic arm for physically disabled people. Through experiments, we confirmed that the developed robotic arm is indeed able to carry out the predefined tasks.

关键词： robot design task-oriented design care-providing robot disabled people task space kinematic design dynamic analysis

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task-oriented design of robot kinematics using the Grid Method

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ADVANCED ROBOTICS 2003年第9期17卷 879-907页

作者： Park, JY Chang, PH Yang, JY Korea Adv Inst Sci & Technol Dept Mech Engn Taejon 305701 South Korea Univ Texas Dept Mech Engn Austin TX 78712 USA

This paper presents a task-oriented design method for robot kinematics based on the Grid Method, which is widely used in the finite difference method and heat transfer/fluid flow analyses. This approach drastically reduces the complexity of the whole problem and increases the efficiency compared with previous approaches. More specifically, the Grid Method with a new formulation simplifies the design to a problem of a four-design-variable unit grid, which does not require solving inverse/forward kinematics. The efficiency of the Grid Method has been confirmed through a kinematics design of a planar robot for nuclear power plants and spatial robots.

关键词： Grid Method robot manipulator task-oriented design kinematic design optimum design

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task-oriented configuration design for reconfigurable parallel manipulator systems

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INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING 2005年第7期18卷 615-634页

作者： Dash, AK Chen, IM Yeo, SH Yang, G Nanyang Technol Univ Sch Mech & Prod Engn Singapore 639798 Singapore Singapore Inst Mfg Technol Mechatron Div Singapore 638075 Singapore

A reconfigurable parallel manipulator system consists of an inventory of standard interchangeable actuator modules, passive joint modules and customizable links and connectors. Owing to the interchangeability and modularity, a parallel manipulator constructed in this manner can have different structures and degrees of freedom (DOF). This article presents a two-stage design methodology, from structure determination to parameter optimization, for determining task-specific optimal configurations of reconfigurable parallel manipulators. In the structure determination stage, a reconfigurable robot assembly database containing the possible parallel manipulator assemblies is established based on enumeration. A taskToRobot Map is proposed to map the given task description to a suitable manipulator configuration in the database according to the DOFs of the required task. In the parameter optimization stage, design parameters of the selected manipulator structure, such as link lengths, dimensions of the connectors and actuation schemes are identified. As these parameters contain continuous and discrete variables, synthesis of the manipulator parameters is formulated based on a Simplex optimization method. This design methodology is demonstrated effectively in the selection of a reconfigurable parallel manipulator system for a light machining operation.

关键词： parallel manipulation reconfigurable robots task-oriented design optimal design

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Soft Actuator with Programmable design: Modeling, Prototyping, and Applications

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SOFT ROBOTICS 2022年第5期9卷 907-925页

作者： Kan, Zicheng Pang, Chohei Zhang, Yazhan Yang, Yang Wang, Michael Yu Hong Kong Univ Sci & Technol Dept Mech & Aerosp Engn Kowloon Hong Kong 999077 Peoples R China Hong Kong Univ Sci & Technol Dept Elect & Comp Engn Kowloon Hong Kong Peoples R China Nanjing Univ Informat Sci & Technol Sch Automat Nanjing 210044 Peoples R China

designs of soft actuators are mostly guided and limited to certain target functionalities. This article presents a novel programmable design for soft pneumatic bellows-shaped actuators with distinct motions, thus a wide range of functionalities can be engendered through tuning channel parameters. According to the design principle, a kinematic model is established for motion prediction, and a sampling-based optimal parameter search is executed for automatic design. The proposed design method and kinematic models provide a tool for the generation of an optimal channel curve, with respect to target functions and required motion trajectories. Quantitative characterizations on the analytical model are conducted. To validate the functionalities, we generate three types of actuators to cover a wide range of motions in manipulation and locomotion tasks. Comparisons of model prediction on motion trajectory and prototype performance indicate the efficacy of the forward kinematics, and two task-based optimal designs for manipulation scenarios validate the effectiveness of the design parameter search. Prototyped by additive manufacturing technique with soft matter, multifunctional robots in case studies have been demonstrated, suggesting adaptability of the structure and convenience of the soft actuator's automatic design in both manipulation and locomotion. Results show that the novel design method together with the kinematic model paves a way for designing function-oriented actuators in an automatic flow.

关键词： soft robotics programmable modality kinematic modeling task-oriented design modular robotics manipulation locomotion

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Model-based mechanical design of a passive lower-limb exoskeleton for assisting workers in shotcrete projection

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MECCANICA 2021年第1期56卷 195-210页

作者： Capitani, Stefano L. Bianchi, Matteo Secciani, Nicola Pagliai, Marco Meli, Enrico Ridolfi, Alessandro Univ Florence Dept Ind Engn Via Santa Marta 3 I-50139 Florence Italy

Despite the current industrial trend towards automation, many workers are still daily exposed to heavy loads during their duties. Regarding the construction industry, the shotcrete projection results in a particularly arduous whole-body effort for the so-called "concrete reinforcement workers". In this paper, the design of a passive robotic human assistance tool to assist workers in dealing with the specific task of shotcrete projection will be described. If the design of an effective aid plays a crucial role in improving the job's quality, following the guidelines given by the French company Eiffage Infrastructures;besides, the acceptance of the proposed solution shall have special consideration. Therefore, starting from an in-site assessment of the scenario, the presented solution has been profoundly adjusted to address the issues coming from this particular task. The exoskeleton adaptability to different lower-limb activities has been preserved without lowering its comfort during daily life in the working area. The developed solution's operation range has been specifically optimized to assist the worker during specific efforts without hindering the other movements.

