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检索条件"机构=Bio Robotics Division Robotics Department Mechanical Engineering Laboratory"

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Characteristics of Controllable Adhesion using Magneto-Rheological Fluid and its Application to Climbing robotics

Characteristics of Controllable Adhesion using Magneto-Rheol...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Masaaki Watanabe Nicholas Wiltsie Annette E. Hosoi Karl Iagnemma Robotics Group of IHI Corporation 1 Shin-Nakahara-Cho Isogo-ku Yokohama 235-8501 JAPAN Robotics Division of the Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena CA 91109 USA Hatsopoulos Microfluids Laboratory Department of Mechanical Engineering Massachusetts Institute of Technology 77 Massachusetts Avenue Cambridge MA 02139 USA Robotic Mobility Group Massachusetts Institute of Technology 77 Massachusetts Avenue Cambridge MA 02139 USA

ISBN: (纸本)9781467363563

In order to grasp and hold uneven or dusty objects, a robust adhesion mechanism is required. This paper evaluates controllable adhesion using magneto-rheological fluid (MRF) as a technique to stick to non-magnetic materials and rough/dusty surfaces. This technique is both simple to use and robust to uncertain surface conditions, as it involves applying MRF on a surface and activating it with a magnetic field. In this paper, we experimentally evaluate yield stresses in both normal and shear directions with respect to MRF layer thickness, magnetic flux density and surface type. Based on these results, a four-legged climbing robot is designed to demonstrate scaling vertical walls and shows effectiveness of the controllable adhesion using MRF for rough surface.

关键词： Climbing robotics mrf uncertain surface conditions

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Design and performance evaluation of a rotary series elastic actuator

Design and performance evaluation of a rotary series elastic...

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Donald, Mitchell Li, Qingguo Bio-Mechatronics and Robotics Laboratory Department of Mechanical and Materials Engineering Queens University Kingston ON K7L 3N6 Canada

ISBN: (纸本)9783642335082

The purpose of rotary series elastic actuators (RSEAs) is to reduce the interface stiffness between an actuator and the user, while achieving torque control, less inadvertent damage, high shock tolerance, and energy storage. In this paper we developed a RSEA test platform and control system for identifying the factors that affect performance. The effectiveness of a RSEA is studied by a sequence of experiments where a series of torque profiles are supplied to a handle, which the user holds while providing rotation about the elbow joint. By comparing desired torque outputs with those found via the spring deflection and those measured by an in-system load cell, the performance of the system is analyzed. The results indicated that the system is mostly limited by the torsion spring, its attachment, and the nonlinearities associated with it. The spring itself has a large impact on the torque/frequency bandwidth of the RSEA. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Torque

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mechanical properties of boron nitride nanocones

Mechanical properties of boron nitride nanocones

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作者： Tian, Y. Wei, R. Eichhorn, V. Fatikow, S. Shirinzadeh, B. Zhang, D. School of Mechanical Engineering Tianjin University Tianjin 300072 China Division of Microrobotics and Control Engineering University of Oldenburg 26111 Oldenburg Germany Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC 3800 Australia

Using classic molecular dynamics simulation, the mechanical properties of boron nitride nanocones (BNNCs) have been systematically investigated. The influences of the apex angle, cone height on tensile, and compressive behavior of BNNCs under axial strains are analyzed. The failure strains and strain energy per atom of BNNCs decrease with the increasing cone height, whereas the failure forces almost remain constant for BNNCs under axial tensile strains. For the buckling analyses of BNNCs, the critical strain and critical axial force reduce significantly with the increase of the apex angle. The increasing cone height can also significantly decrease the critical strain of BNNCs and only slightly affects the critical force of BNNCs. The cone height has little influence on the resulting buckling patterns;however, the apex angle has a significant effect on the buckling patterns of the BNNCs. From the computational analyses, it is noted that there exist three deformation patterns, i.e., fourfold rotational symmetric, threefold rotational symmetric, and reflection symmetric modes for the BNNC with an apex angle of 83.6° and the former pattern will gradually transform to the latter pattern during the postbuckling stage. On the contrary, there is only one reflection symmetric fin-like buckling pattern for the BNNC with an apex angle of 39.8°. © 2012 American Institute of Physics.

