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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yeongyu Park Inseong Jo Joonbum Bae Bio-Robotics and Control (BiRC) Laboratory Department of Mechanical Engineering UNIST Ulsan Korea

ISBN: (纸本)9781509037636

In this paper, a hand exoskeleton system for virtual reality is proposed. As a virtual reality interface for the hand, a wearable system should be able to measure finger joint angles and apply force feedback to the fingers with a simple and light design. In the proposed system, the finger joint angles are measured by a tendon-inspired cable mechanism. Also, another cable is used for force feedback to the finger. Using the measured finger joint angles and motor currents, the cable-driven actuation system applies desired force to the fingers. That is, when the desired force is zero, the motor position is controlled to track the changed cable length;when the desired force needs to be applied, the motor current is controlled to generate the desired force. For a smooth transition between two control strategies, linearly changing proportions of each control strategy is applied in the transition range. A prototype of the proposed system was manufactured, and the proposed control algorithms were verified by experiments.

关键词： Force Force feedback Exoskeletons Motion measurement Virtual reality Joints Potentiometers

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Design of a robot with biologically-inspired swimming hairs for fast and efficient mobility in aquatic environment

Design of a robot with biologically-inspired swimming hairs ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Bokeon Kwak Joonbum Bae Bio-Robotics and Control (BiRC) Laboratory Department of Mechanical Engineering UNIST Ulsan Korea

ISBN: (纸本)9781509037636

A water beetle is skillful at drag-powered swimming by using its oar-like legs. Inspired by this mechanism, a miniature robot, whose mobility is obtained by a pair of legs attached with swimming appendages, was studied in this work. The robot in this paper has optimally designed linkage structures to maximize the sweep angle, which is actuated by a single DC motor with series of gears and a spring. A simplified swimming appendage model was proposed to calculate deflection by drag force applied. Also, each of swimming appendage was optimized individually by considering the attached locations on the legs using the two fitness functions, and three different configurations were selected. In the experiments, the performance of the proposed robots was verified using a high-speed camera, and motion capture cameras. The robot with the proposed configuration showed the fastest movement comparing with other robots.

关键词： Robot Leg Swimming Sweep angles DC motors aquatic environment Appendages Water beetle Fasting motion capture Cameras-High speed Drag forces Gears Hair

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Force-mode control of rotary series elastic actuators in a lower extremity exoskeleton using model-inverse time delay control (MiTDC)

Force-mode control of rotary series elastic actuators in a l...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Suin Kim Joonbum Bae Bio-Robotics and Control (BiRC) Laboratory Department of Mechanical Engineering UNIST Ulsan Korea

ISBN: (纸本)9781509037636

For physical human-robot interaction (pHRI), it has been an important issue to control the output force of actuators. The aim of this study was to apply a new control strategy, named model-inverse time delay control (MiTDC), to series elastic actuators (SEA) in a lower extremity exoskeleton, even in the presence of uncertainties from pHRI. The law for time delay control (TDC) is derived and implementation issues are discussed, including the design of the state observer and the selection of the nominal value of the control distribution coefficient. Additionally, a new concept, a new reference position using the inverse of model dynamics, is introduced to realize satisfactory tracking performance without delay. Experimental results showed that the suggested controller achieved satisfactory performance without accurate information on system parameters, requiring only a nominal value of the control distribution coefficient.

关键词： Actuators Exoskeletons Delay effects Extremities Torque Solid modeling

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Design and analysis of a rotational leg-type miniature robot with an actuated middle joint and a tail (RoMiRAMT)

Design and analysis of a rotational leg-type miniature robot...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Bokeon Kwak Joonbum Bae Department of Mechanical Engineering Bio-Robotics and Control (BiRC) Laboratory Ulsan Korea

In this paper, a rotational leg-type miniature robot with an actuated middle joint and tail, called RoMiRAMT, is proposed for stable locomotion and improved climbing ability. The robot has four independently actuated rotational legs, giving it advantages of both wheel-type and leg-type locomotion. The design parameters of the rotational legs were determined by 3D simulation within the properly selected candidates. It also has unique characteristics inspired by biological structures: a spine and a tail. An actuated middle joint allows the frontal body to be lifted or lowered, which was inspired by a spine, to climb higher obstacles. Additionally, a multi-functional two degrees of freedom (2-DOF) tail was added;the tail provides instant deceleration, and minimized the likelihood of flipping, while allowing the robot to climb higher obstacles. A microcontroller was embedded in the robot, along with a micro-camera and an inertia measurement unit (IMU) sensor. By controlling the robot using the yaw angle signal measured by the IMU sensor, straight movement was enhanced. The body size of the RoMiRAMT is 155 × 80 mm without the rotational legs, and the weight is 593 g including batteries. The maximum velocity of the robot was 2.58 m/s (16.65 body lengths per second) and the maximum height of an obstacle that the robot can climb was 95 mm, which all were verified by experiments.

