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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Omid Mahdizadeh Vahid Akbari S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. K. N. Toosi University of Technology. Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

RoboWalk is a two-legged rehabilitation assisting robot, which helps users by carrying a portion of the weight. In this paper, we propose an algorithm to correct the attitude and position error by means of an Adaptive Root Square Unscented Kalman Filter. To this end, the IMU and encoders are used to determine the robot kinematic configuration, but since there is no solid connection between the ground and the feet, the sensor's data may not lead to exact positioning configuration. Therefore, a new approach for estimating the position of the feet and the seat is presented. The method is based on using the standing foot IMU, and related encoders to obtain the seat position. Then, the obtained result is compared to the seat IMU and correcting the position. Next, the corrected position and the swing leg encoders are used to obtain the swing foot position, which is compared to the corresponding IMU, to modify and yield all corrected positions. Describing the proposed method, it is then implemented, and the results will be discussed.

关键词： Mathematical model Robot sensing systems Estimation Robot kinematics Foot

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RoboGlove: Design of a Tendon-Driven Robotic Glove with Differential Mechanisms

RoboGlove: Design of a Tendon-Driven Robotic Glove with Diff...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mehran Abbasi S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

Stroke and spinal cord injury (SCI) are two main causes of human upper-limb movement impairments. In this paper, the design of a soft robotic glove with tendon actuation for rehabilitation purposes of the human hand is presented. This robotic glove called KNTU RoboGlove is designed based on differential mechanisms. To help patients, the glove makes grasping objects with different geometries be possible using a single DC motor. To this end, the differential mechanisms are first presented, which are used in two parts of the system. The actuation unit actuates all fingers with a motor, while uses differential gears that can produce the flexion or extension motions without facing singularities. Finally, the functionality of RoboGlove is evaluated in performing two different tasks. First one is grasping a cylindrical object, while the second consists of grasping an irregular-shaped object. Obtained results reveal the merits of the proposed robotic glove.

关键词： Thumb Tendons Robots Ligaments Joints Electron tubes

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Human Body Modeling for Ground Contact Force Estimation of RoboWalk

Human Body Modeling for Ground Contact Force Estimation of R...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Farshid Absalan S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9781728166049

ISBN: (纸本)9781728166056

RoboWalk is a lower limb rehabilitation robot for Human body weight assistance. To achieve a proper design of RoboWalk, there is a need to understand the dynamics of human and foot contact forces with the ground that is the focus of this paper. In fact, an important component of human-Robo Walk forward dynamics simulation is foot-ground contact modelling. Different models have been proposed to simulate the contact of the foot with the ground. In this study, the dynamic equations of human body is developed with 19 degrees of freedom, while three points of collision with the ground are considered for each foot. Next, the kinematics information obtained from the experimental data are introduced to the dynamical equations, and the joint torques are estimated by solving the inverse dynamics of the human model. The results are compared to the experimental data for model validation. However, it is assumed that the numerical value of the foot contact model parameters are not availab.e, so the pelvis is constrained in such a way that the human model foot does not hit the ground. Therefore, these uncertain parameters does not affect the validation results. Next, a model is selected from the existing models to express the foot contact behavior with the ground, while such models should provide stable walking with selecting the appropriate parameters. To determine the shear and normal contact force, numerical values of the parameters are required while these values depend on the shoe and the ground material and surface. Then, the path traveled by the pelvis in the human dynamic model was compared with the path of the actual pelvic motion and their difference was used to form a cost function to determine the parameters. In the next step, by choosing appropriate values for the contact parameters of the foot and the springs and the damping of the toe joint, the path of the pelvis becomes closely identical to the actual pelvis motion. Finally, after the human gait stabilized, the de

关键词： Mathematical model Dynamics Foot Force Friction Computational modeling Robots

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Diffusive nonreciprocity and thermal diode

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Physical Review B 2021年第1期103卷 014307-014307页