关键词： Boron nitride

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Design considerations for attachment and detachment in robot climbing with hot melt adhesives

Design considerations for attachment and detachment in robot...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Liyu Wang Fabian Neuschaefer Remo Bernet Fumiya Iida Bio-Inspired Robotics Laboratory Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland

Robust climbing in unstructured environments is a long-standing challenge in robotics research. Recently there has been an increasing interest in using adhesive materials for that purpose. For example, a climbing robot using hot melt adhesives (HMAs) has demonstrated advantages in high attachment strength, reasonable operation costs, and applicability to different surfaces. Despite the advantages, there still remain several problems related to the attachment and detachment operations, which prevent this approach from being used in a broader range of applications. Among others, one of the main problems lies in the fact that the adhesive characteristics of this material were not fully understood fin the context of robotic climbing locomotion. As a result, the previous robot often could not achieve expected locomotion performances and “contaminated” the environment with HMAs left behind. In order to improve the locomotion performances, this paper focuses on attachment and detachment operations in robot climbing with HMAs. By systematically analyzing the adhesive property and bonding strength of HMAs to different materials, we propose a novel detachment mechanism that substantially improves climbing performances without HMA traces.

关键词： Bonding Foot Materials Bonding forces Heating Climbing robots

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Towards “soft” self-reconfigurable robots

Towards “soft” self-reconfigurable robots

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IEEE/RAS-EMBS International Conference on biomedical robotics and biomechatronics (bioRob)

作者： Liyu Wang Fumiya Iida Bio-Inspired Robotics Laboratory Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland

Modular self-reconfigurable robots have previously demonstrated that automatic control of their own body shapes enriches their behavioural functions. However, having predefined rigid modules technically limits real-world systems from being hyper-redundant and compliant. Encouraged by recent progress using elastically deformable material for robots, we propose the concept of “soft self-reconfigurable robots” which may become hyper-flexible during interaction with the environment. As the first attempt towards this goal, the paper proposes a novel approach using viscoelastic material Hot-Melt Adhesives (HMAs): for physical connection and disconnection control between bodies that are not necessarily predefined rigid modules. We present a model that characterizes the temperature dependency of the strength of HMA bonds, which is then validated and used in a feedback controller for automatic connection and disconnection. Using a minimalistic robot platform that is equipped with two devices handling HMAs, the performance of this method is evaluated in a pick-and-place experiment with aluminium and wooden parts.

关键词： Robots Bonding Materials Connectors Temperature measurement Mathematical model Temperature

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Resonance based multi-gaited robot locomotion

Resonance based multi-gaited robot locomotion

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Nandan Maheshwari Xiaoxiang Yu Murat Reis Fumiya Iida Bio-Inspired Robotics Laboratory (BIRL) Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland Artificial Intelligence laboratory Department of Informatics University of Zurich Zurich Switzerland Department of Mechanical Engineering Uludag University Turkey

In order to understand the underlying mechanisms of animals' agility, dexterity and efficiency in motor control, there has been an increasing interest in the study of gait patterns in biological and artificial legged systems. This paper presents a novel approach to the study of gait patterns which makes use of intrinsic mechanical dynamics of robotic systems. Each of these robots consists of a U-shape elastic beam and exploits free vibration to generate different gait patterns. We developed a conceptual model for these robots, and through simulation and real-world experiments, we show three distinct mechanisms for generating four different gait patterns in these robots.

关键词： Robots Mathematical model Foot Equations

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3-DOF haptic feedback of assisted driving of an omnidirectional wheelchair

3-DOF haptic feedback of assisted driving of an omnidirectio...

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Quinton Christensen Stephen Mascaro Department of Mechanical Engineering Bio-Robotics laboratory University of Utah USA Department of Mechanical Engineering University of Utah USA

Increased demand for powered wheelchairs and their inherent mobility limitations have prompted the development of omnidirectional wheelchairs. These wheelchairs provide improved mobility in confined spaces, but can be more difficult to control and impact the ability of their users to embody the wheelchair. We hypothesize that control and embodiment of omnidirectional wheelchairs can be significantly improved by providing intuitive control with 3-DOF haptic feedback that directly corresponds to the degrees of freedom of an omnidirectional wheelchair. This paper introduces a novel 3-DOF Haptic Joystick designed for the purpose of controlling omnidirectional wheelchairs. When coupled with range finders, it is able to provide the user with feedback that improves the operator's awareness of the area surrounding the vehicle and assists the driver in obstacle avoidance. The haptic controller design and a stability analysis of the coupled wheelchair joystick systems are presented. Experimental results of the coupled systems validate the ability of the controller to influence the trajectory of the wheelchair and assist in obstacle avoidance.

关键词： Wheelchairs Haptic interfaces Torque PD control Wheels Vehicles

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Predicting Efficacy of Robot-Aided Rehabilitation in Chronic Stroke Patients using an MRI-Compatible Robotic Device

Predicting Efficacy of Robot-Aided Rehabilitation in Chronic...