关键词： Wearable robotics Exoskeletons for workers Passive lower-limb exoskeletons task-oriented design

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task-based design of AUVs propulsion systems including fixed or vector thrusters 45

Task-based design of AUVs propulsion systems including fixed...

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45th Annual Conference of the IEEE Industrial Electronics Society (IECON)

作者： Chocron, Olivier Delaleau, Emmanuel Inst Rech Dupuy Lome UMR CNRS 6027 IRDL Mechatron Dpt ENI Brest ENIB Paris France ENI Brest ENIB Mechatron Dept Plouzane France

ISBN: (纸本)9781728148786

This work proposes a design method for the propulsion system of autonomous underwater vehicles (AUVs) based on the to be accomplished tasks or trajectories. The method adapts to AUVs involving both fixed and vector thrusters. It is based on the inverse kinematic and dynamic models of the AUV performing a task of trajectory tracking. We first determine the actuation requirement in terms of propulsion effort according to the required task. These efforts are thus used to generate propulsion capabilities in the form of a "Thrust configuration matrix" (TCM). This matrix depends on the positions and orientations of the thrusters, but also thrust controlled angles of vector thrusters. In general, this matrix is compatible with any desired Cartesian trajectory and may include fixed or vector thrusters. From this matrix can be extracted the number, the type, position and orientation of thrusters constituting the obtained propulsion system. Thus, the robot's propulsion capabilities will match the characteristics of the to-be-followed trajectory.

关键词： Autonomous Underwater Vehicles (AUV) Vector propulsion system task-oriented design Trajectory Controllability

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Integration of a rehabilitation robotic system (KARES II) with human-friendly man-machine interaction units

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AUTONOMOUS ROBOTS 2004年第2期16卷 165-191页

作者： Bien, Z Chung, MJ Chang, PH Kwon, DS Kim, DJ Han, JS Kim, JH Kim, DH Park, HS Kang, SH Lee, K Lim, SC Korea Adv Inst Sci & Technol Dept Elect Engn & Comp Sci Taejon 305701 South Korea Korea Adv Inst Sci & Technol Dept Mech Engn Taejon 305701 South Korea

In this paper, we report some important results of design and evaluation of a wheelchair-based robotic arm system, named as KARES II (KAIST Rehabilitation Engineering Service System II), which is newly developed for the disabled. KARES II is designed in consideration of surveyed necessary tasks for the target users ( that is, people with spinal cord injury). At first, we predefined twelve important tasks according to extensive interviews and questionnaires. Next, based on these tasks, all subsystems are designed, simulated and developed. A robotic arm with active compliance and intelligent visual servoing capability is developed by using cable-driven mechanism. Various kinds of human-robot interfaces are developed to provide broad range of services according to the levels of disability. Eye-mouse, shoulder/head interface, EMG signal-based control subsystems are used for this purpose. Besides, we describe the process of integration of our rehabilitation robotic system KARES II, and discuss about user trials. A mobile platform and a wheelchair platform are two main platforms in which various subsystems are installed. For a real-world application of KARES II system, we have performed user trials with six selected potential end-users ( with spinal cord injury).

关键词： service robot rehabilitation robot wheelchair-based robotic arm human-robot interaction task specific cable-driven mechanism intelligent visual servoing Eye-mouse bio-signal (EMG) based control head/shoulder interface user trials task-oriented design

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A Natural Language Approach for the design of Batch Operating Procedures

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Informatica (Ljubljana) 1998年第4期22卷 423-434页

作者： Linninger, Andreas Stephanopoulos, George Department of Chemical Engineering University of Illinois at Chicago Chicago IL 60607 United States Department of Chemical Engineering Massachusetts Inst. of Technology Cambridge MA 02139 United States

A computer-aided environment for the synthesis of processing schemes for the production of pharmaceuticals is presented. Human developers are guided through the innovative development process through a hierarchy of decision-levels following the principle of hierarchical decomposition. Progress of the development is organized through a knowledge-based model of process chemicals and their transformations involving quantitative and qualitative knowledge. Process chemists can directly implement their processing ideas by using a "natural" language used for the description of lab recipes. The computer-aided environment maintains consistency with first principles, offers assistance for crucial design decisions and solves autonomously specific sub-problems. The presented methodology demonstrates an example for the successful man-computer interaction in the innovative task of process synthesis.

关键词： Batch design Natural language task-oriented design

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