作者： Ying Li Jiaxin Li Minghong Qi Cheng-Wei Qiu Hongsheng Chen Interdisciplinary Center for Quantum Information State Key Laboratory of Modern Optical Instrumentation College of Information Science and Electronic Engineering Zhejiang University Hangzhou 310027 China ZJU-Hangzhou Global Science and Technology Innovation Center Key Lab. of Advanced Micro/Nano Electronic Devices & Smart Systems of Zhejiang Zhejiang University Hangzhou 310027 China International Joint Innovation Center ZJU-UIUC Institute The Electromagnetics Academy at Zhejiang University Zhejiang University Haining 314400 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117583 Singapore State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Wave propagation and diffusion in linear materials preserve local reciprocity in terms of a symmetric Green's function. For wave propagations, the relation between the fields entering and leaving a system is more relevant than the detailed information about the fields inside it. In such cases, the global reciprocity of the scattering off a system through several ports is more important, which is defined as the symmetric transmission between the scattering channels. When a two-port system supports nonreciprocal (electromagnetic, acoustic) wave propagation, it is a (optical, phonon) diode directly following the definition. However, to date no concrete definition or discussion has been made on the global reciprocity of diffusive processes through a multiple-port system. It thus remains unclear what are the differences and relations between the three concepts, namely, local nonreciprocity, global nonreciprocity, and diode effect in diffusion. Here, we provide theoretical analysis on the frequency-domain Green's function and define the global reciprocity of heat diffusion through a two-port system, which has a different setup from that of a thermal diode. We further prove the equivalence between a heat transfer system with broken steady-state global reciprocity and a thermal diode, assuming no temperature-dependent heat generation. The validities of some typical mechanisms in breaking the diffusive reciprocity and making a thermal diode have been discussed. Our results set a general background for future studies on symmetric and asymmetric diffusive processes.

关键词： Diffusion Heat transfer Metamaterials Diodes Green's function methods

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Dynamics Modeling and Performance Analysis of RoboWalk

Dynamics Modeling and Performance Analysis of RoboWalk

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mahdi Nabipour S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Dept of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

In this article, after introducing the RoboWalk body weight support assistive device, the forward kinematics of human and the inverse kinematics of the assistive robot are introduced. Then, a method for obtaining an analytical dynamics of the system is presented. This method is based on modeling the human body without modeling its constraints and contact forces. Then, the contact forces are taken into account and mapped into joint space of the robot using the jacobian matrices of interaction points. This method of modeling is then compared and verified by the numerical Recursive Newton Euler Algorithm. Since the numerical method is more efficient and has less computational complexities, it can be used in implementing the control algorithms on the robot. After the model is verified, a control strategy for assisting the user is designed and implemented on the developed model of RoboWalk. The performance of this control strategy is evaluated by comparing the floor reaction force and user joint torques if using Robowalk or not. Finally, the actuator's specification to fulfill our requirements is discussed.

关键词： Robot kinematics Kinematics Exoskeletons Mathematical model Legged locomotion Pelvis

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Two PID-Based Controllers for a tethered Segway on Dome Shaped Structures

Two PID-Based Controllers for a tethered Segway on Dome Shap...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad H. Salehpour Hamid D. Taghirad Hadi Moradi Advanced Robotics and Automated Systems K.N. Toosi University of Technology Advance Robotics and Intelligent Systems Lab University of Tehran Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

The UTDTR Robot is a human inspired robotic platform based on a two-wheeled mobile robot. This robot is designed for the purpose of dome shaped structures inspection and maintenance, and it is a tethered robot to stably climb steep surfaces on the top of dome structures. In this paper analysis and controller design of this robot modelled as a MIMO system is represented in order to provide the desired performance on the operating surface with minimum control effort and complexity. Two PID-based controllers are designed such that the stability and desired performance conditions are obtained. In the first design a fuzzy PID controller with self-tuning scale factors is designed to tune the controller gains is forwarded, while in the second approach a multi model gain scheduling controller based on conventional PID controller is considered. Finally, the effectiveness and simplicity of the proposed controller is verified through simulation, comparing the resulting closed loop transient and steady-state response to that of the previously proposed controllers.