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Annual International Conference of the IEEE engineering in Medicine and biology Society

作者： Fabrizio Sergi Hermano Igo Krebs Benjamin Groissier Avrielle Rykman Eugenio Guglielmelli Bruce T. Volpe Judith D. Schaechter Universita Campus Bio-Medico di Roma Center for Integrated research Laboratory of Biomedical Robotics and Biomicrosystems Massachusetts Institute of Technology Mechanical Engineering Department Massachusetts General Hospital Martinos Center for Biomedical Imaging Neurorecovery Laboratory Burke Medical Research Institute

ISBN: (纸本)9781424441211

We are investigating the neural correlates of motor recovery promoted by robot-mediated therapy in chronic stroke. This pilot study asked whether efficacy of robot-aided motor rehabilitation in chronic stroke could be predicted by a change in functional connectivity within the sensorimotor network in response to a bout of motor rehabilitation. To address this question, two stroke patients participated in a functional connectivity MRI study pre and post a 12-week robot-aided motor rehabilitation program. Functional connectivity was evaluated during three consecutive scans before the rehabilitation program: resting-state;point-to-point reaching movements executed by the paretic upper extremity (UE) using a newly developed MRI-compatible sensorized passive manipulandum;resting-state. A single resting-state scan was conducted after the rehabilitation program. Before the program, UE movement reduced functional connectivity between the ipsilesional and contralesional primary motor cortex. Reduced interhemispheric functional connectivity persisted during the second resting-state scan relative to the first and during the resting-state scan after the rehabilitation program. Greater reduction in interhemispheric functional connectivity during the resting-state was associated with greater gains in UE motor function induced by the 12-week robotic therapy program. These findings suggest that greater reduction in interhemispheric functional connectivity in response to a bout of motor rehabilitation may predict greater efficacy of the full rehabilitation program.

关键词： Rehabilitation Programs Brain Connectivity stroke patient Primary Motor Cortex UNITED ELECTRIC Rehabilitation Stroke Lake Restoration Motor Pilot Studies motor function

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INS/EKF-based stride length, height and direction intent detection for walking assistance robots

INS/EKF-based stride length, height and direction intent det...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Dario Brescianini Jun-Young Jung In-Hun Jang Hyun Sub Park Robert Riener Department of Mechanical and Process Engineering ETH Zurich Zurich Switzerland Department of Intelligent Robotics University of Science and Technology Daejeon South Korea Division of Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Spinal Cord Injury Center University Hospital Balgrist Zurich Switzerland Sensory-Motor Systems Laboratory Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland

We propose an algorithm used to obtain the information on stride length, height difference, and direction based on user's intent during walking. For exoskeleton robots used to assist paraplegic patients' walking, this information is used to generate gait patterns by themselves in on-line. To obtain this information, we attach an inertial measurement unit(IMU) on crutches and apply an extended kalman filter-based error correction method to reduce the phenomena of drift due to bias of the IMU. The proposed method is verifed in real walking scenarios including walking, climbing up-stairs, and changing direction of walking with normal.

关键词： Legged locomotion Trajectory Exoskeletons Navigation Measurement uncertainty Robot sensing systems

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Simulation platform for self-assembly structures in MRI-guided nanorobotic drug delivery systems

Simulation platform for self-assembly structures in MRI-guid...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Panagiotis Vartholomeos Constantinos Mavroidis Control Systems Lab Department of Mechanical Engineering National and Technical University of Athens Greece Bio Nano Robotics Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA USA

Magnetic Resonance Imaging (MRI) guided nanorobotic systems that could perform diagnostic, curative and reconstructive treatments in the human body at the cellular and sub-cellular level in a controllable manner have recently been proposed. The concept of a MRI-guided nanorobotic system is based on the use of a MRI scanner to induce the required external driving forces to guide magnetic nanocapsules to a specific target. However, the maximum magnetic gradient specifications of existing clinical MRI systems are not capable of driving superparamagnetic nanocapsules against the blood flow and therefore these MRIs do not allow for navigation. The present paper proposes a way to overcome this critical drawback through the formation of micron size agglomerations where their size can be regulated by external magnetic stimuli. This approach is investigated through modeling of the physics that govern the self-assembly of the nanoparticles. Additionally a computational tool has been developed that incorporates the derived models and performs simulation, visualization and post-processing analysis. Preliminary simulation results demonstrate that external magnetic field causes aggregation of nanoparticles while they flow in the vessel. This is a promising result -in accordance with similar experimental results- and encourages further investigation on the nanoparticle based self-assembly structures for use in nanorobotic drug delivery.

关键词： Self-assembly Nanostructures Drug delivery Magnetic resonance imaging Nanoparticles Computational modeling biological system modeling Image reconstruction Humans Control systems

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