关键词： Legged locomotion Wheels Foot Robot sensing systems Vibrations

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A Force-controllable Compact Actuator Module for a Wearable Hand Exoskeleton

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IFAC Proceedings Volumes 2014年第3期47卷 4453-4458页

作者： Inseong Jo Joonbum Bae Bio-Robotics and Control (BiRC) Laboratory School of Mechanical and Nuclear Engineering UNIST Ulsan Korea

In this paper, a force-controllable compact actuator module for a wearable hand exoskeleton system is proposed. To interact with virtual objects naturally with a hand exoskeleton, a small actuator module, which can generate the desired force accurately, is highly required. In the proposed actuator module, a series elastic actuator (SEA) mechanism was applied for the force mode control. Based on the experimental analysis about grip forces, a spring was manually designed and a linear motor was selected. A manually designed motor driver was also embedded to the actuator module. The actually manufactured actuator module was compact enough to put five modules at the back of the hand. For precise force mode control, friction of the motor was identified and compensated. Using a PID controller with the friction compensation, the proposed actuator module could generate the desired force accurately with actual finger movements.

关键词： Hand exoskeleton system Virtual reality Force mode control Series elastic actuator

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Development of a finger motion measurement system using linear potentiometers

Development of a finger motion measurement system using line...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yeongyu Park Jeongsoo Lee Joonbum Bae Bio-Robotics and Control (BiRC) Laboratory UNIST Ulsan Korea

In this paper, a wearable sensing glove for measuring motion of fingers is proposed. The proposed system consists of linear potentiometers, flexible wires and linear springs, which make the whole system compact and light not to interfere with the natural finger motion. Inspired by the wrinkles of the finger joints are smoothed when the finger is flexed, a flexible wire is attached on the back of the finger. As the flexible wire is moved by the finger motion, the joint angles are calculated by measuring the length change of the flexible wire. A linear potentiometer with a linear spring for maintaining wire tension is applied to measure the joint angle. Because the motion of the proximal interphalangeal (PIP) is dependent on the distal interphalangeal (DIP) joint, only two linear potentiometers are applied for each finger. A compact sensing module including ten linear potentiometers and springs is attached on a glove. By simply wearing the sensing glove, the finger motions can be easily measured with an intuitive program interface.

关键词： Joints Potentiometers Wires Electronics packaging Sensors Springs Motion measurement

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Performance verification of a kinematic prototype 5-DOF upper-limb exoskeleton with a tilted and vertically translating shoulder joint

Performance verification of a kinematic prototype 5-DOF uppe...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yeongtae Jung Joonbum Bae Department of Mechanical Engineering Bio-Robotics and Control (BiRC) Laboratory Unist Ulsan Korea

In this paper, the performance of the 5-DOF upper-limb exoskeleton with a tilted and vertically translating shoulder joint, which was proposed in our previous work, is verified by simulations and experiments. In this design, one vertical prismatic joint was added for the vertical translation of the shoulder, and the shoulder joint was tilted to avoid the singularity problem. Based on the kinematic analysis in our previous work, the manipulability analysis was performed to determine the tilting angles and to check whether the singularity problem was appropriately addressed by the proposed design. The natural motion enabled by the added vertical translation was experimentally verified. For the experiments, an unactuated prototype of the proposed exoskeleton system was designed and manufactured. The experiment was focused on the decrease of the load on user's shoulder with a vertically translating shoulder joint. The three axis forces at the shoulder joint were compared with those of conventional upper-limb exoskeleton whose shoulder joint was fixed. The simulation and experimental results show that the proposed upper-limb exoskeleton design is suitable for supporting natural motions of the upper-limb.

关键词： Shoulder Joints Exoskeletons Kinematics Force Force measurement Prototypes

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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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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Graph Signature for Self-Reconfiguration Planning

Graph Signature for Self-Reconfiguration Planning

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 526-1042

作者： Masoud Asadpour Alexander Sproewitz Aude Billard Pierre Dillenbourg Auke Jan Ijspeert ECE Dept. University of Tehran Control and Intelligent Processing Center of Excellence Iran Bio-Inspired Robotics Group (BIRG) Switzerland Learning Algorithms and Systems Laboratory (LASA) Switzerland Centre de Recherche et d Appui pour la Formation Switzerland Centre de Recherche et d'Appui pour la Formation (CRAFT) Ecole Polytechnique Fédérale de Lausanne (EPFL) Switzerland Bio-Inspired Robotics Group (BIRG)

ISBN: (纸本)9781424420575

This project incorporates modular robots as building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection/disconnection of modules and rotations of the degrees of freedom. This paper introduces a new approach to self-reconfiguration planning for modular robots based on the graph signature and the graph edit-distance. The method has been tested in simulation on two type of modules: YaMoR and M-TRAN. The simulation results shows interesting features of the approach, namely rapidly finding a near-optimal solution.

关键词： Modular self-reconfigurable robots Adaptive furniture Graph isomorphism Graph signature Graph edit distance Modular robots graph editing Line graph Reconfiguration Furnishings signatures Building blocks Degree of freedom crop rotation

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