关键词： Mobile robots Mathematical model Transfer functions Control systems Inspection MIMO communication

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Kinematics and Dynamics Modeling of Spherical Parallel Manipulator

Kinematics and Dynamics Modeling of Spherical Parallel Manip...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Omid Mahdizadeh Afshin Zeinaddini Meymand Mojtaba Mollahossein S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

Spherical parallel manipulators have been proposed for accurate and fast performance. In this paper, kinematics and dynamics of a spherical three degrees-of-freedom parallel manipulator are studied. First, both direct and inverse kinematics are solved by using a new geometric approach and defining a new appropriate set of coordinates. Then, based on the derived kinematics equations and Jacobian matrices of links, according to Lagrange method, the explicit dynamics formulation of the manipulator is developed. The obtained dynamics has been verified by using *** and MATlab.Software, simultaneously. This explicit verified model is highly important to design and implement various model based control algorithms. So, a Fuzzy Adaptive PID controller is designed to show the controller's operation on the manipulator. Discussing the obtained results reveal the merits and importance of the proposed modeling.

关键词： Manipulator dynamics Kinematics Mathematical model Jacobian matrices Gravity Dynamics

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Augmented Modeling of a Lower Limb Assistant Robot and Human Body

Augmented Modeling of a Lower Limb Assistant Robot and Human...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian Mohamad R. Mohamadi Farshid Absalan Center of Excellence in Robotics and Control Advanced Robotics – Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

Rehabilitation robotics is nowadays one of the most attractive fields in robotics. This paper focuses on modeling of a lower limb walking assist device (RoboWalk), augmented with the human body. RoboWalk has been designed to assist either the elderly people or those with malfunctioning in lower limb to do their daily tasks. Modeling the assistive device augmented to human model is highly important for design improvements and controller developments. In such complicated cases, simulators are appropriate tools to analyze the dynamics of robotic devices and understand how the device works which leads to the system improvements. In this paper, a human model that is properly appended to the RoboWalk has been analyzed using the OpenSim software. The human model includes 37 degrees of freedom to define joint kinematics, 80 muscle units actuating the lower limbs, and 17 torque actuators driving the upper body. To this end, the robot has been first added to the human model, then constraints have been properly defined, finally simulation has been implemented by adding a specified gait to human model. Obtained results will be discussed which reveal a reasonable performance of the whole system.

关键词： Solid modeling Actuators Assistive devices Knee Hip Legged locomotion

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Dynamics of a 9-DoF Robotic Leg for a Football Simulator

Dynamics of a 9-DoF Robotic Leg for a Football Simulator

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RSI/ISM International Conference on robotics and Mechatronics

作者： Masoud Vahidi S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

This paper focuses on a robotic human-like leg. This robot was designed and modeled for task of kicking soccer ball to desired target. In addition, applications of this robot have been explained and its kinematics and dynamics equations have been developed. Kinematic analysis has been done using Denavit-Hartenberg method and position, velocity and acceleration of center of mass (CoM) of all links can be obtained. Dynamics equations of this robot have been written using recursive Lagrange method and inverse dynamics problem has been solved. Finally, kinematics and dynamics equations of this robot are verified using a numerical simulation in MATlab.simmechanics.

关键词： robotic leg simmechanics verification kinematics dynamics

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Time Optimized Digital Image Processing of Ball and Plate System Using Artificial Neural Network

Time Optimized Digital Image Processing of Ball and Plate Sy...

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RSI/ISM International Conference on robotics and Mechatronics

作者： Yasaman Parandian Hannaneh Z. Arabshahi Ali Nasr S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

Regarding robot interaction with moving objects and the necessity for robot controller to react in a timely manner having the objects current position, finding an efficient positioning method has always been a challenge. As ball and plate system is considered to be a standard experimental system in control lab.ratories. The system is consisted of the following pieces: a horizontal plate which gets tilted along each horizontal axes. The ball, which is located on the plate;is controlled by the system in a way to be placed in any point on the plate. In fact, the ball and plate system is an extension of the classical ball on beam experiment that is often used to study various types of control and stability problems.

关键词： Forward Kinematics Neural Networks Real-Time Computer Vision 3RRS Parallel Robot Ball and Plate

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